diff --git a/autonomous/autonav.py b/autonomous/autonav.py new file mode 100644 index 00000000..88f6b84a --- /dev/null +++ b/autonomous/autonav.py @@ -0,0 +1,180 @@ +from typing import List + +from wpilib.geometry import Pose2d, Translation2d +from magicbot import AutonomousStateMachine, state + +from components.chassis import Chassis +from utilities.path_follow import Path, LoadPath, PathFollow +import math +import os + + +class AutoNavBase(AutonomousStateMachine): + + chassis: Chassis + + def __init__(self) -> None: + super().__init__() + self.path_num = 0 + self.paths: List(Path) + + def setup(self) -> None: + self.path_follow: PathFollow = PathFollow(self.chassis) + + def on_enable(self) -> None: + self.chassis.reset_odometry(self.paths[0].start) + self.path_num = 0 + super().on_enable() + + @state(first=True) + def move(self, initial_call) -> None: + """ + Follow the trajectory defined by our waypoints + """ + if initial_call: + path = self.paths[self.path_num] + self.path_follow.new_path(path) + self.path_follow.run() + if self.path_follow.path_done(): + self.next_state("done_move") + + @state + def done_move(self): + self.path_num += 1 + if self.path_num >= len(self.paths): + self.done() + else: + self.next_state("move") + + def done(self) -> None: + super().done() + self.chassis.disable_brake_mode() + + +class test(AutoNavBase): + MODE_NAME = "Test" + DEFAULT = True + + def setup(self): + self.paths = [ + Path( + [ + Pose2d(0, 0, 0), + Translation2d(1, 1), + Translation2d(0, 1), + Translation2d(-1, 0), + Pose2d(0, 0, 0), + ], + reversed=False, + ) + ] + super().setup() + + +class Slalom(AutoNavBase): + MODE_NAME = "Slalom" + + def setup(self): + self.paths = [ + Path( + [ + Pose2d(1.056, 0.618, 0), + Translation2d(2.188, 0.908), + Translation2d(2.696, 2.269), + Translation2d(4.596, 2.737), + Translation2d(5.757, 2.522), + Translation2d(6.509, 2.120), + Translation2d(7.111, 1.088), + Translation2d(8.151, 0.681), + Translation2d(8.464, 1.543), + Translation2d(7.955, 2.522), + Translation2d(7.194, 2.323), + Translation2d(6.531, 0.952), + Translation2d(4.473, 0.572), + Translation2d(2.382, 0.912), + Translation2d(2.277, 2.335), + Pose2d(0.946, 2.346, math.pi), + ], + reversed=False, + ), + ] + super().setup() + + +class Bounce(AutoNavBase): + MODE_NAME = "Bounce" + + def setup(self): + self.paths = [ + Path( + [ + Pose2d(1.019, 2.139, 0), + Translation2d(1.830, 2.359), + Pose2d(2.250, 3.406, math.pi / 2), + ], + reversed=False, + ), + Path( + [ + Pose2d(2.250, 3.406, math.pi / 2), + Translation2d(2.686, 2.169), + Translation2d(3.164, 1.137), + Translation2d(3.795, 0.786), + Translation2d(4.443, 1.186), + Pose2d(4.557, 3.429, -math.pi / 2), + ], + reversed=True, + ), + Path( + [ + Pose2d(4.557, 3.429, -math.pi / 2), + Translation2d(4.668, 1.020), + Translation2d(5.873, 0.766), + Translation2d(6.776, 1.068), + Pose2d(6.856, 3.414, math.pi / 2), + ], + reversed=False, + ), + Path( + [ + Pose2d(6.856, 3.414, math.pi / 2), + Translation2d(7.157, 2.328), + Pose2d(8.352, 2.168, math.pi), + ], + reversed=True, + ), + ] + super().setup() + + +PATHWEAVER_PATH = os.path.join( + os.path.dirname(os.path.abspath(__file__)), "pathweaver_paths", "output" +) + + +class BarrelRacing(AutoNavBase): + MODE_NAME = "Barrel Racing" + + def setup(self): + self.paths = [ + Path( + [ + Pose2d(1.019, 2.139, 0), + Translation2d(4.1, 2.35), + Translation2d(4.72, 1.5), + Translation2d(3.6, 0.7), + Translation2d(3.1, 1.9), + Translation2d(7, 2.6), + Translation2d(6.3, 3.7), + Translation2d(5.2, 3.2), + Translation2d(6.1, 1.25), + Translation2d(7.3, 0.96), + Translation2d(8.2, 1.15), + Translation2d(8, 2), + Translation2d(6, 2.346), + Pose2d(0.946, 2.45, math.pi), + ], + reversed=False, + ), + ] + super().setup() diff --git a/autonomous/ball_pickup.py b/autonomous/ball_pickup.py new file mode 100644 index 00000000..ee986500 --- /dev/null +++ b/autonomous/ball_pickup.py @@ -0,0 +1,150 @@ +from wpimath import geometry +from wpilib.geometry import Pose2d, Translation2d +from magicbot import AutonomousStateMachine, state + +from components.chassis import Chassis +from components.indexer import Indexer +from components.shooter import Shooter +from components.turret import Turret +from controllers.shooter import ShooterController +from components.vision import Vision + +from utilities.path_follow import Path, PathFollow + + +def to_pose(x: float, y: float, heading: float) -> geometry.Pose2d: + """ + Convert inputs into a wpilib pose object + """ + rotation = geometry.Rotation2d(heading) + return geometry.Pose2d(x, y, rotation) + + +class BallPickup(AutonomousStateMachine): + MODE_NAME = "Ball Pickup" + + shooter_controller: ShooterController + shooter: Shooter + + chassis: Chassis + indexer: Indexer + vision: Vision + turret: Turret + + TARGET_POSITION = geometry.Translation2d(0, 0) + + path_names = ["None", "A1", "A2", "B1", "B2"] + # 1 is for red and 2 is for blue + all_paths = {} + all_paths["A1"] = Path( # red A + [ + Pose2d(2.286, 0.282, 0), + Translation2d(2.286, 2.286), + Translation2d(1.524, 3.810), + Translation2d(3.810, 4.572), + Pose2d(3.810, 9.144, 0), + ], + reversed=False, + ) + all_paths["A2"] = Path( # blue A + [ + Pose2d(2.286, 0.282, 0), + Translation2d(0.762, 4.572), + Translation2d(3.048, 5.334), + Translation2d(2.286, 6.858), + Pose2d(2.286, 9.144, 0), + ], + reversed=False, + ) + all_paths["B1"] = Path( # red B + [ + Pose2d(2.286, 0.282, 0), + Translation2d(3.048, 2.286), + Translation2d(1.524, 3.810), + Translation2d(3.048, 5.334), + Pose2d(3.048, 9.144, 0), + ], + reversed=False, + ) + all_paths["B2"] = Path( # blue B + [ + Pose2d(2.286, 0.282, 0), + Translation2d(1.524, 4.572), + Translation2d(3.048, 6.096), + Translation2d(1.524, 7.620), + Pose2d(1.524, 9.144, 0), + ], + reversed=False, + ) + + expected_balls = 3 + + def __init__(self) -> None: + super().__init__() + + self.path_name = None + + def setup(self): + self.path_follow: PathFollow = PathFollow(self.chassis) + self.indexer.set_max_balls(3) + self.shooter.toggle() # turns fly wheels off + self.path_confidence = 0; + self.last_path = 0 + self.confidence_thresh = 5 + + def on_enable(self) -> None: + self.indexer.lower_intake() + self.indexer.enable_intaking() + self.turret.slew_to_azimuth(0) + # self.has_zeroed = True + super().on_enable() + + @state(first=True) + def findPath(self, initial_call, state_tm): + # wait for vision to know which path its on + self.vision_data = self.vision.get_data() + # self.vision_data.distance is actually the path num not the distance + print("vison data", self.vision_data) + if self.vision_data != None: + # check if its the balls vision which will only return whole numbers + if ( + self.vision_data.distance % 1 == 0 + ): + if self.vision_data.distance == self.last_path: + self.path_confidence += 1 + else: + self.path_confidence = 0 + + if self.path_confidence > self.confidence_thresh and self.vision_data.distance != 0: # if it knowns which path its on + self.path_name = self.path_names[int(self.vision_data.distance)] + print(f"found path {self.path_name}") + self.next_state("move") + self.last_path = self.vision_data.distance + return None + else: + print("wrong vision data") + else: + print("no vision data") + self.path_confidence = 0 + + @state + def move(self, initial_call, state_tm): + if initial_call: + path = self.all_paths[self.path_name] + self.chassis.reset_odometry(path.start) + self.path_follow.new_path(path) + self.path_follow.run() + if self.path_follow.path_done(): + self.done() + + def has_collected_balls(self) -> bool: + """ + Has the robot collected all the balls for the current trajectory? + """ + ball_target = self.expected_balls + if ball_target == 0: + return False + if self.indexer.balls_loaded() >= ball_target: + return True + else: + return False diff --git a/autonomous/pathweaver_paths/.project/Paths/Barrel_Racing b/autonomous/pathweaver_paths/.project/Paths/Barrel_Racing new file mode 100644 index 00000000..266b2bb3 --- /dev/null +++ b/autonomous/pathweaver_paths/.project/Paths/Barrel_Racing @@ -0,0 +1,9 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.124,-2.3,3.048,0.0,true,false, +4.527092084799869,-3.097523450929033,-0.06736187280019656,-3.2,true,false, +3.1274620610624537,-2.7681987394614063,1.1376671850699838,1.9235557010722766,true,false, +6.92218089547352,-1.6230469018580667,0.6960726856020303,2.0358254890726037,true,false, +5.4477043464025545,-1.2712682327903744,-0.7784038634689372,-2.2304264549398383,true,false, +7.468560530408447,-3.7786268314643534,1.3921453712040597,0.26196283866743064,true,false, +7.738008021609233,-2.206849799459769,-2.4998739461406236,1.1301825325366295,true,false, +0.7024346402553819,-1.8550711303920766,-0.8682196938691987,0.02245395760006552,true,false, diff --git a/autonomous/pathweaver_paths/.project/pathweaver.json b/autonomous/pathweaver_paths/.project/pathweaver.json new file mode 100644 index 00000000..7cb5f858 --- /dev/null +++ b/autonomous/pathweaver_paths/.project/pathweaver.json @@ -0,0 +1,9 @@ +{ + "lengthUnit": "Meter", + "exportUnit": "Same as Project", + "maxVelocity": 2.4, + "maxAcceleration": 2.4, + "wheelBase": 0.8, + "gameName": "Galactic Search A", + "outputDir": ".." +} \ No newline at end of file diff --git a/autonomous/pathweaver_paths/output/Barrel_Racing.wpilib.json b/autonomous/pathweaver_paths/output/Barrel_Racing.wpilib.json new file mode 100644 index 00000000..a4992dd6 --- /dev/null +++ b/autonomous/pathweaver_paths/output/Barrel_Racing.wpilib.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/autonomous/shoot_move_shoot.py b/autonomous/shoot_move_shoot.py index 6253bd2b..b0ca35d2 100644 --- a/autonomous/shoot_move_shoot.py +++ b/autonomous/shoot_move_shoot.py @@ -135,23 +135,6 @@ def has_fired_balls(self) -> bool: return self.shooter_controller.fired_count >= balls_to_fire -class test(ShootMoveShootBase): - MODE_NAME = "Test" - DEFAULT = True - - def setup(self): - self.start_poses = [to_pose(0, 0, math.pi)] - self.end_poses = [to_pose(-2, 0, math.pi)] - self.waypoints = [[geometry.Translation2d(-1, math.pi)]] - self.trajectory_config = trajectory.TrajectoryConfig( - maxVelocity=1, maxAcceleration=1 - ) - self.expected_balls = [0] - self.reversed = [False] - self.trajectory_max = 1 - super().setup() - - class _3Right3(ShootMoveShootBase): MODE_NAME = "3RIGHT3" diff --git a/components/indexer.py b/components/indexer.py index bb5ef85f..1eec11bb 100644 --- a/components/indexer.py +++ b/components/indexer.py @@ -25,6 +25,8 @@ class Indexer: intaking = tunable(False) shimmying = tunable(False) + max_balls = tunable(5) + def __init__(self): self.clearing = False @@ -83,7 +85,7 @@ def execute(self) -> None: intake_main_motor = self.intake_main_motor if self.auto_retract: - if self.balls_loaded() >= 5: + if self.balls_loaded() >= self.max_balls: self.disable_intaking() self.raise_intake() @@ -199,3 +201,6 @@ def is_ready(self) -> bool: return ( self.injector_motor.isFwdLimitSwitchClosed() and self.is_piston_retracted() ) + + def set_max_balls(self, n: int) -> None: + self.max_balls = n diff --git a/components/turret.py b/components/turret.py index c410d753..6f48134f 100644 --- a/components/turret.py +++ b/components/turret.py @@ -171,7 +171,7 @@ def slew_to_azimuth(self, angle: float) -> None: return self.current_state = self.SLEWING turret_angle = _robot_to_turret(angle) - self.motor._slew_to_counts(int(turret_angle * self.COUNTS_PER_TURRET_RADIAN)) + self._slew_to_counts(int(turret_angle * self.COUNTS_PER_TURRET_RADIAN)) # Slew the given angle (in radians) from the current position def slew(self, angle: float) -> None: diff --git a/components/vision.py b/components/vision.py index 91fbc764..ae83025b 100644 --- a/components/vision.py +++ b/components/vision.py @@ -10,6 +10,7 @@ @dataclass class VisionData: #: The distance to the target in metres. + #: Also used as the path type with balls vision distance: float #: The angle to the target in radians. diff --git a/robot.py b/robot.py index db7c2301..690ee61e 100755 --- a/robot.py +++ b/robot.py @@ -97,6 +97,10 @@ def autonomousInit(self) -> None: self.indexer.shimmying = False self.indexer.auto_retract = False + def disabledInit(self) -> None: + self.chassis.drive(0, 0) + super().disabledInit() + def disabledPeriodic(self) -> None: self.vision.execute() diff --git a/utilities/path_follow.py b/utilities/path_follow.py new file mode 100644 index 00000000..2dc91087 --- /dev/null +++ b/utilities/path_follow.py @@ -0,0 +1,112 @@ +from typing import List + +from wpilib import controller +from wpilib import trajectory +from wpilib import Timer +from wpilib.trajectory import constraint +from wpilib.trajectory import TrajectoryUtil +from wpilib.geometry import Pose2d, Translation2d + +from components.chassis import Chassis + + +class Path: + start: Pose2d + waypoints: List[Translation2d] + end: Pose2d + reversed: bool + + def __init__(self, points, reversed) -> None: + self.start, *self.waypoints, self.end = points + self.reversed = reversed + + def getTrajectory(self, config: trajectory.TrajectoryConfig): + return trajectory.TrajectoryGenerator().generateTrajectory( + self.start, self.waypoints, self.end, config + ) + + +class LoadPath: + start: Pose2d + filename: str + reversed: bool + + def __init__(self, filename, reversed): + self.filename = filename + self.reversed = reversed + self.trajectory = TrajectoryUtil.fromPathweaverJson(self.filename) + self.start = self.trajectory.initialPose() # is used to reset odometry + print(f"loaded file {filename}") + print(f"states num: {len(self.trajectory.states())}") + + def getTrajectory(self, *_: trajectory.TrajectoryConfig): + # dosent care about the config you give it, set config through pathweaver + return self.trajectory + + +class PathFollow: + """ + A class to follow a given class, run must be called in each loop where + an output is wanted + """ + + def __init__(self, chassis: Chassis) -> None: + self.chassis = chassis + self.controller = controller.RamseteController() + self.trajectory_config = trajectory.TrajectoryConfig( + maxVelocity=2.5, maxAcceleration=1 + ) + self.gen = trajectory.TrajectoryGenerator() + self.trajectory_config.setKinematics(self.chassis.kinematics) + self.trajectory_config.addConstraint( + constraint.DifferentialDriveVoltageConstraint( + self.chassis.ff_calculator, self.chassis.kinematics, maxVoltage=10 + ) + ) + self.trajectory_config.addConstraint( + constraint.CentripetalAccelerationConstraint(2) # m/s^2 + ) + self.trajectory: trajectory.Trajectory + self.start_time: float + + def new_path(self, path: Path) -> None: + """ + Give the path follower a new path, it will abandon the current one and + follow it instead + """ + self.trajectory_config.setReversed(path.reversed) + self.trajectory = path.getTrajectory(self.trajectory_config) + self.start_time = Timer.getFPGATimestamp() + print("total path time: ", self.trajectory.totalTime()) + + def new_quintic_path(self, waypoints: List[Pose2d], reversed: bool): + """ + Give the path follower a new path, it will abandon the current one and + follow it instead. This method specifies the heading at each waypoint. + """ + self.trajectory_config.setReversed(reversed) + self.trajectory = self.gen.generateTrajectory( + waypoints, + self.trajectory_config, + ) + self.start_time = Timer.getFPGATimestamp() + + def run(self) -> None: + """ + Send the chassis control inputs for this loop + """ + if self.path_done(): + self.chassis.drive(0, 0) + else: + pos = self.chassis.get_pose() + goal = self.trajectory.sample(self.current_path_time) + speeds = self.controller.calculate(pos, goal) + self.chassis.drive(speeds.vx, speeds.omega) + + def path_done(self) -> bool: + """ + Check to see if enough time has passed to complete the path + """ + # TODO investigate closing the loop here + self.current_path_time = Timer.getFPGATimestamp() - self.start_time + return self.current_path_time > self.trajectory.totalTime()