-
Notifications
You must be signed in to change notification settings - Fork 196
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #111 from Technologyman00/New-Drive-Mode
Adding Alternative Drive Mode for Rotation Shortcut Buttons and Right Stick Rotation Adjustment
- Loading branch information
Showing
4 changed files
with
171 additions
and
2 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
152 changes: 152 additions & 0 deletions
152
src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.swervedrive.drivebase; | ||
|
|
||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.kinematics.ChassisSpeeds; | ||
| import edu.wpi.first.networktables.BooleanSubscriber; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.swervedrive.SwerveSubsystem; | ||
| import java.util.List; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.function.DoubleSupplier; | ||
| import swervelib.SwerveController; | ||
| import swervelib.math.SwerveMath; | ||
|
|
||
| /** | ||
| * A more advanced Swerve Control System that has 4 buttons for which direction to face | ||
| */ | ||
| public class AbsoluteDriveAdv extends CommandBase | ||
| { | ||
|
|
||
| private final SwerveSubsystem swerve; | ||
| private final DoubleSupplier vX, vY; | ||
| private final DoubleSupplier headingAdjust; | ||
| private boolean initRotation = false; | ||
| private final BooleanSupplier lookAway, lookTowards, lookLeft, lookRight; | ||
|
|
||
| /** | ||
| * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is | ||
| * torwards/away from alliance wall and y is left/right. Heading Adjust changes the current heading after being | ||
| * multipied by a constant. The look booleans are shortcuts to get the robot to face a certian direction. | ||
| * Based off of ideas in https://www.chiefdelphi.com/t/experiments-with-a-swerve-steering-knob/446172 | ||
| * | ||
| * @param swerve The swerve drivebase subsystem. | ||
| * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 | ||
| * to 1 with deadband already accounted for. Positive X is away from the alliance wall. | ||
| * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 | ||
| * to 1 with deadband already accounted for. Positive Y is towards the left wall when | ||
| * looking through the driver station glass. | ||
| * @param headingAdjust DoubleSupplier that supplies the component of the robot's heading angle that should be adjusted. | ||
| * Should range from -1 to 1 with deadband already accounted for. | ||
| * @param lookAway Face the robot towards the opposing alliance's wall in the same direction the driver is facing | ||
| * @param lookTowards Face the robot towards the driver | ||
| * @param lookLeft Face the robot left | ||
| * @param lookRight Face the robot right | ||
| */ | ||
| public AbsoluteDriveAdv(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingAdjust, | ||
| BooleanSupplier lookAway, BooleanSupplier lookTowards, BooleanSupplier lookLeft, BooleanSupplier lookRight) | ||
| { | ||
| this.swerve = swerve; | ||
| this.vX = vX; | ||
| this.vY = vY; | ||
| this.headingAdjust = headingAdjust; | ||
| this.lookAway = lookAway; | ||
| this.lookTowards = lookTowards; | ||
| this.lookLeft = lookLeft; | ||
| this.lookRight = lookRight; | ||
|
|
||
| addRequirements(swerve); | ||
| } | ||
|
|
||
| @Override | ||
| public void initialize() | ||
| { | ||
| initRotation = true; | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() | ||
| { | ||
| double headingX = 0; | ||
| double headingY = 0; | ||
| Rotation2d newHeading = Rotation2d.fromRadians(0); | ||
|
|
||
| // These are written to allow combinations for 45 angles | ||
| // Face Away from Drivers | ||
| if(lookAway.getAsBoolean()){ | ||
| headingX = 1; | ||
| } | ||
| // Face Right | ||
| if(lookRight.getAsBoolean()){ | ||
| headingY = 1; | ||
| } | ||
| // Face Left | ||
| if(lookLeft.getAsBoolean()){ | ||
| headingY = -1; | ||
| } | ||
| // Face Towards the Drivers | ||
| if(lookTowards.getAsBoolean()){ | ||
| headingX = -1; | ||
| } | ||
|
|
||
| //Dont overwrite a button press | ||
| if(headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) > 0){ | ||
| newHeading = Rotation2d.fromRadians(Constants.OperatorConstants.TURN_CONSTANT * -headingAdjust.getAsDouble()) | ||
| .plus(swerve.getHeading()); | ||
| headingX = newHeading.getSin(); | ||
| headingY = newHeading.getCos(); | ||
| } | ||
|
|
||
| ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), | ||
| headingX, | ||
| headingY); | ||
|
|
||
| // Prevent Movement After Auto | ||
| if(initRotation) | ||
| { | ||
| if(headingX == 0 && headingY == 0) | ||
| { | ||
| // Get the curretHeading | ||
| Rotation2d firstLoopHeading = swerve.getHeading(); | ||
|
|
||
| // Set the Current Heading to the desired Heading | ||
| desiredSpeeds = swerve.getTargetSpeeds(0, 0, firstLoopHeading.getSin(), firstLoopHeading.getCos()); | ||
| } | ||
| //Dont Init Rotation Again | ||
| initRotation = false; | ||
| } | ||
|
|
||
| // Limit velocity to prevent tippy | ||
| Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); | ||
| translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), | ||
| Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), | ||
| swerve.getSwerveDriveConfiguration()); | ||
| SmartDashboard.putNumber("LimitedTranslation", translation.getX()); | ||
| SmartDashboard.putString("Translation", translation.toString()); | ||
|
|
||
| // Make the robot move | ||
| swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) | ||
| { | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() | ||
| { | ||
| return false; | ||
| } | ||
|
|
||
|
|
||
| } |