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Update Java Simulation Examples (#913)

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Removes apriltagExample and simposeest, replacing them with swervedriveposeestsim

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
amquake
2023-10-05 05:57:38 -07:00
committed by GitHub
parent 65d5494ab3
commit ce0d28da93
65 changed files with 1859 additions and 2011 deletions
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photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Robot.java Normal file
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/*
* MIT License
*
* Copyright (c) PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package frc.robot;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import frc.robot.subsystems.drivetrain.SwerveDrive;
import java.util.Random;
public class Robot extends TimedRobot {
private SwerveDrive drivetrain;
private Vision vision;
private XboxController controller;
// Limit max speed
private final double kDriveSpeed = 0.6;
// Rudimentary limiting of drivetrain acceleration
private SlewRateLimiter forwardLimiter = new SlewRateLimiter(1.0 / 0.6); // 1 / x seconds to 100%
private SlewRateLimiter strafeLimiter = new SlewRateLimiter(1.0 / 0.6);
private SlewRateLimiter turnLimiter = new SlewRateLimiter(1.0 / 0.33);
private Timer autoTimer = new Timer();
private Random rand = new Random(4512);
@Override
public void robotInit() {
drivetrain = new SwerveDrive();
vision = new Vision();
controller = new XboxController(0);
}
@Override
public void robotPeriodic() {
drivetrain.periodic();
// Correct pose estimate with vision measurements
var visionEst = vision.getEstimatedGlobalPose();
visionEst.ifPresent(
est -> {
var estPose = est.estimatedPose.toPose2d();
// Change our trust in the measurement based on the tags we can see
var estStdDevs = vision.getEstimationStdDevs(estPose);
drivetrain.addVisionMeasurement(
est.estimatedPose.toPose2d(), est.timestampSeconds, estStdDevs);
});
// Apply a random offset to pose estimator to test vision correction
if (controller.getBButtonPressed()) {
var trf =
new Transform2d(
new Translation2d(rand.nextDouble() * 4 - 2, rand.nextDouble() * 4 - 2),
new Rotation2d(rand.nextDouble() * 2 * Math.PI));
drivetrain.resetPose(drivetrain.getPose().plus(trf), false);
}
// Log values to the dashboard
drivetrain.log();
}
@Override
public void disabledPeriodic() {
drivetrain.stop();
}
@Override
public void autonomousInit() {
autoTimer.restart();
var pose = new Pose2d(1, 1, new Rotation2d());
drivetrain.resetPose(pose, true);
vision.resetSimPose(pose);
}
@Override
public void autonomousPeriodic() {
// translate diagonally while spinning
if (autoTimer.get() < 10) {
drivetrain.drive(0.5, 0.5, 0.5, false);
} else {
autoTimer.stop();
drivetrain.stop();
}
}
@Override
public void teleopPeriodic() {
// We will use an "arcade drive" scheme to turn joystick values into target robot speeds
// We want to get joystick values where pushing forward/left is positive
double forward = -controller.getLeftY() * kDriveSpeed;
if (Math.abs(forward) < 0.1) forward = 0; // deadband small values
forward = forwardLimiter.calculate(forward); // limit acceleration
double strafe = -controller.getLeftX() * kDriveSpeed;
if (Math.abs(strafe) < 0.1) strafe = 0;
strafe = strafeLimiter.calculate(strafe);
double turn = -controller.getRightX() * kDriveSpeed;
if (Math.abs(turn) < 0.1) turn = 0;
turn = turnLimiter.calculate(turn);
// Convert from joystick values to real target speeds
forward *= Constants.Swerve.kMaxLinearSpeed;
strafe *= Constants.Swerve.kMaxLinearSpeed;
turn *= Constants.Swerve.kMaxLinearSpeed;
// Command drivetrain motors based on target speeds
drivetrain.drive(forward, strafe, turn, true);
}
@Override
public void simulationPeriodic() {
// Update drivetrain simulation
drivetrain.simulationPeriodic();
// Update camera simulation
vision.simulationPeriodic(drivetrain.getSimPose());
var debugField = vision.getSimDebugField();
debugField.getObject("EstimatedRobot").setPose(drivetrain.getPose());
debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
// Calculate battery voltage sag due to current draw
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
}
}