mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
68fc1e7129
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more. Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
289 lines
11 KiB
C++
289 lines
11 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "subsystems/SwerveDriveSim.h"
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#include <wpi/math/system/Discretization.hpp>
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#include <wpi/system/RobotController.hpp>
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template <typename T>
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int sgn(T val) {
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return (T(0) < val) - (val < T(0));
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}
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SwerveDriveSim::SwerveDriveSim(
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const wpi::math::SimpleMotorFeedforward<wpi::units::meters>& driveFF,
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const wpi::math::DCMotor& driveMotor, double driveGearing,
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wpi::units::meter_t driveWheelRadius,
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const wpi::math::SimpleMotorFeedforward<wpi::units::radians>& steerFF,
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const wpi::math::DCMotor& steerMotor, double steerGearing,
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const wpi::math::SwerveDriveKinematics<numModules>& kinematics)
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: SwerveDriveSim(
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wpi::math::LinearSystem<2, 1, 2>{
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(Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
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-driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
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.finished(),
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Eigen::Matrix<double, 2, 1>{0.0,
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1.0 / driveFF.GetKa().to<double>()},
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(Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
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Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
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driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
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wpi::math::LinearSystem<2, 1, 2>{
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(Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
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-steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
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.finished(),
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Eigen::Matrix<double, 2, 1>{0.0,
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1.0 / steerFF.GetKa().to<double>()},
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(Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
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Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
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steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}
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SwerveDriveSim::SwerveDriveSim(
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const wpi::math::LinearSystem<2, 1, 2>& drivePlant,
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wpi::units::volt_t driveKs, const wpi::math::DCMotor& driveMotor,
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double driveGearing, wpi::units::meter_t driveWheelRadius,
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const wpi::math::LinearSystem<2, 1, 2>& steerPlant,
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wpi::units::volt_t steerKs, const wpi::math::DCMotor& steerMotor,
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double steerGearing,
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const wpi::math::SwerveDriveKinematics<numModules>& kinematics)
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: drivePlant(drivePlant),
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driveKs(driveKs),
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driveMotor(driveMotor),
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driveGearing(driveGearing),
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driveWheelRadius(driveWheelRadius),
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steerPlant(steerPlant),
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steerKs(steerKs),
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steerMotor(steerMotor),
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steerGearing(steerGearing),
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kinematics(kinematics) {}
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void SwerveDriveSim::SetDriveInputs(
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const std::array<wpi::units::volt_t, numModules>& inputs) {
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wpi::units::volt_t battVoltage = wpi::RobotController::GetBatteryVoltage();
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for (int i = 0; i < driveInputs.size(); i++) {
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wpi::units::volt_t input = inputs[i];
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driveInputs[i] = std::clamp(input, -battVoltage, battVoltage);
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}
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}
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void SwerveDriveSim::SetSteerInputs(
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const std::array<wpi::units::volt_t, numModules>& inputs) {
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wpi::units::volt_t battVoltage = wpi::RobotController::GetBatteryVoltage();
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for (int i = 0; i < steerInputs.size(); i++) {
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wpi::units::volt_t input = inputs[i];
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steerInputs[i] = std::clamp(input, -battVoltage, battVoltage);
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}
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}
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Eigen::Matrix<double, 2, 1> SwerveDriveSim::CalculateX(
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const Eigen::Matrix<double, 2, 2>& discA,
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const Eigen::Matrix<double, 2, 1>& discB,
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const Eigen::Matrix<double, 2, 1>& x, wpi::units::volt_t input,
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wpi::units::volt_t kS) {
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auto Ax = discA * x;
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double nextStateVel = Ax(1, 0);
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double inputToStop = nextStateVel / -discB(1, 0);
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double ksSystemEffect =
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std::clamp(inputToStop, -kS.to<double>(), kS.to<double>());
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nextStateVel += discB(1, 0) * ksSystemEffect;
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inputToStop = nextStateVel / -discB(1, 0);
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double signToStop = sgn(inputToStop);
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double inputSign = sgn(input.to<double>());
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double ksInputEffect = 0;
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if (std::abs(ksSystemEffect) < kS.to<double>()) {
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double absInput = std::abs(input.to<double>());
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ksInputEffect =
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-std::clamp(kS.to<double>() * inputSign, -absInput, absInput);
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} else if ((input.to<double>() * signToStop) > (inputToStop * signToStop)) {
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double absInput = std::abs(input.to<double>() - inputToStop);
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ksInputEffect =
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-std::clamp(kS.to<double>() * inputSign, -absInput, absInput);
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}
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auto sF = Eigen::Matrix<double, 1, 1>{input.to<double>() + ksSystemEffect +
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ksInputEffect};
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auto Bu = discB * sF;
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auto retVal = Ax + Bu;
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return retVal;
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}
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void SwerveDriveSim::Update(wpi::units::second_t dt) {
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Eigen::Matrix<double, 2, 2> driveDiscA;
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Eigen::Matrix<double, 2, 1> driveDiscB;
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wpi::math::DiscretizeABAB<2, 1>(drivePlant.A(), drivePlant.B(), dt,
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&driveDiscA, &driveDiscB);
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Eigen::Matrix<double, 2, 2> steerDiscA;
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Eigen::Matrix<double, 2, 1> steerDiscB;
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wpi::math::DiscretizeABAB<2, 1>(steerPlant.A(), steerPlant.B(), dt,
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&steerDiscA, &steerDiscB);
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std::array<wpi::math::SwerveModulePosition, 4> moduleDeltas;
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for (int i = 0; i < numModules; i++) {
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double prevDriveStatePos = driveStates[i](0, 0);
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driveStates[i] = CalculateX(driveDiscA, driveDiscB, driveStates[i],
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driveInputs[i], driveKs);
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double currentDriveStatePos = driveStates[i](0, 0);
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steerStates[i] = CalculateX(steerDiscA, steerDiscB, steerStates[i],
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steerInputs[i], steerKs);
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double currentSteerStatePos = steerStates[i](0, 0);
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moduleDeltas[i] = wpi::math::SwerveModulePosition{
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wpi::units::meter_t{currentDriveStatePos - prevDriveStatePos},
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wpi::math::Rotation2d{wpi::units::radian_t{currentSteerStatePos}}};
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}
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wpi::math::Twist2d twist = kinematics.ToTwist2d(moduleDeltas);
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pose = pose.Exp(twist);
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omega = twist.dtheta / dt;
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}
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void SwerveDriveSim::Reset(const wpi::math::Pose2d& pose, bool preserveMotion) {
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this->pose = pose;
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if (!preserveMotion) {
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for (int i = 0; i < numModules; i++) {
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driveStates[i] = Eigen::Matrix<double, 2, 1>{0, 0};
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steerStates[i] = Eigen::Matrix<double, 2, 1>{0, 0};
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}
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omega = 0_rad_per_s;
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}
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}
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void SwerveDriveSim::Reset(const wpi::math::Pose2d& pose,
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const std::array<Eigen::Matrix<double, 2, 1>,
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numModules>& moduleDriveStates,
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const std::array<Eigen::Matrix<double, 2, 1>,
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numModules>& moduleSteerStates) {
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this->pose = pose;
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driveStates = moduleDriveStates;
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steerStates = moduleSteerStates;
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omega = kinematics.ToChassisSpeeds(GetModuleStates()).omega;
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}
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wpi::math::Pose2d SwerveDriveSim::GetPose() const { return pose; }
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std::array<wpi::math::SwerveModulePosition, numModules>
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SwerveDriveSim::GetModulePositions() const {
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std::array<wpi::math::SwerveModulePosition, numModules> positions;
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for (int i = 0; i < numModules; i++) {
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positions[i] = wpi::math::SwerveModulePosition{
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wpi::units::meter_t{driveStates[i](0, 0)},
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wpi::math::Rotation2d{wpi::units::radian_t{steerStates[i](0, 0)}}};
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}
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return positions;
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}
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std::array<wpi::math::SwerveModulePosition, numModules>
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SwerveDriveSim::GetNoisyModulePositions(wpi::units::meter_t driveStdDev,
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wpi::units::radian_t steerStdDev) {
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std::array<wpi::math::SwerveModulePosition, numModules> positions;
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for (int i = 0; i < numModules; i++) {
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positions[i] = wpi::math::SwerveModulePosition{
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wpi::units::meter_t{driveStates[i](0, 0)} +
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randDist(generator) * driveStdDev,
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wpi::math::Rotation2d{wpi::units::radian_t{steerStates[i](0, 0)} +
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randDist(generator) * steerStdDev}};
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}
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return positions;
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}
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std::array<wpi::math::SwerveModuleState, numModules>
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SwerveDriveSim::GetModuleStates() {
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std::array<wpi::math::SwerveModuleState, numModules> states;
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for (int i = 0; i < numModules; i++) {
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states[i] = wpi::math::SwerveModuleState{
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wpi::units::meters_per_second_t{driveStates[i](1, 0)},
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wpi::math::Rotation2d{wpi::units::radian_t{steerStates[i](0, 0)}}};
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}
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return states;
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}
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std::array<Eigen::Matrix<double, 2, 1>, numModules>
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SwerveDriveSim::GetDriveStates() const {
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return driveStates;
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}
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std::array<Eigen::Matrix<double, 2, 1>, numModules>
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SwerveDriveSim::GetSteerStates() const {
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return steerStates;
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}
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wpi::units::radians_per_second_t SwerveDriveSim::GetOmega() const {
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return omega;
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}
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wpi::units::ampere_t SwerveDriveSim::GetCurrentDraw(
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const wpi::math::DCMotor& motor, wpi::units::radians_per_second_t velocity,
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wpi::units::volt_t inputVolts, wpi::units::volt_t batteryVolts) const {
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wpi::units::volt_t effVolts = inputVolts - velocity / motor.Kv;
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if (inputVolts >= 0_V) {
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effVolts = std::clamp(effVolts, 0_V, inputVolts);
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} else {
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effVolts = std::clamp(effVolts, inputVolts, 0_V);
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}
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auto retVal = (inputVolts / batteryVolts) * (effVolts / motor.R);
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return retVal;
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}
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std::array<wpi::units::ampere_t, numModules>
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SwerveDriveSim::GetDriveCurrentDraw() const {
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std::array<wpi::units::ampere_t, numModules> currents;
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for (int i = 0; i < numModules; i++) {
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wpi::units::radians_per_second_t speed =
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wpi::units::radians_per_second_t{driveStates[i](1, 0)} * driveGearing /
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driveWheelRadius.to<double>();
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currents[i] = GetCurrentDraw(driveMotor, speed, driveInputs[i],
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wpi::RobotController::GetBatteryVoltage());
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}
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return currents;
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}
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std::array<wpi::units::ampere_t, numModules>
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SwerveDriveSim::GetSteerCurrentDraw() const {
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std::array<wpi::units::ampere_t, numModules> currents;
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for (int i = 0; i < numModules; i++) {
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wpi::units::radians_per_second_t speed =
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wpi::units::radians_per_second_t{steerStates[i](1, 0) * steerGearing};
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// TODO: If uncommented we get huge current values.. Not sure how to fix
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// atm. :(
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currents[i] = 20_A;
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// currents[i] = GetCurrentDraw(steerMotor, speed, steerInputs[i],
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// wpi::RobotController::GetBatteryVoltage());
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}
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return currents;
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}
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wpi::units::ampere_t SwerveDriveSim::GetTotalCurrentDraw() const {
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wpi::units::ampere_t total{0};
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for (const auto& val : GetDriveCurrentDraw()) {
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total += val;
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}
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for (const auto& val : GetSteerCurrentDraw()) {
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total += val;
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}
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return total;
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}
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