mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-21 06:31:40 +00:00
Added support for trajectory following
This commit is contained in:
thenetworkgrinch
244
swervelib/commands/CustomSwerveControllerCommand.java
Normal file
244
swervelib/commands/CustomSwerveControllerCommand.java
Normal file
@@ -0,0 +1,244 @@
|
||||
// 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.subsystems.swervedrive.swerve.commands;
|
||||
|
||||
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
|
||||
|
||||
import edu.wpi.first.math.controller.HolonomicDriveController;
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.controller.ProfiledPIDController;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.trajectory.Trajectory;
|
||||
import edu.wpi.first.wpilibj.Timer;
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import edu.wpi.first.wpilibj2.command.Subsystem;
|
||||
import java.util.function.Consumer;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
/**
|
||||
* A command that uses two PID controllers ({@link PIDController}) and a ProfiledPIDController
|
||||
* ({@link ProfiledPIDController}) to follow a trajectory {@link Trajectory} with a swerve drive.
|
||||
*
|
||||
* <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState}) in an
|
||||
* array. The desired wheel and module rotation velocities should be taken from those and used in velocity PIDs.
|
||||
*
|
||||
* <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
|
||||
* to the angle given in the final state of the trajectory.
|
||||
*
|
||||
* <p>This class is provided by the NewCommands VendorDep
|
||||
*/
|
||||
public class CustomSwerveControllerCommand extends CommandBase
|
||||
{
|
||||
|
||||
private final Timer m_timer = new Timer();
|
||||
private final Trajectory m_trajectory;
|
||||
private final Supplier<Pose2d> m_pose;
|
||||
private final SwerveDriveKinematics m_kinematics;
|
||||
private final HolonomicDriveController m_controller;
|
||||
private final Consumer<ChassisSpeeds> m_outputModuleStates;
|
||||
private final Supplier<Rotation2d> m_desiredRotation;
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. This command will
|
||||
* not return output voltages but rather raw module states from the position controllers which need to be put into a
|
||||
* velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path.
|
||||
* This is left to the user to do since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of the odometry classes to provide
|
||||
* this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
|
||||
* @param desiredRotation The angle that the drivetrain should be facing. This is sampled at each time step.
|
||||
* @param outputModuleStates The raw output module states from the position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
public CustomSwerveControllerCommand(
|
||||
Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
Supplier<Rotation2d> desiredRotation,
|
||||
Consumer<ChassisSpeeds> outputModuleStates,
|
||||
Subsystem... requirements)
|
||||
{
|
||||
this(
|
||||
trajectory,
|
||||
pose,
|
||||
kinematics,
|
||||
new HolonomicDriveController(
|
||||
requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
|
||||
requireNonNullParam(yController, "yController", "SwerveControllerCommand"),
|
||||
requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand")),
|
||||
desiredRotation,
|
||||
outputModuleStates,
|
||||
requirements);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. This command will
|
||||
* not return output voltages but rather raw module states from the position controllers which need to be put into a
|
||||
* velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path.
|
||||
* This is left to the user since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
|
||||
* trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior
|
||||
* is desired, the other constructor with a supplier for rotation should be used.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of the odometry classes to provide
|
||||
* this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
|
||||
* @param outputModuleStates The raw output module states from the position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
public CustomSwerveControllerCommand(
|
||||
Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
Consumer<ChassisSpeeds> outputModuleStates,
|
||||
Subsystem... requirements)
|
||||
{
|
||||
this(
|
||||
trajectory,
|
||||
pose,
|
||||
kinematics,
|
||||
xController,
|
||||
yController,
|
||||
thetaController,
|
||||
() ->
|
||||
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
|
||||
outputModuleStates,
|
||||
requirements);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. This command will
|
||||
* not return output voltages but rather raw module states from the position controllers which need to be put into a
|
||||
* velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
|
||||
* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
|
||||
* trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior
|
||||
* is desired, the other constructor with a supplier for rotation should be used.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of the odometry classes to provide
|
||||
* this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param controller The HolonomicDriveController for the drivetrain.
|
||||
* @param outputModuleStates The raw output module states from the position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
public CustomSwerveControllerCommand(
|
||||
Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
HolonomicDriveController controller,
|
||||
Consumer<ChassisSpeeds> outputModuleStates,
|
||||
Subsystem... requirements)
|
||||
{
|
||||
this(
|
||||
trajectory,
|
||||
pose,
|
||||
kinematics,
|
||||
controller,
|
||||
() ->
|
||||
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
|
||||
outputModuleStates,
|
||||
requirements);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. This command will
|
||||
* not return output voltages but rather raw module states from the position controllers which need to be put into a
|
||||
* velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
|
||||
* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of the odometry classes to provide
|
||||
* this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param controller The HolonomicDriveController for the drivetrain.
|
||||
* @param desiredRotation The angle that the drivetrain should be facing. This is sampled at each time step.
|
||||
* @param outputModuleStates The raw output module states from the position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
public CustomSwerveControllerCommand(
|
||||
Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
HolonomicDriveController controller,
|
||||
Supplier<Rotation2d> desiredRotation,
|
||||
Consumer<ChassisSpeeds> outputModuleStates,
|
||||
Subsystem... requirements)
|
||||
{
|
||||
m_trajectory = requireNonNullParam(trajectory, "trajectory", "SwerveControllerCommand");
|
||||
m_pose = requireNonNullParam(pose, "pose", "SwerveControllerCommand");
|
||||
m_kinematics = requireNonNullParam(kinematics, "kinematics", "SwerveControllerCommand");
|
||||
m_controller = requireNonNullParam(controller, "controller", "SwerveControllerCommand");
|
||||
|
||||
m_desiredRotation =
|
||||
requireNonNullParam(desiredRotation, "desiredRotation", "SwerveControllerCommand");
|
||||
|
||||
m_outputModuleStates =
|
||||
requireNonNullParam(outputModuleStates, "outputModuleStates", "SwerveControllerCommand");
|
||||
|
||||
addRequirements(requirements);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize()
|
||||
{
|
||||
m_timer.reset();
|
||||
m_timer.start();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute()
|
||||
{
|
||||
double curTime = m_timer.get();
|
||||
var desiredState = m_trajectory.sample(curTime);
|
||||
|
||||
var targetChassisSpeeds =
|
||||
m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
|
||||
|
||||
m_outputModuleStates.accept(targetChassisSpeeds);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted)
|
||||
{
|
||||
m_timer.stop();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished()
|
||||
{
|
||||
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user