package swervelib;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
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.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.XboxController;
import java.util.Optional;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
import swervelib.math.SwerveMath;
/**
* Helper class to easily transform Controller inputs into workable Chassis speeds. Intended to easily create an
* interface that generates {@link ChassisSpeeds} from {@link XboxController}
*
*
Inspired by SciBorgs FRC 1155.
Example:
*
* {@code
* XboxController driverXbox = new XboxController(0);
*
* SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(),
* () -> driverXbox.getLeftY() * -1,
* () -> driverXbox.getLeftX() * -1) // Axis which give the desired translational angle and speed.
* .withControllerRotationAxis(driverXbox::getRightX) // Axis which give the desired angular velocity.
* .deadband(0.01) // Controller deadband
* .scaleTranslation(0.8) // Scaled controller translation axis
* .allianceRelativeControl(true); // Alliance relative controls.
*
* SwerveInputStream driveDirectAngle = driveAngularVelocity.copy() // Copy the stream so further changes do not affect driveAngularVelocity
* .withControllerHeadingAxis(driverXbox::getRightX,
* driverXbox::getRightY) // Axis which give the desired heading angle using trigonometry.
* .headingWhile(true); // Enable heading based control.
* }
*
*/
public class SwerveInputStream implements Supplier
{
/**
* Translation suppliers.
*/
private final DoubleSupplier controllerTranslationX;
/**
* Translational supplier.
*/
private final DoubleSupplier controllerTranslationY;
/**
* {@link SwerveDrive} object for transformations.
*/
private final SwerveDrive swerveDrive;
/**
* Rotation supplier as angular velocity.
*/
private Optional controllerOmega = Optional.empty();
/**
* Controller supplier as heading.
*/
private Optional controllerHeadingX = Optional.empty();
/**
* Controller supplier as heading.
*/
private Optional controllerHeadingY = Optional.empty();
/**
* Axis deadband for the controller.
*/
private Optional axisDeadband = Optional.empty();
/**
* Translational axis scalar value, should be between (0, 1].
*/
private Optional translationAxisScale = Optional.empty();
/**
* Angular velocity axis scalar value, should be between (0, 1]
*/
private Optional omegaAxisScale = Optional.empty();
/**
* Target to aim at.
*/
private Optional aimTarget = Optional.empty();
/**
* Output {@link ChassisSpeeds} based on heading while this is True.
*/
private Optional headingEnabled = Optional.empty();
/**
* Locked heading for {@link SwerveInputMode#TRANSLATION_ONLY}
*/
private Optional lockedHeading = Optional.empty();
/**
* Output {@link ChassisSpeeds} based on aim while this is True.
*/
private Optional aimEnabled = Optional.empty();
/**
* Maintain current heading and drive without rotating, ideally.
*/
private Optional translationOnlyEnabled = Optional.empty();
/**
* Cube the translation magnitude from the controller.
*/
private Optional translationCube = Optional.empty();
/**
* Cube the angular velocity axis from the controller.
*/
private Optional omegaCube = Optional.empty();
/**
* Robot relative oriented output expected.
*/
private Optional robotRelative = Optional.empty();
/**
* Field oriented chassis output is relative to your current alliance.
*/
private Optional allianceRelative = Optional.empty();
/**
* {@link SwerveController} for simple control over heading.
*/
private SwerveController swerveController = null;
/**
* Current {@link SwerveInputMode} to use.
*/
private SwerveInputMode currentMode = SwerveInputMode.ANGULAR_VELOCITY;
/**
* Create a {@link SwerveInputStream} for an easy way to generate {@link ChassisSpeeds} from a driver controller.
*
* @param drive {@link SwerveDrive} object for transformation.
* @param x Translation X input in range of [-1, 1]
* @param y Translation Y input in range of [-1, 1]
*/
private SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y)
{
controllerTranslationX = x;
controllerTranslationY = y;
swerveDrive = drive;
}
/**
* Create a {@link SwerveInputStream} for an easy way to generate {@link ChassisSpeeds} from a driver controller.
*
* @param drive {@link SwerveDrive} object for transformation.
* @param x Translation X input in range of [-1, 1]
* @param y Translation Y input in range of [-1, 1]
* @param rot Rotation input in range of [-1, 1]
*/
public SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot)
{
this(drive, x, y);
controllerOmega = Optional.of(rot);
}
/**
* Create a {@link SwerveInputStream} for an easy way to generate {@link ChassisSpeeds} from a driver controller.
*
* @param drive {@link SwerveDrive} object for transformation.
* @param x Translation X input in range of [-1, 1]
* @param y Translation Y input in range of [-1, 1]
* @param headingX Heading X input in range of [-1, 1]
* @param headingY Heading Y input in range of [-1, 1]
*/
public SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier headingX,
DoubleSupplier headingY)
{
this(drive, x, y);
controllerHeadingX = Optional.of(headingX);
controllerHeadingY = Optional.of(headingY);
}
/**
* Create basic {@link SwerveInputStream} without any rotation components.
*
* @param drive {@link SwerveDrive} object for transformation.
* @param x {@link DoubleSupplier} of the translation X axis of the controller joystick to use.
* @param y {@link DoubleSupplier} of the translation X axis of the controller joystick to use.
* @return {@link SwerveInputStream} to use as you see fit.
*/
public static SwerveInputStream of(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y)
{
return new SwerveInputStream(drive, x, y);
}
/**
* Copy the {@link SwerveInputStream} object.
*
* @return Clone of current {@link SwerveInputStream}
*/
public SwerveInputStream copy()
{
SwerveInputStream newStream = new SwerveInputStream(swerveDrive, controllerTranslationX, controllerTranslationY);
newStream.controllerOmega = controllerOmega;
newStream.controllerHeadingX = controllerHeadingX;
newStream.controllerHeadingY = controllerHeadingY;
newStream.axisDeadband = axisDeadband;
newStream.translationAxisScale = translationAxisScale;
newStream.omegaAxisScale = omegaAxisScale;
newStream.aimTarget = aimTarget;
newStream.headingEnabled = headingEnabled;
newStream.aimEnabled = aimEnabled;
newStream.currentMode = currentMode;
newStream.translationOnlyEnabled = translationOnlyEnabled;
newStream.lockedHeading = lockedHeading;
newStream.swerveController = swerveController;
newStream.omegaCube = omegaCube;
newStream.translationCube = translationCube;
newStream.robotRelative = robotRelative;
newStream.allianceRelative = allianceRelative;
return newStream;
}
/**
* Set the stream to output robot relative {@link ChassisSpeeds}
*
* @param enabled Robot-Relative {@link ChassisSpeeds} output.
* @return self
*/
public SwerveInputStream robotRelative(BooleanSupplier enabled)
{
robotRelative = Optional.of(enabled);
return this;
}
/**
* Set the stream to output robot relative {@link ChassisSpeeds}
*
* @param enabled Robot-Relative {@link ChassisSpeeds} output.
* @return self
*/
public SwerveInputStream robotRelative(boolean enabled)
{
robotRelative = enabled ? Optional.of(() -> enabled) : Optional.empty();
return this;
}
/**
* Modify the output {@link ChassisSpeeds} so that it is always relative to your alliance.
*
* @param enabled Alliance aware {@link ChassisSpeeds} output.
* @return self
*/
public SwerveInputStream allianceRelativeControl(BooleanSupplier enabled)
{
allianceRelative = Optional.of(enabled);
return this;
}
/**
* Modify the output {@link ChassisSpeeds} so that it is always relative to your alliance.
*
* @param enabled Alliance aware {@link ChassisSpeeds} output.
* @return self
*/
public SwerveInputStream allianceRelativeControl(boolean enabled)
{
allianceRelative = enabled ? Optional.of(() -> enabled) : Optional.empty();
return this;
}
/**
* Cube the angular velocity controller axis for a non-linear controls scheme.
*
* @param enabled Enabled state for the stream.
* @return self.
*/
public SwerveInputStream cubeRotationControllerAxis(BooleanSupplier enabled)
{
omegaCube = Optional.of(enabled);
return this;
}
/**
* Cube the angular velocity controller axis for a non-linear controls scheme.
*
* @param enabled Enabled state for the stream.
* @return self.
*/
public SwerveInputStream cubeRotationControllerAxis(boolean enabled)
{
omegaCube = Optional.of(() -> enabled);
return this;
}
/**
* Cube the translation axis magnitude for a non-linear control scheme.
*
* @param enabled Enabled state for the stream
* @return self
*/
public SwerveInputStream cubeTranslationControllerAxis(BooleanSupplier enabled)
{
translationOnlyEnabled = Optional.of(enabled);
return this;
}
/**
* Cube the translation axis magnitude for a non-linear control scheme
*
* @param enabled Enabled state for the stream
* @return self
*/
public SwerveInputStream cubeTranslationControllerAxis(boolean enabled)
{
translationCube = enabled ? Optional.of(() -> enabled) : Optional.empty();
return this;
}
/**
* Add a rotation axis for Angular Velocity control
*
* @param rot Rotation axis with values from [-1, 1]
* @return self
*/
public SwerveInputStream withControllerRotationAxis(DoubleSupplier rot)
{
controllerOmega = Optional.of(rot);
return this;
}
/**
* Add heading axis for Heading based control.
*
* @param headingX Heading X axis with values from [-1, 1]
* @param headingY Heading Y axis with values from [-1, 1]
* @return self
*/
public SwerveInputStream withControllerHeadingAxis(DoubleSupplier headingX, DoubleSupplier headingY)
{
controllerHeadingX = Optional.of(headingX);
controllerHeadingY = Optional.of(headingY);
return this;
}
/**
* Set a deadband for all controller axis.
*
* @param deadband Deadband to set, should be between [0, 1)
* @return self
*/
public SwerveInputStream deadband(double deadband)
{
axisDeadband = deadband == 0 ? Optional.empty() : Optional.of(deadband);
return this;
}
/**
* Scale the translation axis for {@link SwerveInputStream} by a constant scalar value.
*
* @param scaleTranslation Translation axis scalar value. (0, 1]
* @return this
*/
public SwerveInputStream scaleTranslation(double scaleTranslation)
{
translationAxisScale = scaleTranslation == 0 ? Optional.empty() : Optional.of(scaleTranslation);
return this;
}
/**
* Scale the rotation axis input for {@link SwerveInputStream} to reduce the range in which they operate.
*
* @param scaleRotation Angular velocity axis scalar value. (0, 1]
* @return this
*/
public SwerveInputStream scaleRotation(double scaleRotation)
{
omegaAxisScale = scaleRotation == 0 ? Optional.empty() : Optional.of(scaleRotation);
return this;
}
/**
* Output {@link ChassisSpeeds} based on heading while the supplier is True.
*
* @param trigger Supplier to use.
* @return this.
*/
public SwerveInputStream headingWhile(BooleanSupplier trigger)
{
headingEnabled = Optional.of(trigger);
return this;
}
/**
* Set the heading enable state.
*
* @param headingState Heading enabled state.
* @return this
*/
public SwerveInputStream headingWhile(boolean headingState)
{
if (headingState)
{
headingEnabled = Optional.of(() -> true);
} else
{
headingEnabled = Optional.empty();
}
return this;
}
/**
* Aim the {@link SwerveDrive} at this pose while driving.
*
* @param aimTarget {@link Pose2d} to point at.
* @return this
*/
public SwerveInputStream aim(Pose2d aimTarget)
{
this.aimTarget = aimTarget.equals(Pose2d.kZero) ? Optional.empty() : Optional.of(aimTarget);
return this;
}
/**
* Enable aiming while the trigger is true.
*
* @param trigger When True will enable aiming at the current target.
* @return this.
*/
public SwerveInputStream aimWhile(BooleanSupplier trigger)
{
aimEnabled = Optional.of(trigger);
return this;
}
/**
* Enable aiming while the trigger is true.
*
* @param trigger When True will enable aiming at the current target.
* @return this.
*/
public SwerveInputStream aimWhile(boolean trigger)
{
if (trigger)
{
aimEnabled = Optional.of(() -> true);
} else
{
aimEnabled = Optional.empty();
}
return this;
}
/**
* Enable locking of rotation and only translating, overrides everything.
*
* @param trigger Translation only while returns true.
* @return this
*/
public SwerveInputStream translationOnlyWhile(BooleanSupplier trigger)
{
translationOnlyEnabled = Optional.of(trigger);
return this;
}
/**
* Enable locking of rotation and only translating, overrides everything.
*
* @param translationState Translation only if true.
* @return this
*/
public SwerveInputStream translationOnlyWhile(boolean translationState)
{
if (translationState)
{
translationOnlyEnabled = Optional.of(() -> true);
} else
{
translationOnlyEnabled = Optional.empty();
}
return this;
}
/**
* Find {@link SwerveInputMode} based off existing parameters of the {@link SwerveInputStream}
*
* @return The calculated {@link SwerveInputMode}, defaults to {@link SwerveInputMode#ANGULAR_VELOCITY}.
*/
private SwerveInputMode findMode()
{
if (translationOnlyEnabled.isPresent() && translationOnlyEnabled.get().getAsBoolean())
{
return SwerveInputMode.TRANSLATION_ONLY;
} else if (aimEnabled.isPresent() && aimEnabled.get().getAsBoolean())
{
if (aimTarget.isPresent())
{
return SwerveInputMode.AIM;
} else
{
DriverStation.reportError(
"Attempting to enter AIM mode without target, please use SwerveInputStream.aim() to select a target first!",
false);
}
} else if (headingEnabled.isPresent() && headingEnabled.get().getAsBoolean())
{
if (controllerHeadingX.isPresent() && controllerHeadingY.isPresent())
{
return SwerveInputMode.HEADING;
} else
{
DriverStation.reportError(
"Attempting to enter HEADING mode without heading axis, please use SwerveInputStream.withControllerHeadingAxis to add heading axis!",
false);
}
} else if (controllerOmega.isEmpty())
{
DriverStation.reportError(
"Attempting to enter ANGULAR_VELOCITY mode without a rotation axis, please use SwerveInputStream.withControllerRotationAxis to add angular velocity axis!",
false);
return SwerveInputMode.TRANSLATION_ONLY;
}
return SwerveInputMode.ANGULAR_VELOCITY;
}
/**
* Transition smoothly from one mode to another.
*
* @param newMode New mode to transition too.
*/
private void transitionMode(SwerveInputMode newMode)
{
// Handle removing of current mode.
switch (currentMode)
{
case TRANSLATION_ONLY ->
{
lockedHeading = Optional.empty();
break;
}
case ANGULAR_VELOCITY ->
{
// Do nothing
break;
}
case HEADING ->
{
// Do nothing
break;
}
case AIM ->
{
// Do nothing
break;
}
}
// Transitioning to new mode
switch (newMode)
{
case TRANSLATION_ONLY ->
{
lockedHeading = Optional.of(swerveDrive.getOdometryHeading());
break;
}
case ANGULAR_VELOCITY ->
{
if (swerveDrive.headingCorrection)
{
swerveDrive.setHeadingCorrection(false);
}
break;
}
case HEADING ->
{
// Do nothing
break;
}
case AIM ->
{
// Do nothing
break;
}
}
}
/**
* Apply the deadband if it exists.
*
* @param axisValue Axis value to apply the deadband too.
* @return axis value with deadband, else axis value straight.
*/
private double applyDeadband(double axisValue)
{
if (axisDeadband.isPresent())
{
return MathUtil.applyDeadband(axisValue, axisDeadband.get());
}
return axisValue;
}
/**
* Apply the scalar value if it exists.
*
* @param axisValue Axis value to apply teh scalar too.
* @return Axis value scaled by scalar value.
*/
private double applyRotationalScalar(double axisValue)
{
if (omegaAxisScale.isPresent())
{
return axisValue * omegaAxisScale.get();
}
return axisValue;
}
/**
* Scale the translational axis by the {@link SwerveInputStream#translationAxisScale} if it exists.
*
* @param xAxis X axis to scale.
* @param yAxis Y axis to scale.
* @return Scaled {@link Translation2d}
*/
private Translation2d applyTranslationScalar(double xAxis, double yAxis)
{
if (translationAxisScale.isPresent())
{
return SwerveMath.scaleTranslation(new Translation2d(xAxis, yAxis),
translationAxisScale.get());
}
return new Translation2d(xAxis, yAxis);
}
/**
* Apply the cube transformation on the given {@link Translation2d}
*
* @param translation {@link Translation2d} representing controller input
* @return Cubed {@link Translation2d} if the {@link SwerveInputStream#translationCube} is present.
*/
private Translation2d applyTranslationCube(Translation2d translation)
{
if (translationCube.isPresent() && translationCube.get().getAsBoolean())
{
return SwerveMath.cubeTranslation(translation);
}
return translation;
}
/**
* Apply the cube transformation on the given rotation controller axis
*
* @param rotationAxis Rotation controller axis to cube.
* @return Cubed axis value if the {@link SwerveInputStream#omegaCube} is present.
*/
private double applyOmegaCube(double rotationAxis)
{
if (omegaCube.isPresent() && omegaCube.get().getAsBoolean())
{
return Math.pow(rotationAxis, 3);
}
return rotationAxis;
}
/**
* Change {@link ChassisSpeeds} to robot relative.
*
* @param fieldRelativeSpeeds Field relative speeds to translate into robot-relative speeds.
* @return Robot relative {@link ChassisSpeeds}.
*/
private ChassisSpeeds applyRobotRelativeTranslation(ChassisSpeeds fieldRelativeSpeeds)
{
if (robotRelative.isPresent() && robotRelative.get().getAsBoolean())
{
return ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds, swerveDrive.getOdometryHeading());
}
return fieldRelativeSpeeds;
}
/**
* Apply alliance aware translation which flips the {@link Translation2d} if the robot is on the Blue alliance.
*
* @param fieldRelativeTranslation Field-relative {@link Translation2d} to flip.
* @return Alliance-oriented {@link Translation2d}
*/
private Translation2d applyAllianceAwareTranslation(Translation2d fieldRelativeTranslation)
{
if (allianceRelative.isPresent() && allianceRelative.get().getAsBoolean())
{
if (robotRelative.isPresent() && robotRelative.get().getAsBoolean())
{
throw new RuntimeException("Cannot use robot oriented control with Alliance aware movement!");
}
if (DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red)
{
return fieldRelativeTranslation.rotateBy(Rotation2d.k180deg);
}
}
return fieldRelativeTranslation;
}
/**
* Apply alliance aware translation which flips the {@link Rotation2d} if the robot is on the Blue alliance.
*
* @param fieldRelativeRotation Field-relative {@link Rotation2d} to flip.
* @return Alliance-oriented {@link Rotation2d}
*/
private Rotation2d applyAllianceAwareRotation(Rotation2d fieldRelativeRotation)
{
if (allianceRelative.isPresent() && allianceRelative.get().getAsBoolean())
{
if (robotRelative.isPresent() && robotRelative.get().getAsBoolean())
{
throw new RuntimeException("Cannot use robot oriented control with Alliance aware movement!");
}
if (DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red)
{
return fieldRelativeRotation.rotateBy(Rotation2d.k180deg);
}
}
return fieldRelativeRotation;
}
/**
* Gets a {@link ChassisSpeeds}
*
* @return {@link ChassisSpeeds}
*/
@Override
public ChassisSpeeds get()
{
double maximumChassisVelocity = swerveDrive.getMaximumChassisVelocity();
Translation2d scaledTranslation = applyTranslationScalar(applyDeadband(controllerTranslationX.getAsDouble()),
applyDeadband(controllerTranslationY.getAsDouble()));
scaledTranslation = applyTranslationCube(scaledTranslation);
scaledTranslation = applyAllianceAwareTranslation(scaledTranslation);
double vxMetersPerSecond = scaledTranslation.getX() * maximumChassisVelocity;
double vyMetersPerSecond = scaledTranslation.getY() * maximumChassisVelocity;
double omegaRadiansPerSecond = 0;
ChassisSpeeds speeds = new ChassisSpeeds();
SwerveInputMode newMode = findMode();
// Handle transitions here.
if (currentMode != newMode)
{
transitionMode(newMode);
}
if (swerveController == null)
{
swerveController = swerveDrive.getSwerveController();
}
switch (newMode)
{
case TRANSLATION_ONLY ->
{
omegaRadiansPerSecond = swerveController.headingCalculate(swerveDrive.getOdometryHeading().getRadians(),
lockedHeading.get().getRadians());
speeds = new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
break;
}
case ANGULAR_VELOCITY ->
{
omegaRadiansPerSecond = applyOmegaCube(applyRotationalScalar(applyDeadband(controllerOmega.get()
.getAsDouble()))) *
swerveDrive.getMaximumChassisAngularVelocity();
speeds = new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
break;
}
case HEADING ->
{
omegaRadiansPerSecond = swerveController.headingCalculate(swerveDrive.getOdometryHeading().getRadians(),
applyAllianceAwareRotation(Rotation2d.fromRadians(
swerveController.getJoystickAngle(
controllerHeadingX.get()
.getAsDouble(),
controllerHeadingY.get()
.getAsDouble()))).getRadians());
speeds = new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
break;
}
case AIM ->
{
Rotation2d currentHeading = swerveDrive.getOdometryHeading();
Translation2d relativeTrl = aimTarget.get().relativeTo(swerveDrive.getPose()).getTranslation();
Rotation2d target = new Rotation2d(relativeTrl.getX(), relativeTrl.getY()).plus(currentHeading);
omegaRadiansPerSecond = swerveController.headingCalculate(currentHeading.getRadians(), target.getRadians());
speeds = new ChassisSpeeds(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
break;
}
}
currentMode = newMode;
return applyRobotRelativeTranslation(speeds);
}
/**
* Drive modes to keep track of.
*/
enum SwerveInputMode
{
/**
* Translation only mode, does not allow for rotation and maintains current heading.
*/
TRANSLATION_ONLY,
/**
* Output based off angular velocity
*/
ANGULAR_VELOCITY,
/**
* Output based off of heading.
*/
HEADING,
/**
* Output based off of targeting.
*/
AIM
}
}