mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
1138 lines
45 KiB
Java
1138 lines
45 KiB
Java
package swervelib;
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import edu.wpi.first.math.Matrix;
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import edu.wpi.first.math.VecBuilder;
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import edu.wpi.first.math.controller.SimpleMotorFeedforward;
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import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
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import edu.wpi.first.math.filter.SlewRateLimiter;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.geometry.Translation3d;
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import edu.wpi.first.math.kinematics.ChassisSpeeds;
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import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.math.kinematics.SwerveModulePosition;
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import edu.wpi.first.math.kinematics.SwerveModuleState;
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import edu.wpi.first.math.numbers.N1;
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import edu.wpi.first.math.numbers.N3;
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import edu.wpi.first.math.trajectory.Trajectory;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.Notifier;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.smartdashboard.Field2d;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Optional;
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import java.util.concurrent.locks.Lock;
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import java.util.concurrent.locks.ReentrantLock;
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import swervelib.encoders.CANCoderSwerve;
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import swervelib.imu.Pigeon2Swerve;
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import swervelib.imu.SwerveIMU;
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import swervelib.math.SwerveMath;
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import swervelib.motors.TalonFXSwerve;
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import swervelib.parser.SwerveControllerConfiguration;
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import swervelib.parser.SwerveDriveConfiguration;
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import swervelib.simulation.SwerveIMUSimulation;
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import swervelib.telemetry.Alert;
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import swervelib.telemetry.Alert.AlertType;
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import swervelib.telemetry.SwerveDriveTelemetry;
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import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
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/**
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* Swerve Drive class representing and controlling the swerve drive.
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*/
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public class SwerveDrive
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{
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/**
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* Swerve Kinematics object.
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*/
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public final SwerveDriveKinematics kinematics;
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/**
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* Swerve drive configuration.
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*/
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public final SwerveDriveConfiguration swerveDriveConfiguration;
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/**
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* Swerve odometry.
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*/
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public final SwerveDrivePoseEstimator swerveDrivePoseEstimator;
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/**
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* Swerve modules.
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*/
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private final SwerveModule[] swerveModules;
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/**
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* WPILib {@link Notifier} to keep odometry up to date.
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*/
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private final Notifier odometryThread;
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/**
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* Odometry lock to ensure thread safety.
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*/
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private final Lock odometryLock = new ReentrantLock();
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/**
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* Deadband for speeds in heading correction.
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*/
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private final double HEADING_CORRECTION_DEADBAND = 0.01;
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/**
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* Field object.
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*/
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public Field2d field = new Field2d();
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/**
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* Swerve controller for controlling heading of the robot.
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*/
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public SwerveController swerveController;
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/**
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* Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of
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* rotation)
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*/
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public Matrix<N3, N1> stateStdDevs = VecBuilder.fill(0.1,
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0.1,
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0.1);
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/**
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* The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
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* points and fit a line to it and modify this using {@link SwerveDrive#addVisionMeasurement(Pose2d, double, Matrix)}
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* with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get
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* vision accurate to inches instead of feet.
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*/
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public Matrix<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9,
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0.9,
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0.9);
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/**
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* Invert odometry readings of drive motor positions, used as a patch for debugging currently.
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*/
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public boolean invertOdometry = false;
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/**
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* Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's
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* correction.
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*/
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public boolean chassisVelocityCorrection = true;
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/**
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* Whether to correct heading when driving translationally. Set to true to enable.
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*/
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public boolean headingCorrection = false;
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/**
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* Whether heading correction PID is currently active.
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*/
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private boolean correctionEnabled = false;
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/**
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* Swerve IMU device for sensing the heading of the robot.
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*/
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private SwerveIMU imu;
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/**
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* Simulation of the swerve drive.
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*/
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private SwerveIMUSimulation simIMU;
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/**
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* Counter to synchronize the modules relative encoder with absolute encoder when not moving.
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*/
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private int moduleSynchronizationCounter = 0;
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/**
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* The last heading set in radians.
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*/
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private double lastHeadingRadians = 0;
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/**
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* The absolute max speed that your robot can reach while translating in meters per second.
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*/
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private double attainableMaxTranslationalSpeedMetersPerSecond = 0;
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/**
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* The absolute max speed the robot can reach while rotating radians per second.
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*/
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private double attainableMaxRotationalVelocityRadiansPerSecond = 0;
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/**
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* Maximum speed of the robot in meters per second.
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*/
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private double maxSpeedMPS;
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/**
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* Alert to recommend Tuner X if the configuration is compatible.
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*/
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private final Alert tunerXRecommendation = new Alert("Swerve Drive",
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"Your Swerve Drive is compatible with Tuner X swerve generator, please consider using that instead of YAGSL. More information here!\n" +
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"https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html",
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AlertType.WARNING);
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/**
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* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the
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* {@link SwerveDrive#setRawModuleStates} method. The {@link SwerveDrive#drive} method incorporates kinematics-- it
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* takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
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* {@link SwerveDrive#setRawModuleStates} takes a list of SwerveModuleStates and directly passes them to the modules.
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* This subsystem also handles odometry.
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*
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* @param config The {@link SwerveDriveConfiguration} configuration to base the swerve drive off of.
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* @param controllerConfig The {@link SwerveControllerConfiguration} to use when creating the
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* {@link SwerveController}.
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* @param maxSpeedMPS Maximum speed in meters per second, remember to use {@link Units#feetToMeters(double)} if
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* you have feet per second!
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*/
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public SwerveDrive(
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SwerveDriveConfiguration config, SwerveControllerConfiguration controllerConfig, double maxSpeedMPS)
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{
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this.maxSpeedMPS = maxSpeedMPS;
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swerveDriveConfiguration = config;
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swerveController = new SwerveController(controllerConfig);
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// Create Kinematics from swerve module locations.
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kinematics = new SwerveDriveKinematics(config.moduleLocationsMeters);
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odometryThread = new Notifier(this::updateOdometry);
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// Create an integrator for angle if the robot is being simulated to emulate an IMU
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// If the robot is real, instantiate the IMU instead.
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if (SwerveDriveTelemetry.isSimulation)
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{
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simIMU = new SwerveIMUSimulation();
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} else
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{
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imu = config.imu;
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imu.factoryDefault();
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}
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this.swerveModules = config.modules;
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// odometry = new SwerveDriveOdometry(kinematics, getYaw(), getModulePositions());
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swerveDrivePoseEstimator =
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new SwerveDrivePoseEstimator(
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kinematics,
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getYaw(),
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getModulePositions(),
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new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(0)),
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stateStdDevs,
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visionMeasurementStdDevs); // x,y,heading in radians; Vision measurement std dev, higher=less weight
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zeroGyro();
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// Initialize Telemetry
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if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
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{
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SmartDashboard.putData("Field", field);
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}
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if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
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{
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SwerveDriveTelemetry.maxSpeed = maxSpeedMPS;
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SwerveDriveTelemetry.maxAngularVelocity = swerveController.config.maxAngularVelocity;
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SwerveDriveTelemetry.moduleCount = swerveModules.length;
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SwerveDriveTelemetry.sizeFrontBack = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, true,
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false).moduleLocation.getX() +
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SwerveMath.getSwerveModule(swerveModules,
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false,
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false).moduleLocation.getX());
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SwerveDriveTelemetry.sizeLeftRight = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, false,
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true).moduleLocation.getY() +
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SwerveMath.getSwerveModule(swerveModules,
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false,
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false).moduleLocation.getY());
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SwerveDriveTelemetry.wheelLocations = new double[SwerveDriveTelemetry.moduleCount * 2];
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for (SwerveModule module : swerveModules)
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{
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SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = Units.metersToInches(
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module.configuration.moduleLocation.getX());
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SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = Units.metersToInches(
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module.configuration.moduleLocation.getY());
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}
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SwerveDriveTelemetry.measuredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
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SwerveDriveTelemetry.desiredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
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}
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odometryThread.startPeriodic(SwerveDriveTelemetry.isSimulation ? 0.01 : 0.02);
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}
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/**
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* Check all components to ensure that Tuner X Swerve Generator is recommended instead.
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*/
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private void checkIfTunerXCompatible()
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{
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boolean compatible = imu instanceof Pigeon2Swerve;
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for (SwerveModule module : swerveModules)
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{
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compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve &&
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module.getAngleMotor() instanceof TalonFXSwerve &&
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module.getAbsoluteEncoder() instanceof CANCoderSwerve;
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if (!compatible)
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{
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break;
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}
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}
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if (compatible)
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{
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tunerXRecommendation.set(true);
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}
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}
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/**
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* Set the odometry update period in seconds.
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*
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* @param period period in seconds.
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*/
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public void setOdometryPeriod(double period)
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{
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odometryThread.stop();
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odometryThread.startPeriodic(period);
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}
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/**
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* Stop the odometry thread in favor of manually updating odometry.
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*/
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public void stopOdometryThread()
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{
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odometryThread.stop();
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}
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/**
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* Set the conversion factor for the angle/azimuth motor controller.
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*
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* @param conversionFactor Angle motor conversion factor for PID, should be generated from
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* {@link SwerveMath#calculateDegreesPerSteeringRotation(double, double)} or calculated.
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*/
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public void setAngleMotorConversionFactor(double conversionFactor)
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{
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for (SwerveModule module : swerveModules)
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{
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module.setAngleMotorConversionFactor(conversionFactor);
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}
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}
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/**
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* Set the conversion factor for the drive motor controller.
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*
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* @param conversionFactor Drive motor conversion factor for PID, should be generated from
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* {@link SwerveMath#calculateMetersPerRotation(double, double, double)} or calculated.
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*/
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public void setDriveMotorConversionFactor(double conversionFactor)
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{
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for (SwerveModule module : swerveModules)
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{
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module.setDriveMotorConversionFactor(conversionFactor);
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}
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}
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/**
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* Set the heading correction capabilities of YAGSL.
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*
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* @param state {@link SwerveDrive#headingCorrection} state.
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*/
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public void setHeadingCorrection(boolean state)
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{
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headingCorrection = state;
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}
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/**
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* Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
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*
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* @param velocity Velocity of the robot desired.
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*/
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public void driveFieldOriented(ChassisSpeeds velocity)
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{
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ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getYaw());
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drive(fieldOrientedVelocity);
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}
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/**
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* Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
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*
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* @param velocity Velocity of the robot desired.
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* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
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*/
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public void driveFieldOriented(ChassisSpeeds velocity, Translation2d centerOfRotationMeters)
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{
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ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getYaw());
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drive(fieldOrientedVelocity, centerOfRotationMeters);
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}
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/**
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* Secondary method for controlling the drivebase. Given a simple {@link ChassisSpeeds} set the swerve module states,
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* to achieve the goal.
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*
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* @param velocity The desired robot-oriented {@link ChassisSpeeds} for the robot to achieve.
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*/
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public void drive(ChassisSpeeds velocity)
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{
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drive(velocity, false, new Translation2d());
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}
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/**
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* Secondary method for controlling the drivebase. Given a simple {@link ChassisSpeeds} set the swerve module states,
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* to achieve the goal.
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*
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* @param velocity The desired robot-oriented {@link ChassisSpeeds} for the robot to achieve.
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* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
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*/
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public void drive(ChassisSpeeds velocity, Translation2d centerOfRotationMeters)
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{
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drive(velocity, false, centerOfRotationMeters);
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}
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/**
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* The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and calculates
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* and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
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* velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
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*
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* @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters
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* per second. In robot-relative mode, positive x is torwards the bow (front) and
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* positive y is torwards port (left). In field-relative mode, positive x is away from
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* the alliance wall (field North) and positive y is torwards the left wall when looking
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* through the driver station glass (field West).
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* @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
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* relativity.
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* @param fieldRelative Drive mode. True for field-relative, false for robot-relative.
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* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
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* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
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*/
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public void drive(
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Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop,
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Translation2d centerOfRotationMeters)
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{
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// Creates a robot-relative ChassisSpeeds object, converting from field-relative speeds if
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// necessary.
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ChassisSpeeds velocity =
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(
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translation.getX(), translation.getY(), rotation, getYaw())
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: new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
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drive(velocity, isOpenLoop, centerOfRotationMeters);
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}
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/**
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* The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and calculates
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* and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
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* velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
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*
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* @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters per
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* second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
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* torwards port (left). In field-relative mode, positive x is away from the alliance wall (field
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* North) and positive y is torwards the left wall when looking through the driver station glass
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* (field West).
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* @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
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* relativity.
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* @param fieldRelative Drive mode. True for field-relative, false for robot-relative.
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* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
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*/
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public void drive(
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Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
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{
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// Creates a robot-relative ChassisSpeeds object, converting from field-relative speeds if
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// necessary.
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ChassisSpeeds velocity =
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fieldRelative
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? ChassisSpeeds.fromFieldRelativeSpeeds(
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translation.getX(), translation.getY(), rotation, getYaw())
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: new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
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drive(velocity, isOpenLoop, new Translation2d());
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}
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/**
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* The primary method for controlling the drivebase. Takes a {@link ChassisSpeeds}, and calculates and commands module
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* states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Also has
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* field- and robot-relative modes, which affect how the translation vector is used.
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*
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* @param velocity The chassis speeds to set the robot to achieve.
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* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
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* @param centerOfRotationMeters The center of rotation in meters, 0 is the center of the robot.
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*/
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public void drive(ChassisSpeeds velocity, boolean isOpenLoop, Translation2d centerOfRotationMeters)
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{
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// Thank you to Jared Russell FRC254 for Open Loop Compensation Code
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// https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964/5
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if (chassisVelocityCorrection)
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{
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velocity = ChassisSpeeds.discretize(velocity, 0.02);
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}
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// Heading Angular Velocity Deadband, might make a configuration option later.
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// Originally made by Team 1466 Webb Robotics.
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// Modified by Team 7525 Pioneers and BoiledBurntBagel of 6036
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if (headingCorrection)
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{
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if (Math.abs(velocity.omegaRadiansPerSecond) < HEADING_CORRECTION_DEADBAND
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&& (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
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|| Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
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{
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if (!correctionEnabled)
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{
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lastHeadingRadians = getYaw().getRadians();
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correctionEnabled = true;
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}
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velocity.omegaRadiansPerSecond =
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swerveController.headingCalculate(lastHeadingRadians, getYaw().getRadians());
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} else
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{
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correctionEnabled = false;
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}
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}
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// Display commanded speed for testing
|
|
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
|
|
{
|
|
SmartDashboard.putString("RobotVelocity", velocity.toString());
|
|
}
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[1] = velocity.vyMetersPerSecond;
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[0] = velocity.vxMetersPerSecond;
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[2] = Math.toDegrees(velocity.omegaRadiansPerSecond);
|
|
}
|
|
|
|
// Calculate required module states via kinematics
|
|
SwerveModuleState[] swerveModuleStates = kinematics.toSwerveModuleStates(velocity, centerOfRotationMeters);
|
|
|
|
setRawModuleStates(swerveModuleStates, isOpenLoop);
|
|
}
|
|
|
|
|
|
/**
|
|
* Set the maximum speeds for desaturation.
|
|
*
|
|
* @param attainableMaxModuleSpeedMetersPerSecond The absolute max speed that a module can reach in meters per
|
|
* second.
|
|
* @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot can reach while
|
|
* translating in meters per second.
|
|
* @param attainableMaxRotationalVelocityRadiansPerSecond The absolute max speed the robot can reach while rotating in
|
|
* radians per second.
|
|
*/
|
|
public void setMaximumSpeeds(
|
|
double attainableMaxModuleSpeedMetersPerSecond,
|
|
double attainableMaxTranslationalSpeedMetersPerSecond,
|
|
double attainableMaxRotationalVelocityRadiansPerSecond)
|
|
{
|
|
setMaximumSpeed(attainableMaxModuleSpeedMetersPerSecond);
|
|
this.attainableMaxTranslationalSpeedMetersPerSecond = attainableMaxTranslationalSpeedMetersPerSecond;
|
|
this.attainableMaxRotationalVelocityRadiansPerSecond = attainableMaxRotationalVelocityRadiansPerSecond;
|
|
this.swerveController.config.maxAngularVelocity = attainableMaxRotationalVelocityRadiansPerSecond;
|
|
}
|
|
|
|
/**
|
|
* Get the maximum velocity from {@link SwerveDrive#attainableMaxTranslationalSpeedMetersPerSecond} or
|
|
* {@link SwerveDrive#maxSpeedMPS} whichever is higher.
|
|
*
|
|
* @return Maximum speed in meters/second.
|
|
*/
|
|
public double getMaximumVelocity()
|
|
{
|
|
return Math.max(this.attainableMaxTranslationalSpeedMetersPerSecond, maxSpeedMPS);
|
|
}
|
|
|
|
/**
|
|
* Get the maximum angular velocity, either {@link SwerveDrive#attainableMaxRotationalVelocityRadiansPerSecond} or
|
|
* {@link SwerveControllerConfiguration#maxAngularVelocity}.
|
|
*
|
|
* @return Maximum angular velocity in radians per second.
|
|
*/
|
|
public double getMaximumAngularVelocity()
|
|
{
|
|
return Math.max(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity);
|
|
}
|
|
|
|
/**
|
|
* Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
|
|
*
|
|
* @param desiredStates A list of SwerveModuleStates to send to the modules.
|
|
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
|
|
*/
|
|
private void setRawModuleStates(SwerveModuleState[] desiredStates, boolean isOpenLoop)
|
|
{
|
|
// Desaturates wheel speeds
|
|
if (attainableMaxTranslationalSpeedMetersPerSecond != 0 || attainableMaxRotationalVelocityRadiansPerSecond != 0)
|
|
{
|
|
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, getRobotVelocity(),
|
|
maxSpeedMPS,
|
|
attainableMaxTranslationalSpeedMetersPerSecond,
|
|
attainableMaxRotationalVelocityRadiansPerSecond);
|
|
}
|
|
|
|
// Sets states
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop, false);
|
|
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
SwerveDriveTelemetry.desiredStates[module.moduleNumber *
|
|
2] = module.lastState.angle.getDegrees();
|
|
SwerveDriveTelemetry.desiredStates[(module.moduleNumber * 2) +
|
|
1] = module.lastState.speedMetersPerSecond;
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the module states (azimuth and velocity) directly. Used primarily for auto paths.
|
|
*
|
|
* @param desiredStates A list of SwerveModuleStates to send to the modules.
|
|
* @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop.
|
|
*/
|
|
public void setModuleStates(SwerveModuleState[] desiredStates, boolean isOpenLoop)
|
|
{
|
|
setRawModuleStates(kinematics.toSwerveModuleStates(kinematics.toChassisSpeeds(desiredStates)),
|
|
isOpenLoop);
|
|
}
|
|
|
|
/**
|
|
* Set chassis speeds with closed-loop velocity control.
|
|
*
|
|
* @param chassisSpeeds Chassis speeds to set.
|
|
*/
|
|
public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)
|
|
{
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[1] = chassisSpeeds.vyMetersPerSecond;
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[0] = chassisSpeeds.vxMetersPerSecond;
|
|
SwerveDriveTelemetry.desiredChassisSpeeds[2] = Math.toDegrees(chassisSpeeds.omegaRadiansPerSecond);
|
|
|
|
setRawModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds), false);
|
|
}
|
|
|
|
/**
|
|
* Gets the current pose (position and rotation) of the robot, as reported by odometry.
|
|
*
|
|
* @return The robot's pose
|
|
*/
|
|
public Pose2d getPose()
|
|
{
|
|
|
|
odometryLock.lock();
|
|
Pose2d poseEstimation = swerveDrivePoseEstimator.getEstimatedPosition();
|
|
odometryLock.unlock();
|
|
return poseEstimation;
|
|
}
|
|
|
|
/**
|
|
* Gets the current field-relative velocity (x, y and omega) of the robot
|
|
*
|
|
* @return A ChassisSpeeds object of the current field-relative velocity
|
|
*/
|
|
public ChassisSpeeds getFieldVelocity()
|
|
{
|
|
// ChassisSpeeds has a method to convert from field-relative to robot-relative speeds,
|
|
// but not the reverse. However, because this transform is a simple rotation, negating the
|
|
// angle
|
|
// given as the robot angle reverses the direction of rotation, and the conversion is reversed.
|
|
return ChassisSpeeds.fromFieldRelativeSpeeds(
|
|
kinematics.toChassisSpeeds(getStates()), getYaw().unaryMinus());
|
|
}
|
|
|
|
/**
|
|
* Gets the current robot-relative velocity (x, y and omega) of the robot
|
|
*
|
|
* @return A ChassisSpeeds object of the current robot-relative velocity
|
|
*/
|
|
public ChassisSpeeds getRobotVelocity()
|
|
{
|
|
return kinematics.toChassisSpeeds(getStates());
|
|
}
|
|
|
|
/**
|
|
* Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
|
|
* method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
|
|
* keep working.
|
|
*
|
|
* @param pose The pose to set the odometry to
|
|
*/
|
|
public void resetOdometry(Pose2d pose)
|
|
{
|
|
odometryLock.lock();
|
|
swerveDrivePoseEstimator.resetPosition(pose.getRotation(), getModulePositions(), pose);
|
|
odometryLock.unlock();
|
|
kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, pose.getRotation()));
|
|
}
|
|
|
|
/**
|
|
* Post the trajectory to the field
|
|
*
|
|
* @param trajectory the trajectory to post.
|
|
*/
|
|
public void postTrajectory(Trajectory trajectory)
|
|
{
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
|
|
{
|
|
field.getObject("Trajectory").setTrajectory(trajectory);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Gets the current module states (azimuth and velocity)
|
|
*
|
|
* @return A list of SwerveModuleStates containing the current module states
|
|
*/
|
|
public SwerveModuleState[] getStates()
|
|
{
|
|
SwerveModuleState[] states = new SwerveModuleState[swerveDriveConfiguration.moduleCount];
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
states[module.moduleNumber] = module.getState();
|
|
}
|
|
return states;
|
|
}
|
|
|
|
/**
|
|
* Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if
|
|
* {@link #invertOdometry} is true.
|
|
*
|
|
* @return A list of SwerveModulePositions containg the current module positions
|
|
*/
|
|
public SwerveModulePosition[] getModulePositions()
|
|
{
|
|
SwerveModulePosition[] positions =
|
|
new SwerveModulePosition[swerveDriveConfiguration.moduleCount];
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
positions[module.moduleNumber] = module.getPosition();
|
|
if (invertOdometry)
|
|
{
|
|
positions[module.moduleNumber].distanceMeters *= -1;
|
|
}
|
|
}
|
|
return positions;
|
|
}
|
|
|
|
/**
|
|
* Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
|
|
*/
|
|
public void zeroGyro()
|
|
{
|
|
// Resets the real gyro or the angle accumulator, depending on whether the robot is being
|
|
// simulated
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
imu.setOffset(imu.getRawRotation3d());
|
|
} else
|
|
{
|
|
simIMU.setAngle(0);
|
|
}
|
|
swerveController.lastAngleScalar = 0;
|
|
lastHeadingRadians = 0;
|
|
resetOdometry(new Pose2d(getPose().getTranslation(), new Rotation2d()));
|
|
}
|
|
|
|
/**
|
|
* Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
|
|
*
|
|
* @return The yaw as a {@link Rotation2d} angle
|
|
*/
|
|
public Rotation2d getYaw()
|
|
{
|
|
// Read the imu if the robot is real or the accumulator if the robot is simulated.
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
return swerveDriveConfiguration.invertedIMU
|
|
? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getZ())
|
|
: Rotation2d.fromRadians(imu.getRotation3d().getZ());
|
|
} else
|
|
{
|
|
return simIMU.getYaw();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Gets the current pitch angle of the robot, as reported by the imu.
|
|
*
|
|
* @return The heading as a {@link Rotation2d} angle
|
|
*/
|
|
public Rotation2d getPitch()
|
|
{
|
|
// Read the imu if the robot is real or the accumulator if the robot is simulated.
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
return swerveDriveConfiguration.invertedIMU
|
|
? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getY())
|
|
: Rotation2d.fromRadians(imu.getRotation3d().getY());
|
|
} else
|
|
{
|
|
return simIMU.getPitch();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Gets the current roll angle of the robot, as reported by the imu.
|
|
*
|
|
* @return The heading as a {@link Rotation2d} angle
|
|
*/
|
|
public Rotation2d getRoll()
|
|
{
|
|
// Read the imu if the robot is real or the accumulator if the robot is simulated.
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
return swerveDriveConfiguration.invertedIMU
|
|
? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getX())
|
|
: Rotation2d.fromRadians(imu.getRotation3d().getX());
|
|
} else
|
|
{
|
|
return simIMU.getRoll();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Gets the current gyro {@link Rotation3d} of the robot, as reported by the imu.
|
|
*
|
|
* @return The heading as a {@link Rotation3d} angle
|
|
*/
|
|
public Rotation3d getGyroRotation3d()
|
|
{
|
|
// Read the imu if the robot is real or the accumulator if the robot is simulated.
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
return swerveDriveConfiguration.invertedIMU
|
|
? imu.getRotation3d().unaryMinus()
|
|
: imu.getRotation3d();
|
|
} else
|
|
{
|
|
return simIMU.getGyroRotation3d();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.
|
|
*
|
|
* @return acceleration of the robot as a {@link Translation3d}
|
|
*/
|
|
public Optional<Translation3d> getAccel()
|
|
{
|
|
if (!SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
return imu.getAccel();
|
|
} else
|
|
{
|
|
return simIMU.getAccel();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Sets the drive motors to brake/coast mode.
|
|
*
|
|
* @param brake True to set motors to brake mode, false for coast.
|
|
*/
|
|
public void setMotorIdleMode(boolean brake)
|
|
{
|
|
for (SwerveModule swerveModule : swerveModules)
|
|
{
|
|
swerveModule.setMotorBrake(brake);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the maximum speed of the drive motors, modified {@link SwerveDrive#maxSpeedMPS} which is used for the
|
|
* {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and
|
|
* {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
|
|
* what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
|
|
*
|
|
* @param maximumSpeed Maximum speed for the drive motors in meters / second.
|
|
* @param updateModuleFeedforward Update the swerve module feedforward to account for the new maximum speed. This
|
|
* should be true unless you have replaced the drive motor feedforward with
|
|
* {@link SwerveDrive#replaceSwerveModuleFeedforward(SimpleMotorFeedforward)}
|
|
* @param optimalVoltage Optimal voltage to use for the feedforward.
|
|
*/
|
|
public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward, double optimalVoltage)
|
|
{
|
|
maxSpeedMPS = maximumSpeed;
|
|
swerveDriveConfiguration.physicalCharacteristics.optimalVoltage = optimalVoltage;
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
if (updateModuleFeedforward)
|
|
{
|
|
module.feedforward = SwerveMath.createDriveFeedforward(optimalVoltage,
|
|
maximumSpeed,
|
|
swerveDriveConfiguration.physicalCharacteristics.wheelGripCoefficientOfFriction);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the maximum speed of the drive motors, modified {@link SwerveDrive#maxSpeedMPS} which is used for the
|
|
* {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and
|
|
* {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
|
|
* what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
|
|
* {@link SwerveModule#feedforward}.
|
|
*
|
|
* @param maximumSpeed Maximum speed for the drive motors in meters / second.
|
|
*/
|
|
public void setMaximumSpeed(double maximumSpeed)
|
|
{
|
|
setMaximumSpeed(maximumSpeed, true, swerveDriveConfiguration.physicalCharacteristics.optimalVoltage);
|
|
}
|
|
|
|
/**
|
|
* Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep
|
|
* the current pose.
|
|
*/
|
|
public void lockPose()
|
|
{
|
|
// Sets states
|
|
for (SwerveModule swerveModule : swerveModules)
|
|
{
|
|
SwerveModuleState desiredState =
|
|
new SwerveModuleState(0, swerveModule.configuration.moduleLocation.getAngle());
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
SwerveDriveTelemetry.desiredStates[swerveModule.moduleNumber * 2] =
|
|
desiredState.angle.getDegrees();
|
|
SwerveDriveTelemetry.desiredStates[(swerveModule.moduleNumber * 2) + 1] =
|
|
desiredState.speedMetersPerSecond;
|
|
}
|
|
swerveModule.setDesiredState(desiredState, false, true);
|
|
|
|
}
|
|
|
|
// Update kinematics because we are not using setModuleStates
|
|
kinematics.toSwerveModuleStates(new ChassisSpeeds());
|
|
}
|
|
|
|
/**
|
|
* Get the swerve module poses and on the field relative to the robot.
|
|
*
|
|
* @param robotPose Robot pose.
|
|
* @return Swerve module poses.
|
|
*/
|
|
public Pose2d[] getSwerveModulePoses(Pose2d robotPose)
|
|
{
|
|
Pose2d[] poseArr = new Pose2d[swerveDriveConfiguration.moduleCount];
|
|
List<Pose2d> poses = new ArrayList<>();
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
poses.add(
|
|
robotPose.plus(
|
|
new Transform2d(module.configuration.moduleLocation, module.getState().angle)));
|
|
}
|
|
return poses.toArray(poseArr);
|
|
}
|
|
|
|
/**
|
|
* Setup the swerve module feedforward.
|
|
*
|
|
* @param feedforward Feedforward for the drive motor on swerve modules.
|
|
*/
|
|
public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward feedforward)
|
|
{
|
|
for (SwerveModule swerveModule : swerveModules)
|
|
{
|
|
swerveModule.feedforward = feedforward;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Update odometry should be run every loop. Synchronizes module absolute encoders with relative encoders
|
|
* periodically. In simulation mode will also post the pose of each module. Updates SmartDashboard with module encoder
|
|
* readings and states.
|
|
*/
|
|
public void updateOdometry()
|
|
{
|
|
odometryLock.lock();
|
|
try
|
|
{
|
|
// Update odometry
|
|
swerveDrivePoseEstimator.update(getYaw(), getModulePositions());
|
|
|
|
// Update angle accumulator if the robot is simulated
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
Pose2d[] modulePoses = getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition());
|
|
if (SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
simIMU.updateOdometry(
|
|
kinematics,
|
|
getStates(),
|
|
modulePoses,
|
|
field);
|
|
}
|
|
|
|
ChassisSpeeds measuredChassisSpeeds = getRobotVelocity();
|
|
SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond;
|
|
SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond;
|
|
SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond);
|
|
SwerveDriveTelemetry.robotRotation = getYaw().getDegrees();
|
|
}
|
|
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
|
|
{
|
|
field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
|
|
}
|
|
|
|
double sumVelocity = 0;
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
SwerveModuleState moduleState = module.getState();
|
|
sumVelocity += Math.abs(moduleState.speedMetersPerSecond);
|
|
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
|
|
{
|
|
module.updateTelemetry();
|
|
SmartDashboard.putNumber("Adjusted IMU Yaw", getYaw().getDegrees());
|
|
}
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
SwerveDriveTelemetry.measuredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees();
|
|
SwerveDriveTelemetry.measuredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond;
|
|
}
|
|
}
|
|
|
|
// If the robot isn't moving synchronize the encoders every 100ms (Inspired by democrat's SDS
|
|
// lib)
|
|
// To ensure that everytime we initialize it works.
|
|
if (sumVelocity <= .01 && ++moduleSynchronizationCounter > 5)
|
|
{
|
|
synchronizeModuleEncoders();
|
|
moduleSynchronizationCounter = 0;
|
|
}
|
|
|
|
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
|
|
{
|
|
SwerveDriveTelemetry.updateData();
|
|
}
|
|
} catch (Exception e)
|
|
{
|
|
odometryLock.unlock();
|
|
throw e;
|
|
}
|
|
odometryLock.unlock();
|
|
}
|
|
|
|
/**
|
|
* Synchronize angle motor integrated encoders with data from absolute encoders.
|
|
*/
|
|
public void synchronizeModuleEncoders()
|
|
{
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
module.queueSynchronizeEncoders();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the gyro scope offset to a desired known rotation. Unlike {@link SwerveDrive#setGyro(Rotation3d)} it DOES NOT
|
|
* take the current rotation into account.
|
|
*
|
|
* @param offset {@link Rotation3d} known offset of the robot for gyroscope to use.
|
|
*/
|
|
public void setGyroOffset(Rotation3d offset)
|
|
{
|
|
if (SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
simIMU.setAngle(offset.getZ());
|
|
} else
|
|
{
|
|
imu.setOffset(offset);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Add a vision measurement to the {@link SwerveDrivePoseEstimator} and update the {@link SwerveIMU} gyro reading with
|
|
* the given timestamp of the vision measurement. <br /> <b>IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
|
|
* AFTER USING THIS FUNCTION!</b> <br /> To update your gyroscope readings directly use
|
|
* {@link SwerveDrive#setGyroOffset(Rotation3d)}.
|
|
*
|
|
* @param robotPose Robot {@link Pose2d} as measured by vision.
|
|
* @param timestamp Timestamp the measurement was taken as time since startup, should be taken from
|
|
* {@link Timer#getFPGATimestamp()} or similar sources.
|
|
*/
|
|
public void addVisionMeasurement(Pose2d robotPose, double timestamp)
|
|
{
|
|
odometryLock.lock();
|
|
swerveDrivePoseEstimator.addVisionMeasurement(robotPose, timestamp);
|
|
Pose2d newOdometry = new Pose2d(swerveDrivePoseEstimator.getEstimatedPosition().getTranslation(),
|
|
robotPose.getRotation());
|
|
odometryLock.unlock();
|
|
|
|
setGyroOffset(new Rotation3d(0, 0, robotPose.getRotation().getRadians()));
|
|
resetOdometry(newOdometry);
|
|
}
|
|
|
|
/**
|
|
* Add a vision measurement to the {@link SwerveDrivePoseEstimator} and update the {@link SwerveIMU} gyro reading with
|
|
* the given timestamp of the vision measurement.
|
|
*
|
|
* @param robotPose Robot {@link Pose2d} as measured by vision.
|
|
* @param timestamp Timestamp the measurement was taken as time since startup, should be taken from
|
|
* {@link Timer#getFPGATimestamp()} or similar sources.
|
|
* @param visionMeasurementStdDevs Vision measurement standard deviation that will be sent to the
|
|
* {@link SwerveDrivePoseEstimator}.The standard deviation of the vision measurement,
|
|
* for best accuracy calculate the standard deviation at 2 or more points and fit a
|
|
* line to it with the calculated optimal standard deviation. (Units should be meters
|
|
* per pixel). By optimizing this you can get * vision accurate to inches instead of
|
|
* feet.
|
|
*/
|
|
public void addVisionMeasurement(Pose2d robotPose, double timestamp,
|
|
Matrix<N3, N1> visionMeasurementStdDevs)
|
|
{
|
|
this.visionMeasurementStdDevs = visionMeasurementStdDevs;
|
|
addVisionMeasurement(robotPose, timestamp);
|
|
}
|
|
|
|
|
|
/**
|
|
* Set the expected gyroscope angle using a {@link Rotation3d} object. To reset gyro, set to a new {@link Rotation3d}
|
|
* subtracted from the current gyroscopic readings {@link SwerveIMU#getRotation3d()}.
|
|
*
|
|
* @param gyro expected gyroscope angle as {@link Rotation3d}.
|
|
*/
|
|
public void setGyro(Rotation3d gyro)
|
|
{
|
|
if (SwerveDriveTelemetry.isSimulation)
|
|
{
|
|
setGyroOffset(simIMU.getGyroRotation3d().minus(gyro));
|
|
} else
|
|
{
|
|
setGyroOffset(imu.getRawRotation3d().minus(gyro));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Helper function to get the {@link SwerveDrive#swerveController} for the {@link SwerveDrive} which can be used to
|
|
* generate {@link ChassisSpeeds} for the robot to orient it correctly given axis or angles, and apply
|
|
* {@link edu.wpi.first.math.filter.SlewRateLimiter} to given inputs. Important functions to look at are
|
|
* {@link SwerveController#getTargetSpeeds(double, double, double, double, double)},
|
|
* {@link SwerveController#addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)},
|
|
* {@link SwerveController#getRawTargetSpeeds(double, double, double)}.
|
|
*
|
|
* @return {@link SwerveController} for the {@link SwerveDrive}.
|
|
*/
|
|
public SwerveController getSwerveController()
|
|
{
|
|
return swerveController;
|
|
}
|
|
|
|
/**
|
|
* Get the {@link SwerveModule}s associated with the {@link SwerveDrive}.
|
|
*
|
|
* @return {@link SwerveModule} array specified by configurations.
|
|
*/
|
|
public SwerveModule[] getModules()
|
|
{
|
|
return swerveDriveConfiguration.modules;
|
|
}
|
|
|
|
/**
|
|
* Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
|
|
* autonomous.
|
|
*/
|
|
public void resetDriveEncoders()
|
|
{
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
module.configuration.driveMotor.setPosition(0);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the
|
|
* internal offsets to prevent double offsetting.
|
|
*/
|
|
public void pushOffsetsToControllers()
|
|
{
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
module.pushOffsetsToControllers();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
|
|
*/
|
|
public void restoreInternalOffset()
|
|
{
|
|
for (SwerveModule module : swerveModules)
|
|
{
|
|
module.restoreInternalOffset();
|
|
}
|
|
}
|
|
|
|
}
|