Skip to content

improve teleop otf #185

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
linglejack06 wants to merge 3 commits into
base: main
Choose a base branch
from
Open

improve teleop otf #185

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
682e8ef
add slower otf constants for teleop and remove scoring far warmup in …
linglejack06 Mar 15, 2025
d0e9046
let far warmup happen in teleop
linglejack06 Mar 16, 2025
4be2680
Merge branch 'main' into otf-teleop-slowdown
linglejack06 Mar 16, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions src/main/deploy/constants/comp/DrivetrainConstants.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
"allowLineupFinishWithCachedObservation": true,
"otfPoseDistanceLimit": 0.5,
"otfFarWarmupDistance": 2.5,
"otfTeleopFarWarmupDistance": 2.0,
"otfWarmupDistance": 1.5,
"otfVisionAlongTrackThreshold": 0.3,
"otfVisionCrossTrackThreshold": 0.25,
Expand Down Expand Up @@ -354,6 +355,10 @@
"OTFMaxLinearAccel": 4.0,
"OTFMaxAngularVelocity": 3.141592653589793,
"OTFMaxAngularAccel": 1.5707963267948966,
"TeleopOTFMaxLinearVelocity": 3.5,
"TeleopOTFMaxLinearAccel": 2.0,
"TeleopOTFMaxAngularVelocity": 3.141592653589793,
"TeleopOTFMaxAngularAccel": 1.5707963267948966,
"DrivetrainConstants": {
"CANBusName": "canivore",
"Pigeon2Id": 13
Expand Down
12 changes: 6 additions & 6 deletions src/main/java/frc/robot/BuildConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025-Robot-Code";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 65;
public static final String GIT_SHA = "ea2a1e73b3ff08497493d4ab43e657f2294c19a4";
public static final String GIT_DATE = "2025-03-15 17:48:52 EDT";
public static final String GIT_BRANCH = "main";
public static final String BUILD_DATE = "2025-03-15 18:26:38 EDT";
public static final long BUILD_UNIX_TIME = 1742077598364L;
public static final int GIT_REVISION = 63;
public static final String GIT_SHA = "682e8efd7ca411c368a84c3ae2a7b7acce1aa707";
public static final String GIT_DATE = "2025-03-15 10:59:11 EDT";
public static final String GIT_BRANCH = "otf-teleop-slowdown";
public static final String BUILD_DATE = "2025-03-16 09:29:04 EDT";
public static final long BUILD_UNIX_TIME = 1742131744476L;
public static final int DIRTY = 1;

private BuildConstants() {}
Expand Down
7 changes: 7 additions & 0 deletions src/main/java/frc/robot/constants/subsystems/DrivetrainConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,7 @@ public class DrivetrainConstants {
public final Double otfVisionCrossTrackThreshold = 0.5;

public final Double otfFarWarmupDistance = 2.5;
public final Double otfTeleopFarWarmupDistance = 2.0;

public final Double otfWarmupDistance = 1.5;

Expand Down Expand Up @@ -185,6 +186,12 @@ public class DrivetrainConstants {
public final Double OTFMaxAngularVelocity = Math.PI;
public final Double OTFMaxAngularAccel = Math.PI / 2;

// OTF Max speed / accel
public final Double TeleopOTFMaxLinearVelocity = 3.5;
public final Double TeleopOTFMaxLinearAccel = 2.0;
public final Double TeleopOTFMaxAngularVelocity = Math.PI;
public final Double TeleopOTFMaxAngularAccel = Math.PI / 2;

// These are only used for simulation
@JSONExclude public final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
@JSONExclude public final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
Expand Down
13 changes: 9 additions & 4 deletions src/main/java/frc/robot/subsystems/drive/Drive.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -616,10 +616,15 @@ public boolean isDriveCloseToFinalLineupPose() {

@AutoLogOutput(key = "Drive/OTF/isDriveCloseForFarWarmup")
public boolean isDriveCloseForFarWarmup() {
return this.getPose()
.getTranslation()
.getDistance(OTFState.findOTFPoseFromDesiredLocation(this).getTranslation())
< JsonConstants.drivetrainConstants.otfFarWarmupDistance;
return (DriverStation.isAutonomous()
&& this.getPose()
.getTranslation()
.getDistance(OTFState.findOTFPoseFromDesiredLocation(this).getTranslation())
< JsonConstants.drivetrainConstants.otfFarWarmupDistance)
|| this.getPose()
.getTranslation()
.getDistance(OTFState.findOTFPoseFromDesiredLocation(this).getTranslation())
< JsonConstants.drivetrainConstants.otfTeleopFarWarmupDistance;
}

public boolean isDriveCloseForWarmup() {
Expand Down
14 changes: 13 additions & 1 deletion src/main/java/frc/robot/subsystems/drive/states/OTFState.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import coppercore.controls.state_machine.state.PeriodicStateInterface;
import coppercore.controls.state_machine.transition.Transition;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.constants.JsonConstants;
import frc.robot.subsystems.drive.Drive;
Expand Down Expand Up @@ -208,6 +209,15 @@ public Command getDriveToPoseCommand() {
JsonConstants.drivetrainConstants.OTFMaxAngularAccel);
}

if (DriverStation.isTeleop()) {
constraints =
new PathConstraints(
JsonConstants.drivetrainConstants.TeleopOTFMaxLinearVelocity,
JsonConstants.drivetrainConstants.TeleopOTFMaxLinearAccel,
JsonConstants.drivetrainConstants.TeleopOTFMaxAngularVelocity,
JsonConstants.drivetrainConstants.TeleopOTFMaxAngularAccel);
}

return AutoBuilder.pathfindToPose(
otfPose,
constraints,
Expand All @@ -228,7 +238,9 @@ public void periodic() {

if (drive.isDriveCloseForWarmup() && ScoringSubsystem.getInstance() != null) {
ScoringSubsystem.getInstance().fireTrigger(ScoringTrigger.StartWarmup);
} else if (drive.isDriveCloseForFarWarmup() && ScoringSubsystem.getInstance() != null) {
} else if (drive.isDriveCloseForFarWarmup()
&& ScoringSubsystem.getInstance() != null
&& DriverStation.isAutonomous()) {
ScoringSubsystem.getInstance().fireTrigger(ScoringTrigger.StartFarWarmup);
}

Expand Down
Loading