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Integrate x and y swerve sample values #1142

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Integrate x and y swerve sample values #1142

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cca8914
Integrate x and y swerve sample values
spacey-sooty Jan 13, 2025
e5468a8
Use integrated value
spacey-sooty Jan 13, 2025
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36 changes: 32 additions & 4 deletions choreolib/src/main/java/choreo/trajectory/SwerveSample.java
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,6 @@ public ChassisSpeeds getChassisSpeeds() {
@Override
public SwerveSample interpolate(SwerveSample endValue, double timestamp) {
double scale = (timestamp - this.t) / (endValue.t - this.t);
var interp_pose = getPose().interpolate(endValue.getPose(), scale);

double[] interp_fx = new double[4];
double[] interp_fy = new double[4];
Expand All @@ -156,11 +155,40 @@ public SwerveSample interpolate(SwerveSample endValue, double timestamp) {
MathUtil.interpolate(this.moduleForcesY()[i], endValue.moduleForcesY()[i], scale);
}

// Integrate the field speeds to get the pose for this interpolated state, since linearly
// interpolating the pose gives an inaccurate result if the speeds are changing between states
double lerpedTimestamp = timestamp;
double lerpedVXPos = vx;
double lerpedVYPos = vy;
double lerpedXPos = x;
double lerpedYPos = y;
double intTime = t + 0.01;
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while (true) {
double intT = (intTime - getTimestamp()) / (lerpedTimestamp - getTimestamp());
double intAX = MathUtil.interpolate(ax, endValue.ax, intT);
double intAY = MathUtil.interpolate(ay, endValue.ax, intT);

if (intTime >= lerpedTimestamp - 0.01) {
double dt = lerpedTimestamp - intTime;
lerpedVXPos += intAX * dt;
lerpedVYPos += intAY * dt;
lerpedXPos += lerpedVXPos * dt;
lerpedYPos += lerpedVYPos * dt;
Comment on lines +176 to +177
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This using the velocity of the next timestep instead of the current one is suspicious.

break;
}

lerpedVXPos += intAX * 0.01;
lerpedVYPos += intAY * 0.01;

intTime += 0.01;
}

return new SwerveSample(
MathUtil.interpolate(this.t, endValue.t, scale),
interp_pose.getX(),
interp_pose.getY(),
interp_pose.getRotation().getRadians(),
lerpedXPos,
lerpedYPos,
MathUtil.interpolate(heading, endValue.heading, t),
MathUtil.interpolate(this.vx, endValue.vx, scale),
MathUtil.interpolate(this.vy, endValue.vy, scale),
MathUtil.interpolate(this.omega, endValue.omega, scale),
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