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1.5, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 9 }, { - "timestamp": 3.3805476794087936, - "isStopPoint": true, + "timestamp": 1.794879546204266, + "isStopPoint": false, "x": 0, "y": 1.5, "heading": 0, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 12 + "controlIntervalCount": 9 }, { - "timestamp": 4.507396905880155, + "timestamp": 2.523426798210742, "isStopPoint": true, "x": 0, "y": 0, @@ -8316,24 +7329,6 @@ "last" ], "type": "StopPoint" - }, - { - "scope": [ - 3 - ], - "type": "StopPoint" - }, - { - "scope": [ - 2 - ], - "type": "StopPoint" - }, - { - "scope": [ - 1 - ], - "type": "StopPoint" } ], "usesControlIntervalGuessing": true, @@ -8346,4 +7341,4 @@ }, "splitTrajectoriesAtStopPoints": true, "usesObstacles": true -} +} \ No newline at end of file diff --git a/img/Robot_LynkClone/config.json b/img/Robot_LynkClone/config.json new file mode 100644 index 0000000..194f26b --- /dev/null +++ b/img/Robot_LynkClone/config.json @@ -0,0 +1,162 @@ +{ + "name": "LynkClone", + "rotations": [ + { + "axis": "x", + "degrees": 90 + }, + { + "axis": "y", + "degrees": 0 + }, + { + "axis": "z", + "degrees": 90 + } + ], + "position": [ + 0, + 0, + 0 + ], + "cameras": [ + { + "name": "fl_cam", + "rotations": [ + { + "axis": "y", + "degrees": -28.125 + }, + { + "axis": "z", + "degrees": 30.0 + } + ], + "position": [ + 0.2852, + 0.172055, + 0.20955 + ], + "resolution": [ + 1600, + 1200 + ], + "fov": 75 + }, + { + "name": "fr_cam", + "rotations": [ + { + "axis": "y", + "degrees": -28.125 + }, + { + "axis": "z", + "degrees": -30.0 + } + ], + "position": [ + 0.2852, + -0.172055, + 0.20955 + ], + "resolution": [ + 1600, + 1200 + ], + "fov": 75 + }, + { + "name": "bl_cam", + "rotations": [ + { + "axis": "y", + "degrees": -28.125 + }, + { + "axis": "z", + "degrees": 150 + } + ], + "position": [ + 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diff --git a/img/Robot_LynkClone/model_0.glb b/img/Robot_LynkClone/model_0.glb new file mode 100644 index 0000000..eab284c Binary files /dev/null and b/img/Robot_LynkClone/model_0.glb differ diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp index 0325048..37faeb4 100644 --- a/src/main/cpp/RobotContainer.cpp +++ b/src/main/cpp/RobotContainer.cpp @@ -89,6 +89,10 @@ SwerveSubsystem &RobotContainer::GetSwerveSubsystem() { return swerveSubsystem; } +ShooterSubsystem &RobotContainer::GetShooterSubsystem() { + return shooterSubsystem; +} + str::Vision &RobotContainer::GetVision() { return vision; } str::NoteVisualizer &RobotContainer::GetNoteVisualizer() { diff --git a/src/main/deploy/branch.txt b/src/main/deploy/branch.txt index 88d050b..c8769c9 100644 --- a/src/main/deploy/branch.txt +++ b/src/main/deploy/branch.txt @@ -1 +1 @@ -main \ No newline at end of file +shooter \ No newline at end of file diff --git a/src/main/deploy/choreo/AlignToAmp.1.traj 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swerveSub(swerveSub) { + explicit Autos(SwerveSubsystem &swerveSub, ShooterSubsystem &shooterSub) + : swerveSub(swerveSub), shooterSub(shooterSub) { pathplanner::NamedCommands::registerCommand( "Shoot", frc2::cmd::Print("Shooting Note")); @@ -49,6 +51,7 @@ class Autos { frc::SendableChooser autoChooser; SwerveSubsystem &swerveSub; + ShooterSubsystem &shooterSub; frc2::CommandPtr selectCommand{frc2::cmd::None()}; }; diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h index f4b55e4..940b683 100644 --- a/src/main/include/RobotContainer.h +++ b/src/main/include/RobotContainer.h @@ -19,6 +19,7 @@ class RobotContainer { frc2::Command *GetAutonomousCommand(); SwerveSubsystem &GetSwerveSubsystem(); + ShooterSubsystem &GetShooterSubsystem(); str::Vision &GetVision(); str::NoteVisualizer &GetNoteVisualizer(); @@ -27,8 +28,9 @@ class RobotContainer { frc2::CommandXboxController controller{0}; SwerveSubsystem swerveSubsystem; + ShooterSubsystem shooterSubsystem; str::Vision vision; str::NoteVisualizer noteVisualizer; - Autos autos{swerveSubsystem}; + Autos autos{swerveSubsystem, shooterSubsystem}; }; diff --git a/src/main/include/constants/Constants.h b/src/main/include/constants/Constants.h index 4dfeef8..78dca68 100644 --- a/src/main/include/constants/Constants.h +++ b/src/main/include/constants/Constants.h @@ -11,7 +11,7 @@ namespace consts { inline constexpr units::second_t LOOP_PERIOD = 1 / 50_Hz; -inline constexpr units::second_t SWERVE_ODOM_LOOP_PERIOD = 1 / 50_Hz; +inline constexpr units::second_t SWERVE_ODOM_LOOP_PERIOD = 1 / 250_Hz; namespace yearSpecific { inline const frc::AprilTagFieldLayout aprilTagLayout = diff --git a/src/main/include/constants/SwerveConstants.h b/src/main/include/constants/SwerveConstants.h index 571f943..e650a44 100644 --- a/src/main/include/constants/SwerveConstants.h +++ b/src/main/include/constants/SwerveConstants.h @@ -76,12 +76,12 @@ inline constexpr frc::DCMotor STEER_MOTOR = frc::DCMotor::Falcon500FOC(1); inline constexpr units::meter_t WHEEL_RADIUS = 2_in; // Distance between center of drive wheels -inline constexpr units::meter_t WHEELBASE_WIDTH = 22.75_in; -inline constexpr units::meter_t WHEELBASE_LENGTH = 22.75_in; +inline constexpr units::meter_t WHEELBASE_WIDTH = 21.75_in; +inline constexpr units::meter_t WHEELBASE_LENGTH = 15.75_in; // Total outside frame size -inline constexpr units::meter_t DRIVEBASE_WIDTH = 28_in; -inline constexpr units::meter_t DRIVEBASE_LENGTH = 28_in; +inline constexpr units::meter_t DRIVEBASE_WIDTH = 27.440000_in; +inline constexpr units::meter_t DRIVEBASE_LENGTH = 27_in; // 3/4 in plywood + 2.5 in diameter pool noodles + 1/8 slop inline constexpr units::meter_t BUMPER_THICKNESS = .75_in + 2.5_in + .125_in; diff --git a/src/main/include/constants/VisionConstants.h b/src/main/include/constants/VisionConstants.h index 06df8ad..6cc58a8 100644 --- a/src/main/include/constants/VisionConstants.h +++ b/src/main/include/constants/VisionConstants.h @@ -12,25 +12,30 @@ namespace consts { namespace vision { inline const std::string FL_CAM_NAME{"fl_cam"}; inline const frc::Transform3d FL_ROBOT_TO_CAM{ - frc::Translation3d{10.273802_in, 11.7301_in, 8.25_in}, + frc::Translation3d{6.773802_in, 11.2301_in, 8.495934_in}, frc::Rotation3d{0_rad, -28.125_deg, 30_deg}}; inline const std::string FR_CAM_NAME{"fr_cam"}; inline const frc::Transform3d FR_ROBOT_TO_CAM{ - frc::Translation3d{10.273802_in, -11.7301_in, 8.25_in}, + frc::Translation3d{6.773802_in, -11.2301_in, 8.495934_in}, frc::Rotation3d{0_rad, -28.125_deg, -30_deg}}; inline const std::string BL_CAM_NAME{"bl_cam"}; inline const frc::Transform3d BL_ROBOT_TO_CAM{ - frc::Translation3d{-10.273802_in, 11.7301_in, 8.25_in}, + frc::Translation3d{-6.773802_in, 11.2301_in, 8.495934_in}, frc::Rotation3d{0_rad, -28.125_deg, 150_deg}}; inline const std::string BR_CAM_NAME{"br_cam"}; inline const frc::Transform3d BR_ROBOT_TO_CAM{ - frc::Translation3d{-10.273802_in, -11.7301_in, 8.25_in}, + frc::Translation3d{-6.773802_in, -11.2301_in, 8.495934_in}, frc::Rotation3d{0_rad, -28.125_deg, -150_deg}}; inline const Eigen::Matrix SINGLE_TAG_STD_DEV{4, 4, 8}; inline const Eigen::Matrix MULTI_TAG_STD_DEV{0.5, 0.5, 1}; + +inline const std::string NOTE_CAM_NAME{"note_cam"}; +inline const frc::Transform3d ROBOT_TO_NOTE_CAM{ + frc::Translation3d{-15.664852_in, 0_in, 9.437251_in}, + frc::Rotation3d{0_rad, 20_deg, 0_rad}}; } // namespace vision } // namespace consts diff --git a/src/main/include/str/SwerveDrive.h b/src/main/include/str/SwerveDrive.h index 5d37752..8ad274c 100644 --- a/src/main/include/str/SwerveDrive.h +++ b/src/main/include/str/SwerveDrive.h @@ -83,20 +83,6 @@ class SwerveDrive { consts::swerve::gains::MK4I_STEER_KS_V, }; - SwerveModulePhysical swervePhysicalBack{ - consts::swerve::physical::STEER_GEARING_MK4N, - consts::swerve::physical::DRIVE_GEARING, - consts::swerve::current_limits::SUPPLY_CURRENT_LIMIT, - consts::swerve::current_limits::STEER_TORQUE_CURRENT_LIMIT, - consts::swerve::current_limits::SLIP_CURRENT_LIMIT, - consts::swerve::physical::DRIVE_MOTOR, - consts::swerve::physical::STEER_MOTOR, - consts::swerve::physical::COUPLING_RATIO, - consts::swerve::physical::WHEEL_RADIUS, - consts::swerve::gains::DRIVE_KS_V, - consts::swerve::gains::MK4N_STEER_KS_V, - }; - SwerveModuleSteerGains steerGainsMk4i{ consts::swerve::gains::MK4I_STEER_CRUISE_VEL, consts::swerve::gains::MK4I_STEER_MOTION_MAGIC_KA, @@ -109,18 +95,6 @@ class SwerveDrive { consts::swerve::gains::MK4I_STEER_KD, }; - SwerveModuleSteerGains steerGainsMk4n{ - consts::swerve::gains::MK4N_STEER_CRUISE_VEL, - consts::swerve::gains::MK4N_STEER_MOTION_MAGIC_KA, - consts::swerve::gains::MK4N_STEER_MOTION_MAGIC_KV, - consts::swerve::gains::MK4N_STEER_KA, - consts::swerve::gains::MK4N_STEER_KV, - consts::swerve::gains::MK4N_STEER_KS, - consts::swerve::gains::MK4N_STEER_KP, - consts::swerve::gains::MK4N_STEER_KI, - consts::swerve::gains::MK4N_STEER_KD, - }; - SwerveModuleDriveGains driveGains{ consts::swerve::gains::DRIVE_KA, consts::swerve::gains::DRIVE_KV, consts::swerve::gains::DRIVE_KS, consts::swerve::gains::DRIVE_KP, @@ -151,7 +125,7 @@ class SwerveDrive { consts::swerve::physical::BL_ENC_OFFSET, consts::swerve::physical::BL_DRIVE_INVERT, consts::swerve::physical::BL_STEER_INVERT}, - swervePhysicalBack, steerGainsMk4n, driveGains}, + swervePhysicalFront, steerGainsMk4i, driveGains}, SwerveModule{ str::SwerveModuleConstants{"BR", consts::swerve::can_ids::BR_STEER, consts::swerve::can_ids::BR_DRIVE, @@ -159,7 +133,7 @@ class SwerveDrive { consts::swerve::physical::BR_ENC_OFFSET, consts::swerve::physical::BR_DRIVE_INVERT, consts::swerve::physical::BR_STEER_INVERT}, - swervePhysicalBack, steerGainsMk4n, driveGains}}; + swervePhysicalFront, steerGainsMk4i, driveGains}}; ctre::phoenix6::hardware::Pigeon2 imu{consts::swerve::can_ids::IMU, "*"}; ctre::phoenix6::sim::Pigeon2SimState &imuSimState = imu.GetSimState(); diff --git a/src/main/include/str/Vision.h b/src/main/include/str/Vision.h index 25bdf1d..b65b3e6 100644 --- a/src/main/include/str/Vision.h +++ b/src/main/include/str/Vision.h @@ -24,7 +24,7 @@ class Vision { std::array cameras{ Camera{consts::vision::FL_CAM_NAME, consts::vision::FL_ROBOT_TO_CAM, consts::vision::SINGLE_TAG_STD_DEV, - consts::vision::MULTI_TAG_STD_DEV, true}, + consts::vision::MULTI_TAG_STD_DEV, false}, Camera{consts::vision::FR_CAM_NAME, consts::vision::FR_ROBOT_TO_CAM, consts::vision::SINGLE_TAG_STD_DEV, consts::vision::MULTI_TAG_STD_DEV, false},