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Castor2026
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Trying to improve chassis

This commit is contained in:
Tyler Wilcox 2026-03-25 23:20:40 -04:00
parent d6824df962
commit 326978cd14
1 changed files with 33 additions and 13 deletions
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46
src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
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@ -11,7 +11,13 @@ import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
@ -28,12 +34,15 @@ public class AutoShootCommandChassisTurret extends Command{
private HopperSubsystem hopperSubsystem;
private TurretSubsystem turretSubsystem;
private PIDController autoCenterController;
private PIDController cameraAutoCenterController;
private PIDController deadreckoningAutoCenterController;
private int[] tagFilters;
private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
private Pose3d closestTag;
private final double chassisRotateSpeed = Math.PI * 0.1;
public AutoShootCommandChassisTurret(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem)
@ -44,9 +53,14 @@ public class AutoShootCommandChassisTurret extends Command{
this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem);
autoCenterController = new PIDController(0.1, 0, 0.0);
autoCenterController.setTolerance(0.2); // Units is pixels
autoCenterController.setSetpoint(0);
cameraAutoCenterController = new PIDController(0.1, 0, 0.0);
cameraAutoCenterController.setTolerance(0.2); // Units is meters
cameraAutoCenterController.setSetpoint(0);
deadreckoningAutoCenterController = new PIDController(Math.PI * 0.1, 0, 0.0);
deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations
deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI);
}
@Override
@ -61,31 +75,37 @@ public class AutoShootCommandChassisTurret extends Command{
turretSubsystem.setLauncher(2500);
hopperSubsystem.spindexerOn();
autoCenterController.calculate(-100);
cameraAutoCenterController.calculate(-100);
// Change to HUB tracking pipeline
LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_2D_PIPELINE_NUMBER);
LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters);
deadreckoningAutoCenterController.setSetpoint(0);
}
@Override
public void execute() {
// Need to compute shoot speed and angle
Logger.recordOutput("AutoAlign-CenteringError", autoCenterController.getError());
Logger.recordOutput("AutoAlign-CenteringError", cameraAutoCenterController.getError());
// No april tag in camera view. Rotate towards our theoretical closest tag
if(!LimelightHelpers.getTV(Constants.CameraConstanst.BACK_CAMERA_NAME)){
Logger.recordOutput("AutoAlignState", "Look for tag");
Pose3d botPose = driveSubsystem.getBotPose();
// Find closest target to us
List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList();
Pose3d closest = botPose.nearest(tagPoses);
Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closest);
Transform3d delta = closest.minus(botPose);
Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
driveSubsystem.rotateChassis(delta.getRotation().toRotation2d().getDegrees() > 0 ? chassisRotateSpeed : -chassisRotateSpeed); // May need to flip this
closestTag = botPose.nearest(tagPoses);
Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag);
Pose3d relative = botPose.relativeTo(closestTag);
relative = relative.plus(new Transform3d(new Transform2d(Translation2d.kZero, Rotation2d.fromDegrees(180))));
Logger.recordOutput("AutoAlign-Relative", botPose.relativeTo(closestTag));
driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(relative.getRotation().toRotation2d().getRadians())); // May need to flip this
}
else // We have an april tag, center it to the camera frame
{
@ -93,12 +113,12 @@ public class AutoShootCommandChassisTurret extends Command{
// [tx, ty, tz, pitch, yaw, roll]
double[] targetsPose = LimelightHelpers.getTargetPose_CameraSpace(Constants.CameraConstanst.BACK_CAMERA_NAME);
if(targetsPose.length >= 1){
driveSubsystem.rotateChassis(-autoCenterController.calculate(targetsPose[0])); // This may need to be negated
driveSubsystem.rotateChassis(-cameraAutoCenterController.calculate(targetsPose[0])); // This may need to be negated
}
}
// If robot is centered on HUB and shooter is up to speed. Run the kicker
if(turretSubsystem.isLauncherUpToSpeed() && autoCenterController.atSetpoint()){
if(turretSubsystem.isLauncherUpToSpeed() && cameraAutoCenterController.atSetpoint()){
Logger.recordOutput("AutoAlignState", "FIRE!");
hopperSubsystem.feedKicker();
}