Team_2648/2026-Robot-Code
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Some additional PhotonVision/Drivetrain work, and a terrible auto path

Browse Source
This commit is contained in:
Bradley Bickford
2026-02-18 17:57:06 -05:00
parent 88c021f05e
commit 958bc92ca0
4 changed files with 246 additions and 145 deletions
Download Patch File Download Diff File Expand all files Collapse all files

151
src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path Normal file
View File

@@ -0,0 +1,151 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 2.572076308784383,
"y": 3.3951907719609573
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.1112866015971603,
"y": 2.6628305235137533
},
"prevControl": {
"x": 2.8612866015971603,
"y": 2.6628305235137533
},
"nextControl": {
"x": 3.3612866015971603,
"y": 2.6628305235137533
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.839529724933453,
"y": 2.357009760425909
},
"prevControl": {
"x": 5.055196983507387,
"y": 2.7986728575396165
},
"nextControl": {
"x": 6.668464951197871,
"y": 1.890230700976042
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.612129547471162,
"y": 0.8279059449866895
},
"prevControl": {
"x": 6.3623142538133335,
"y": 0.8182976644613882
},
"nextControl": {
"x": 7.030621118012423,
"y": 0.844001774622892
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.189520851818989,
"y": 0.8279059449866895
},
"prevControl": {
"x": 8.08578683847011,
"y": 0.4907704016028375
},
"nextControl": {
"x": 8.318287488908608,
"y": 1.246397515527949
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.189520851818989,
"y": 7.111241666666667
},
"prevControl": {
"x": 8.36001268105017,
"y": 7.294087328812116
},
"nextControl": {
"x": 6.244366666666667,
"y": 5.025141666666666
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.518108333333333,
"y": 5.592016666666666
},
"prevControl": {
"x": 3.205916666666667,
"y": 5.644925000000001
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1,
"rotationDegrees": 45.0
},
{
"waypointRelativePos": 2,
"rotationDegrees": 45.0
},
{
"waypointRelativePos": 3,
"rotationDegrees": -135.0
},
{
"waypointRelativePos": 5,
"rotationDegrees": -135.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -133.87669728592465
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

30
src/main/java/frc/robot/constants/HoodConstants.java
View File

@@ -1,10 +1,17 @@
package frc.robot.constants;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileReader;
import java.io.IOException;
import java.nio.file.Path;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
import edu.wpi.first.wpilibj.Filesystem;
public class HoodConstants {
// TODO Real Values
@@ -46,5 +53,28 @@ public class HoodConstants {
.positionWrappingInputRange(0, Math.PI * 2)
.feedForward
.sva(kS, kV, kA);
File interpolatorFile = Path.of(
Filesystem.getDeployDirectory().getAbsolutePath().toString(),
"interpolatorData.csv"
).toFile();
if(interpolatorFile.exists()) {
try (BufferedReader reader = new BufferedReader(new FileReader(interpolatorFile))) {
reader.lines().forEach((s) -> {
if(s.trim() != "") { //Empty or whitespace line protection
String[] lineSplit = s.split(",");
kDistanceToAngle.put(
Double.valueOf(lineSplit[0].replace("\"", "")),
Double.valueOf(lineSplit[1].replace("\"", ""))
);
}
});
} catch (IOException e) {
// This condition is never reached because of the if exists line above
}
}
}
}

63
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@@ -198,27 +198,7 @@ public class Drivetrain extends SubsystemBase {
* @return A complete Command structure that performs the specified action
*/
public Command rotateToPose(Pose2d targetPose, boolean rotate180) {
return runOnce(yawRotationController::reset).andThen(
drive(
() -> 0,
() -> 0,
() -> {
Rotation2d targetRotation = new Rotation2d(
targetPose.getX() - getPose().getX(),
targetPose.getY() - getPose().getY()
);
if(rotate180) {
targetRotation = targetRotation.rotateBy(Rotation2d.k180deg);
}
return yawRotationController.calculate(
getHeading().getRadians(),
targetRotation.getRadians()
);
},
() -> true
))
return lockRotationToSuppliedPose(() -> targetPose, () -> 0, () -> 0, rotate180)
.until(yawRotationController::atSetpoint);
}
@@ -291,32 +271,27 @@ public class Drivetrain extends SubsystemBase {
);
}
// TODO check both cameras
/*public Command driveAprilTagLock(DoubleSupplier xSpeed, DoubleSupplier ySpeed, double deadband, int tagID) {
if (camera1 == null) {
return new PrintCommand("Camera 1 not available");
}
// TODO The process variable is different here than what these constants are used for, may need to use something different
PIDController controller = new PIDController(
AutoConstants.kPThetaController,
0,
0
);
return runOnce(controller::reset).andThen(
/**
* A method to lock to a particular source of an external "yaw". The intent is for this yaw to be sourced from
* {@link frc.robot.subsystems.PhotonVision#getBestYawForTag(int)} which generates a "yaw" for a particular tag as referenced
* from the center point of the cameras image frame. The objective being to "0 the source" using a PID Controller, or in
* other terms, to center the provided tag in the camera's image frame.
*
* @param yaw The "yaw" of the tag source relative to the center of the image frame
* @param xSpeed The X (forward/backward) translational speed of the robot
* @param ySpeed The Y (left/right) translational speed of the robot
* @return A complete Command structure that performs the specified action
*/
public Command lockToYaw(DoubleSupplier yaw, DoubleSupplier xSpeed, DoubleSupplier ySpeed) {
return runOnce(yawRotationController::reset).andThen(
drive(
xSpeed,
xSpeed,
ySpeed,
() -> {
OptionalDouble tagYaw = camera1.getTagYawByID(tagID);
return (tagYaw.isEmpty() ? 0 : controller.calculate(tagYaw.getAsDouble(), 0));
},
() -> false
)
() -> yawRotationController.calculate(yaw.getAsDouble(), 0),
() -> true
)
);
}*/
}
public Command drivePathPlannerPath(PathPlannerPath path) {
if(AutoConstants.kAutoConfigOk) {

147
src/main/java/frc/robot/subsystems/PhotonVision.java
View File

@@ -3,6 +3,7 @@ package frc.robot.subsystems;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.OptionalDouble;
import java.util.function.Consumer;
import org.photonvision.EstimatedRobotPose;
@@ -138,8 +139,51 @@ public class PhotonVision extends SubsystemBase {
return Optional.of(Pose3d.kZero
.plus(bestCameraToTarget.inverse())
.relativeTo(CompetitionConstants.kTagLayout.getOrigin())
.plus(config.robotToCamera().inverse())
.plus(CompetitionConstants.kRobotToShooter));
.plus(config.robotToCamera().inverse()));
}
/**
* Returns the best yaw for a given AprilTag ID as seen by the cameras on the robot.
*
* All cameras fields of view are observed, if no camera can see the given tag ID, this
* method will return OptionalDouble.empty()
*
* Note that this method has no minimum confidence threshold for a tag. This means that
* if one camera thinks it sees the tag, even with very low confidence, it'll still
* return some sort of yaw value.
*
* Note that the yaw value here is the yaw of the observed tag relative to the center
* of the cameras image frame.
*
* @param tagID The ID of the tag to look for in the latest results from all cameras
* @return An OptionalDouble object containing a Double representing the described yaw
* of the AprilTag specified, or OptionalDouble.empty() if the tag is not present
* anywhere in the robots field of view
*/
public OptionalDouble getBestYawForTag(int tagID) {
double bestTagYaw = -1;
float bestConfidence = -1;
for(PhotonPipelineResult result: latestResults) {
if(result == null) {
continue;
}
for(PhotonTrackedTarget target: result.getTargets()) {
if(target.getFiducialId() != tagID || bestConfidence > target.getDetectedObjectClassID()) {
continue;
}
bestTagYaw = target.getYaw();
bestConfidence = target.getDetectedObjectConfidence();
}
}
if(bestConfidence == -1) {
return OptionalDouble.empty();
}
return OptionalDouble.of(bestTagYaw);
}
/**
@@ -158,103 +202,4 @@ public class PhotonVision extends SubsystemBase {
public void addPoseEstimateConsumer(Consumer<VisualPose> consumer) {
poseEstimateConsumers.add(consumer);
}
/*public Trigger tagPrescenseTrigger(int targetTag) {
return new Trigger(() -> {
return List.of(latestResults).stream()
.filter((p) -> p != null)
.anyMatch((p) -> {
return p.getTargets().stream().map(PhotonTrackedTarget::getFiducialId).anyMatch((i) -> {
return i == targetTag;
});
});
});
}*/
/*
@Override
public OptionalDouble getTagDistanceFromCameraByID(int id) {
if (latestResult == null) {
return OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
PhotonUtils.calculateDistanceToTargetMeters(
cameraHeightMeters,
CompetitionConstants.kTagLayout.getTagPose(id).get().getZ(),
cameraPitchRadians,
Units.degreesToRadians(desiredTarget.get().getPitch()))
);
}
@Override
public OptionalDouble getTagPitchByID(int id) {
if(latestResult == null) {
OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
desiredTarget.get().getPitch()
);
}
@Override
public OptionalDouble getTagYawByID(int id) {
if(latestResult == null) {
OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
desiredTarget.get().getYaw()
);
}
private Optional<PhotonTrackedTarget> getTargetFromList(List<PhotonTrackedTarget> targets, int id) {
for (PhotonTrackedTarget target : targets) {
if (target.getFiducialId() == id) {
return Optional.of(target);
}
}
return Optional.empty();
}
@Override
public int[] getVisibleTagIDs() {
if(latestResult == null) {
return new int[] {};
}
return latestResult.getTargets().stream().mapToInt(PhotonTrackedTarget::getFiducialId).toArray();
}
*/
}