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Currently working with Pedro Pathing and tuned as of this date.

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This commit is contained in:
Carlos
2024-10-21 21:54:09 -07:00
parent ba5e1e6fe4
commit 00146b2e40
8 changed files with 245 additions and 24 deletions
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122
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExample.java Normal file
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@ -0,0 +1,122 @@
package org.firstinspires.ftc.teamcode;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
public class AutoExample extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(12.0, 11, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.6);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(12.804, 11.223, Point.CARTESIAN),
new Point(12.804, 42.362, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 2
new BezierCurve(
new Point(12.804, 42.362, Point.CARTESIAN),
new Point(11.381, 57.379, Point.CARTESIAN),
new Point(31.614, 56.588, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 3
new BezierLine(
new Point(31.614, 56.588, Point.CARTESIAN),
new Point(51.214, 56.746, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 4
new BezierCurve(
new Point(51.214, 56.746, Point.CARTESIAN),
new Point(64.334, 58.643, Point.CARTESIAN),
new Point(61.172, 45.524, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.addPath(
// Line 5
new BezierCurve(
new Point(61.172, 45.524, Point.CARTESIAN),
new Point(36.198, 26.239, Point.CARTESIAN),
new Point(19.759, 11.065, Point.CARTESIAN)
)
)
.setTangentHeadingInterpolation()
.build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path);
}
follower.telemetryDebug(telemetryA);
}
}

95
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleTwo.java Normal file
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@ -0,0 +1,95 @@
package org.firstinspires.ftc.teamcode;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/**
* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
* a circle, but some Bezier curves that have control points set essentially in a square. However,
* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
* heading is to be expected.
*
* @author Anyi Lin - 10158 Scott's Bots
* @author Aaron Yang - 10158 Scott's Bots
* @author Harrison Womack - 10158 Scott's Bots
* @version 1.0, 3/12/2024
*/
@Config
@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
public class AutoExampleTwo extends OpMode {
private Telemetry telemetryA;
private Follower follower;
private PathChain path;
private final Pose startPose = new Pose(10.0, 40, 90);
/**
* This initializes the Follower and creates the PathChain for the "circle". Additionally, this
* initializes the FTC Dashboard telemetry.
*/
@Override
public void init() {
follower = new Follower(hardwareMap);
follower.setMaxPower(.4);
follower.setStartingPose(startPose);
path = follower.pathBuilder()
.addPath(
// Line 1
new BezierLine(
new Point(10.000, 40.000, Point.CARTESIAN),
new Point(60.000, 40.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 2
new BezierLine(
new Point(60.000, 40.000, Point.CARTESIAN),
new Point(60.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90))
.addPath(
// Line 3
new BezierLine(
new Point(60.000, 25.000, Point.CARTESIAN),
new Point(10.000, 25.000, Point.CARTESIAN)
)
)
.setConstantHeadingInterpolation(Math.toRadians(90)).build();
follower.followPath(path);
telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
telemetryA.update();
}
/**
* This runs the OpMode, updating the Follower as well as printing out the debug statements to
* the Telemetry, as well as the FTC Dashboard.
*/
@Override
public void loop() {
follower.update();
if (follower.atParametricEnd()) {
follower.followPath(path);
}
follower.telemetryDebug(telemetryA);
}
}

25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
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@ -85,29 +85,24 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftFrontDrive = null;
private DcMotor leftBackDrive = null;
private DcMotor rightFrontDrive = null;
private DcMotor rightBackDrive = null;
private Encoder leftEncoder;
private Encoder rightEncoder;
private Encoder strafeEncoder;
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
// Initialize the hardware variables. Note that the strings used here must correspond
// to the names assigned during the robot configuration step on the DS or RC devices.
leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
// TODO: replace these with your encoder ports
leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
// TODO: reverse any encoders necessary
leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -58,15 +58,15 @@ public class PedroConstants {
public static final double ROBOT_SPEED_LATERAL = 28.7119;
// Rate of deceleration when power is cut-off when the robot is moving forward
public static final double FORWARD_ZERO_POWER_ACCEL = -61.125;
public static final double FORWARD_ZERO_POWER_ACCEL = -57.805;
// Rate of deceleration when power is cut-off when the robot is moving to the right
public static final double LATERAL_ZERO_POWER_ACCEL = -82.579633333;
public static final double LATERAL_ZERO_POWER_ACCEL = -99.672;
// Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
public static final double ZERO_POWER_ACCEL_MULT = 4;
public static final double ZERO_POWER_ACCEL_MULT = 3.5;
/* Centripetal force correction - increase if robot is correcting into the path
- decrease if robot is correcting away from the path */
public static final double CENTRIPETAL_SCALING = 0.0005;
public static final double CENTRIPETAL_SCALING = 0.0004;
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java
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@ -71,6 +71,7 @@ public class PoseUpdater {
public PoseUpdater(HardwareMap hardwareMap) {
// TODO: replace the second argument with your preferred localizer
this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
// this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
}
/**

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java
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@ -63,6 +63,7 @@ public class LateralTuner extends OpMode {
telemetryA.addData("distance moved", poseUpdater.getPose().getY());
telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
telemetryA.update();
Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
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@ -58,10 +58,10 @@ public class FollowerConstants {
// Heading error PIDF coefficients
public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
1,
2,
0,
0.02,
0);
.075,
-.03125);
// Feed forward constant added on to the heading PIDF
public static double headingPIDFFeedForward = 0.01;
@ -69,10 +69,10 @@ public class FollowerConstants {
// Drive PIDF coefficients
public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
0.025,
0.006,
0,
0.00001,
0.6,
0.8,
0);
// Feed forward constant added on to the drive PIDF

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java
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@ -119,6 +119,13 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
*/
@Override
public void loop() {
telemetry.addData("x",poseUpdater.getPose().getX());
telemetry.addData("y",poseUpdater.getPose().getY());
telemetry.addData("heading",poseUpdater.getPose().getHeading());
telemetry.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
telemetry.addData("velo theta", poseUpdater.getVelocity().getTheta());
if (gamepad1.cross || gamepad1.a) {
requestOpModeStop();
}