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Finish tank params refactor

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This commit is contained in:
Ryan Brott
2023-09-10 09:12:20 -07:00
parent a4747329ef
commit 5cd5bdd04e
1 changed files with 11 additions and 39 deletions
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50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
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@ -51,32 +51,6 @@ import java.util.List;
@Config @Config
public final class TankDrive { public final class TankDrive {
// drive model parameters
public static double IN_PER_TICK = 0;
public static double TRACK_WIDTH_TICKS = 0;
// feedforward parameters in tick units
public static double kS = 0;
public static double kV = 0;
public static double kA = 0;
// path profile parameters
public static double MAX_WHEEL_VEL = 50;
public static double MIN_PROFILE_ACCEL = -30;
public static double MAX_PROFILE_ACCEL = 50;
// turn profile parameters
public static double MAX_ANG_VEL = Math.PI; // shared with path
public static double MAX_ANG_ACCEL = Math.PI;
// path controller gains
public static double RAMSETE_ZETA = 0.7; // in the range (0, 1)
public static double RAMSETE_BBAR = 2.0; // positive
// turn controller gains
public static double TURN_GAIN = 0.0;
public static double TURN_VEL_GAIN = 0.0;
public static class Params { public static class Params {
// drive model parameters // drive model parameters
public double inPerTick = 0; public double inPerTick = 0;
@ -107,19 +81,19 @@ public final class TankDrive {
public static Params PARAMS = new Params(); public static Params PARAMS = new Params();
public final TankKinematics kinematics = new TankKinematics(IN_PER_TICK * TRACK_WIDTH_TICKS); public final TankKinematics kinematics = new TankKinematics(PARAMS.inPerTick * PARAMS.trackWidthTicks);
public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV / IN_PER_TICK, kA / IN_PER_TICK); public final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS, PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
public final TurnConstraints defaultTurnConstraints = new TurnConstraints( public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
MAX_ANG_VEL, -MAX_ANG_ACCEL, MAX_ANG_ACCEL); PARAMS.maxAngVel, -PARAMS.maxAngVel, PARAMS.maxAngAccel);
public final VelConstraint defaultVelConstraint = public final VelConstraint defaultVelConstraint =
new MinVelConstraint(Arrays.asList( new MinVelConstraint(Arrays.asList(
kinematics.new WheelVelConstraint(MAX_WHEEL_VEL), kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
new AngularVelConstraint(MAX_ANG_VEL) new AngularVelConstraint(PARAMS.maxAngVel)
)); ));
public final AccelConstraint defaultAccelConstraint = public final AccelConstraint defaultAccelConstraint =
new ProfileAccelConstraint(MIN_PROFILE_ACCEL, MAX_PROFILE_ACCEL); new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
public final List<DcMotorEx> leftMotors, rightMotors; public final List<DcMotorEx> leftMotors, rightMotors;
@ -130,8 +104,6 @@ public final class TankDrive {
public final Localizer localizer; public final Localizer localizer;
public Pose2d pose; public Pose2d pose;
public final double inPerTick = IN_PER_TICK;
private final LinkedList<Pose2d> poseHistory = new LinkedList<>(); private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
public class DriveLocalizer implements Localizer { public class DriveLocalizer implements Localizer {
@ -187,11 +159,11 @@ public final class TankDrive {
new DualNum<Time>(new double[] { new DualNum<Time>(new double[] {
meanLeftPos - lastLeftPos, meanLeftPos - lastLeftPos,
meanLeftVel meanLeftVel
}).times(inPerTick), }).times(PARAMS.inPerTick),
new DualNum<Time>(new double[] { new DualNum<Time>(new double[] {
meanRightPos - lastRightPos, meanRightPos - lastRightPos,
meanRightVel, meanRightVel,
}).times(inPerTick) }).times(PARAMS.inPerTick)
); );
lastLeftPos = meanLeftPos; lastLeftPos = meanLeftPos;
@ -298,7 +270,7 @@ public final class TankDrive {
updatePoseEstimate(); updatePoseEstimate();
PoseVelocity2dDual<Time> command = new RamseteController(kinematics.trackWidth, RAMSETE_ZETA, RAMSETE_BBAR) PoseVelocity2dDual<Time> command = new RamseteController(kinematics.trackWidth, PARAMS.ramseteZeta, PARAMS.ramseteBBar)
.compute(x, txWorldTarget, pose); .compute(x, txWorldTarget, pose);
TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command); TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
@ -383,8 +355,8 @@ public final class TankDrive {
PoseVelocity2dDual<Time> command = new PoseVelocity2dDual<>( PoseVelocity2dDual<Time> command = new PoseVelocity2dDual<>(
Vector2dDual.constant(new Vector2d(0, 0), 3), Vector2dDual.constant(new Vector2d(0, 0), 3),
txWorldTarget.heading.velocity().plus( txWorldTarget.heading.velocity().plus(
TURN_GAIN * pose.heading.minus(txWorldTarget.heading.value()) + PARAMS.turnGain * pose.heading.minus(txWorldTarget.heading.value()) +
TURN_VEL_GAIN * (robotVelRobot.angVel - txWorldTarget.heading.velocity().value()) PARAMS.turnVelGain * (robotVelRobot.angVel - txWorldTarget.heading.velocity().value())
) )
); );