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centripetal correction

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This commit is contained in:
brotherhobo
2024-08-11 15:50:08 -04:00
parent 2c28cda121
commit 87f42407f7
1 changed files with 42 additions and 40 deletions
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82
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java
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@ -433,54 +433,56 @@ public class Follower {
} }
if (!teleopDrive) { if (!teleopDrive) {
if (holdingPosition) { if (currentPath != null) {
closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), 1); if (holdingPosition) {
closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), 1);
drivePowers = driveVectorScaler.getDrivePowers(MathFunctions.scalarMultiplyVector(getTranslationalCorrection(), holdPointTranslationalScaling), MathFunctions.scalarMultiplyVector(getHeadingVector(), holdPointHeadingScaling), new Vector(), poseUpdater.getPose().getHeading()); drivePowers = driveVectorScaler.getDrivePowers(MathFunctions.scalarMultiplyVector(getTranslationalCorrection(), holdPointTranslationalScaling), MathFunctions.scalarMultiplyVector(getHeadingVector(), holdPointHeadingScaling), new Vector(), poseUpdater.getPose().getHeading());
limitDrivePowers();
for (int i = 0; i < motors.size(); i++) {
motors.get(i).setPower(drivePowers[i]);
}
} else {
if (isBusy) {
closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), BEZIER_CURVE_BINARY_STEP_LIMIT);
if (followingPathChain) updateCallbacks();
drivePowers = driveVectorScaler.getDrivePowers(getCorrectiveVector(), getHeadingVector(), getDriveVector(), poseUpdater.getPose().getHeading());
limitDrivePowers(); limitDrivePowers();
for (int i = 0; i < motors.size(); i++) { for (int i = 0; i < motors.size(); i++) {
motors.get(i).setPower(drivePowers[i]); motors.get(i).setPower(drivePowers[i]);
} }
} } else {
if (currentPath.isAtParametricEnd()) { if (isBusy) {
if (followingPathChain && chainIndex < currentPathChain.size() - 1) {
// Not at last path, keep going
breakFollowing();
pathStartTimes[chainIndex] = System.currentTimeMillis();
isBusy = true;
followingPathChain = true;
chainIndex++;
currentPath = currentPathChain.getPath(chainIndex);
closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), BEZIER_CURVE_BINARY_STEP_LIMIT); closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), BEZIER_CURVE_BINARY_STEP_LIMIT);
} else {
// At last path, run some end detection stuff
// set isBusy to false if at end
if (!reachedParametricPathEnd) {
reachedParametricPathEnd = true;
reachedParametricPathEndTime = System.currentTimeMillis();
}
if ((System.currentTimeMillis() - reachedParametricPathEndTime > currentPath.getPathEndTimeoutConstraint()) || (poseUpdater.getVelocity().getMagnitude() < currentPath.getPathEndVelocityConstraint() && MathFunctions.distance(poseUpdater.getPose(), closestPose) < currentPath.getPathEndTranslationalConstraint() && MathFunctions.getSmallestAngleDifference(poseUpdater.getPose().getHeading(), currentPath.getClosestPointHeadingGoal()) < currentPath.getPathEndHeadingConstraint())) { if (followingPathChain) updateCallbacks();
if (holdPositionAtEnd) {
holdPositionAtEnd = false; drivePowers = driveVectorScaler.getDrivePowers(getCorrectiveVector(), getHeadingVector(), getDriveVector(), poseUpdater.getPose().getHeading());
holdPoint(new BezierPoint(currentPath.getLastControlPoint()), currentPath.getHeadingGoal(1));
} else { limitDrivePowers();
breakFollowing();
for (int i = 0; i < motors.size(); i++) {
motors.get(i).setPower(drivePowers[i]);
}
}
if (currentPath.isAtParametricEnd()) {
if (followingPathChain && chainIndex < currentPathChain.size() - 1) {
// Not at last path, keep going
breakFollowing();
pathStartTimes[chainIndex] = System.currentTimeMillis();
isBusy = true;
followingPathChain = true;
chainIndex++;
currentPath = currentPathChain.getPath(chainIndex);
closestPose = currentPath.getClosestPoint(poseUpdater.getPose(), BEZIER_CURVE_BINARY_STEP_LIMIT);
} else {
// At last path, run some end detection stuff
// set isBusy to false if at end
if (!reachedParametricPathEnd) {
reachedParametricPathEnd = true;
reachedParametricPathEndTime = System.currentTimeMillis();
}
if ((System.currentTimeMillis() - reachedParametricPathEndTime > currentPath.getPathEndTimeoutConstraint()) || (poseUpdater.getVelocity().getMagnitude() < currentPath.getPathEndVelocityConstraint() && MathFunctions.distance(poseUpdater.getPose(), closestPose) < currentPath.getPathEndTranslationalConstraint() && MathFunctions.getSmallestAngleDifference(poseUpdater.getPose().getHeading(), currentPath.getClosestPointHeadingGoal()) < currentPath.getPathEndHeadingConstraint())) {
if (holdPositionAtEnd) {
holdPositionAtEnd = false;
holdPoint(new BezierPoint(currentPath.getLastControlPoint()), currentPath.getHeadingGoal(1));
} else {
breakFollowing();
}
} }
} }
} }
@ -851,7 +853,7 @@ public class Follower {
curvature = (yDoublePrime) / (Math.pow(Math.sqrt(1 + Math.pow(yPrime, 2)), 3)); curvature = (yDoublePrime) / (Math.pow(Math.sqrt(1 + Math.pow(yPrime, 2)), 3));
} }
if (Double.isNaN(curvature)) return new Vector(); if (Double.isNaN(curvature)) return new Vector();
centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * curvature, -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta())); centripetalVector = new Vector(MathFunctions.clamp(FollowerConstants.centripetalScaling * FollowerConstants.mass * Math.pow(MathFunctions.dotProduct(poseUpdater.getVelocity(), MathFunctions.normalizeVector(currentPath.getClosestPointTangentVector())), 2) * Math.abs(curvature), -1, 1), currentPath.getClosestPointTangentVector().getTheta() + Math.PI / 2 * MathFunctions.getSign(currentPath.getClosestPointNormalVector().getTheta()));
return centripetalVector; return centripetalVector;
} }