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Added Pinpoint Localization!

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Logan-Nash
2024-10-17 14:09:35 -04:00
parent ce3ae6c03b
commit f5ac5ea8e9
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20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/LOCALIZATION.md
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@ -4,7 +4,7 @@ the pose exponential method of localization. It's basically a way of turning mov
robot's coordinate frame to the global coordinate frame. If you're interested in reading more about
it, then check out pages 177 - 183 of [Controls Engineering in the FIRST Robotics Competition](https://file.tavsys.net/control/controls-engineering-in-frc.pdf)
by Tyler Veness. However, the OTOS localizer uses its own onboard system for calculating localization,
which I do not know about.
which we do not know about.
## Setting Your Localizer
Go to line `70` in the `PoseUpdater` class, and replace the `new ThreeWheelLocalizer(hardwareMap)`
@ -15,6 +15,7 @@ with the localizer that applies to you:
don't change it from the default
* If you're using three wheel odometry with the IMU, put `new ThreeWheelIMULocalizer(hardwareMap)`
* If you're using OTOS, put `new OTOSLocalizer(hardwareMap)`
* If you're using Pinpoint, put `new PinpointLocalizer(hardwareMap)`
## Tuning
To start, you'll want to select your localizer of choice. Below, I'll have instructions for the drive
@ -241,6 +242,23 @@ that applies to you and follow the directions there.
robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
## Pinpoint Localizer
* First you will need to plug in the pinpoint to the i2c port. Ensure that the dead wheel encoder wires are
plugged into the proper ports on the pinpoint to ensure no error within the tuning steps.
* Then, go to the `PinpointLocalier.java` file and go to where it tells you to replace
the current statement with your pinpoint port in the constructor. Replace the `deviceName` parameter
with the name of the port that the pinpoint is connected to.
* Next, follow the instructions left by the TODO: comment and enter in the odometry measurements either in
mms or inches (We have the conversion rates listed).
* First, to ensure that your pinpoint is properly connected, please run the `SensorGoBildaPinpointExample.java`
file left in the `tuning` folder located within `localization`.
* Once completed, the localizer should be properly tuned. To test it out, you can go to
`Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
left corner, you should see a field and the robot being drawn on the field. You can then move your
robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
## Using Road Runner's Localizer
Of course, many teams have experience using Road Runner in the past and so have localizers from Road
Runner that are tuned. There is an adapter for the Road Runner three wheel localizer to the Pedro

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/OVERVIEW.md
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@ -105,4 +105,5 @@ of the curvature formula, we can estimate a centripetal force correction and app
control.
## Questions?
If you still have more questions, feel free to contact us at `scottsbots10158@gmail.com`
If you still have more questions, feel free to contact us at `scottsbots10158@gmail.com` or
within our discord linked here(https://discord.gg/2GfC4qBP5s)

513
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/GoBildaPinpointDriver.java Normal file
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@ -0,0 +1,513 @@
/* MIT License
* Copyright (c) [2024] [Base 10 Assets, LLC]
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.firstinspires.ftc.teamcode.pedroPathing.localization;
import static com.qualcomm.robotcore.util.TypeConversion.byteArrayToInt;
import com.qualcomm.hardware.lynx.LynxI2cDeviceSynch;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
import com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties;
import com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType;
import com.qualcomm.robotcore.util.TypeConversion;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose2D;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.Arrays;
@I2cDeviceType
@DeviceProperties(
name = "goBILDA® Pinpoint Odometry Computer",
xmlTag = "goBILDAPinpoint",
description ="goBILDA® Pinpoint Odometry Computer (IMU Sensor Fusion for 2 Wheel Odometry)"
)
public class GoBildaPinpointDriver extends I2cDeviceSynchDevice<I2cDeviceSynchSimple> {
private int deviceStatus = 0;
private int loopTime = 0;
private int xEncoderValue = 0;
private int yEncoderValue = 0;
private float xPosition = 0;
private float yPosition = 0;
private float hOrientation = 0;
private float xVelocity = 0;
private float yVelocity = 0;
private float hVelocity = 0;
private static final float goBILDA_SWINGARM_POD = 13.26291192f; //ticks-per-mm for the goBILDA Swingarm Pod
private static final float goBILDA_4_BAR_POD = 19.89436789f; //ticks-per-mm for the goBILDA 4-Bar Pod
//i2c address of the device
public static final byte DEFAULT_ADDRESS = 0x31;
public GoBildaPinpointDriver(I2cDeviceSynchSimple deviceClient, boolean deviceClientIsOwned) {
super(deviceClient, deviceClientIsOwned);
this.deviceClient.setI2cAddress(I2cAddr.create7bit(DEFAULT_ADDRESS));
super.registerArmingStateCallback(false);
}
@Override
public Manufacturer getManufacturer() {
return Manufacturer.Other;
}
@Override
protected synchronized boolean doInitialize() {
((LynxI2cDeviceSynch)(deviceClient)).setBusSpeed(LynxI2cDeviceSynch.BusSpeed.FAST_400K);
return true;
}
@Override
public String getDeviceName() {
return "goBILDA® Pinpoint Odometry Computer";
}
//Register map of the i2c device
private enum Register {
DEVICE_ID (1),
DEVICE_VERSION (2),
DEVICE_STATUS (3),
DEVICE_CONTROL (4),
LOOP_TIME (5),
X_ENCODER_VALUE (6),
Y_ENCODER_VALUE (7),
X_POSITION (8),
Y_POSITION (9),
H_ORIENTATION (10),
X_VELOCITY (11),
Y_VELOCITY (12),
H_VELOCITY (13),
MM_PER_TICK (14),
X_POD_OFFSET (15),
Y_POD_OFFSET (16),
YAW_SCALAR (17),
BULK_READ (18);
private final int bVal;
Register(int bVal){
this.bVal = bVal;
}
}
//Device Status enum that captures the current fault condition of the device
public enum DeviceStatus{
NOT_READY (0),
READY (1),
CALIBRATING (1 << 1),
FAULT_X_POD_NOT_DETECTED (1 << 2),
FAULT_Y_POD_NOT_DETECTED (1 << 3),
FAULT_NO_PODS_DETECTED (1 << 2 | 1 << 3),
FAULT_IMU_RUNAWAY (1 << 4);
private final int status;
DeviceStatus(int status){
this.status = status;
}
}
//enum that captures the direction the encoders are set to
public enum EncoderDirection{
FORWARD,
REVERSED;
}
//enum that captures the kind of goBILDA odometry pods, if goBILDA pods are used
public enum GoBildaOdometryPods {
goBILDA_SWINGARM_POD,
goBILDA_4_BAR_POD;
}
//enum that captures a limited scope of read data. More options may be added in future update
public enum readData {
ONLY_UPDATE_HEADING,
}
/** Writes an int to the i2c device
@param reg the register to write the int to
@param i the integer to write to the register
*/
private void writeInt(final Register reg, int i){
deviceClient.write(reg.bVal, TypeConversion.intToByteArray(i,ByteOrder.LITTLE_ENDIAN));
}
/**
* Reads an int from a register of the i2c device
* @param reg the register to read from
* @return returns an int that contains the value stored in the read register
*/
private int readInt(Register reg){
return byteArrayToInt(deviceClient.read(reg.bVal,4), ByteOrder.LITTLE_ENDIAN);
}
/**
* Converts a byte array to a float value
* @param byteArray byte array to transform
* @param byteOrder order of byte array to convert
* @return the float value stored by the byte array
*/
private float byteArrayToFloat(byte[] byteArray, ByteOrder byteOrder){
return ByteBuffer.wrap(byteArray).order(byteOrder).getFloat();
}
/**
* Reads a float from a register
* @param reg the register to read
* @return the float value stored in that register
*/
private float readFloat(Register reg){
return byteArrayToFloat(deviceClient.read(reg.bVal,4),ByteOrder.LITTLE_ENDIAN);
}
/**
* Converts a float to a byte array
* @param value the float array to convert
* @return the byte array converted from the float
*/
private byte [] floatToByteArray (float value, ByteOrder byteOrder) {
return ByteBuffer.allocate(4).order(byteOrder).putFloat(value).array();
}
/**
* Writes a byte array to a register on the i2c device
* @param reg the register to write to
* @param bytes the byte array to write
*/
private void writeByteArray (Register reg, byte[] bytes){
deviceClient.write(reg.bVal,bytes);
}
/**
* Writes a float to a register on the i2c device
* @param reg the register to write to
* @param f the float to write
*/
private void writeFloat (Register reg, float f){
byte[] bytes = ByteBuffer.allocate(4).order(ByteOrder.LITTLE_ENDIAN).putFloat(f).array();
deviceClient.write(reg.bVal,bytes);
}
/**
* Looks up the DeviceStatus enum corresponding with an int value
* @param s int to lookup
* @return the Odometry Computer state
*/
private DeviceStatus lookupStatus (int s){
if ((s & DeviceStatus.CALIBRATING.status) != 0){
return DeviceStatus.CALIBRATING;
}
boolean xPodDetected = (s & DeviceStatus.FAULT_X_POD_NOT_DETECTED.status) == 0;
boolean yPodDetected = (s & DeviceStatus.FAULT_Y_POD_NOT_DETECTED.status) == 0;
if(!xPodDetected && !yPodDetected){
return DeviceStatus.FAULT_NO_PODS_DETECTED;
}
if (!xPodDetected){
return DeviceStatus.FAULT_X_POD_NOT_DETECTED;
}
if (!yPodDetected){
return DeviceStatus.FAULT_Y_POD_NOT_DETECTED;
}
if ((s & DeviceStatus.FAULT_IMU_RUNAWAY.status) != 0){
return DeviceStatus.FAULT_IMU_RUNAWAY;
}
if ((s & DeviceStatus.READY.status) != 0){
return DeviceStatus.READY;
}
else {
return DeviceStatus.NOT_READY;
}
}
/**
* Call this once per loop to read new data from the Odometry Computer. Data will only update once this is called.
*/
public void update(){
byte[] bArr = deviceClient.read(Register.BULK_READ.bVal, 40);
deviceStatus = byteArrayToInt(Arrays.copyOfRange (bArr, 0, 4), ByteOrder.LITTLE_ENDIAN);
loopTime = byteArrayToInt(Arrays.copyOfRange (bArr, 4, 8), ByteOrder.LITTLE_ENDIAN);
xEncoderValue = byteArrayToInt(Arrays.copyOfRange (bArr, 8, 12), ByteOrder.LITTLE_ENDIAN);
yEncoderValue = byteArrayToInt(Arrays.copyOfRange (bArr, 12,16), ByteOrder.LITTLE_ENDIAN);
xPosition = byteArrayToFloat(Arrays.copyOfRange(bArr, 16,20), ByteOrder.LITTLE_ENDIAN);
yPosition = byteArrayToFloat(Arrays.copyOfRange(bArr, 20,24), ByteOrder.LITTLE_ENDIAN);
hOrientation = byteArrayToFloat(Arrays.copyOfRange(bArr, 24,28), ByteOrder.LITTLE_ENDIAN);
xVelocity = byteArrayToFloat(Arrays.copyOfRange(bArr, 28,32), ByteOrder.LITTLE_ENDIAN);
yVelocity = byteArrayToFloat(Arrays.copyOfRange(bArr, 32,36), ByteOrder.LITTLE_ENDIAN);
hVelocity = byteArrayToFloat(Arrays.copyOfRange(bArr, 36,40), ByteOrder.LITTLE_ENDIAN);
}
/**
* Call this once per loop to read new data from the Odometry Computer. This is an override of the update() function
* which allows a narrower range of data to be read from the device for faster read times. Currently ONLY_UPDATE_HEADING
* is supported.
* @param data GoBildaPinpointDriver.readData.ONLY_UPDATE_HEADING
*/
public void update(readData data) {
if (data == readData.ONLY_UPDATE_HEADING) {
hOrientation = byteArrayToFloat(deviceClient.read(Register.H_ORIENTATION.bVal, 4), ByteOrder.LITTLE_ENDIAN);
}
}
/**
* Sets the odometry pod positions relative to the point that the odometry computer tracks around.<br><br>
* The most common tracking position is the center of the robot. <br> <br>
* The X pod offset refers to how far sideways (in mm) from the tracking point the X (forward) odometry pod is. Left of the center is a positive number, right of center is a negative number. <br>
* the Y pod offset refers to how far forwards (in mm) from the tracking point the Y (strafe) odometry pod is. forward of center is a positive number, backwards is a negative number.<br>
* @param xOffset how sideways from the center of the robot is the X (forward) pod? Left increases
* @param yOffset how far forward from the center of the robot is the Y (Strafe) pod? forward increases
*/
public void setOffsets(double xOffset, double yOffset){
writeFloat(Register.X_POD_OFFSET, (float) xOffset);
writeFloat(Register.Y_POD_OFFSET, (float) yOffset);
}
/**
* Recalibrates the Odometry Computer's internal IMU. <br><br>
* <strong> Robot MUST be stationary </strong> <br><br>
* Device takes a large number of samples, and uses those as the gyroscope zero-offset. This takes approximately 0.25 seconds.
*/
public void recalibrateIMU(){writeInt(Register.DEVICE_CONTROL,1<<0);}
/**
* Resets the current position to 0,0,0 and recalibrates the Odometry Computer's internal IMU. <br><br>
* <strong> Robot MUST be stationary </strong> <br><br>
* Device takes a large number of samples, and uses those as the gyroscope zero-offset. This takes approximately 0.25 seconds.
*/
public void resetPosAndIMU(){writeInt(Register.DEVICE_CONTROL,1<<1);}
/**
* Can reverse the direction of each encoder.
* @param xEncoder FORWARD or REVERSED, X (forward) pod should increase when the robot is moving forward
* @param yEncoder FORWARD or REVERSED, Y (strafe) pod should increase when the robot is moving left
*/
public void setEncoderDirections(EncoderDirection xEncoder, EncoderDirection yEncoder){
if (xEncoder == EncoderDirection.REVERSED) {
writeInt(Register.DEVICE_CONTROL,1<<4);
}
if (yEncoder == EncoderDirection.REVERSED){
writeInt(Register.DEVICE_CONTROL,1<<2);
}
}
/**
* If you're using goBILDA odometry pods, the ticks-per-mm values are stored here for easy access.<br><br>
* @param pods goBILDA_SWINGARM_POD or goBILDA_4_BAR_POD
*/
public void setEncoderResolution(GoBildaOdometryPods pods){
if (pods == GoBildaOdometryPods.goBILDA_SWINGARM_POD) {
writeByteArray(Register.MM_PER_TICK, (floatToByteArray(goBILDA_SWINGARM_POD, ByteOrder.LITTLE_ENDIAN)));
}
if (pods == GoBildaOdometryPods.goBILDA_4_BAR_POD){
writeByteArray(Register.MM_PER_TICK,(floatToByteArray(goBILDA_4_BAR_POD, ByteOrder.LITTLE_ENDIAN)));
}
}
/**
* Sets the encoder resolution in ticks per mm of the odometry pods. <br>
* You can find this number by dividing the counts-per-revolution of your encoder by the circumference of the wheel.
* @param ticks_per_mm should be somewhere between 10 ticks/mm and 100 ticks/mm a goBILDA Swingarm pod is ~13.26291192
*/
public void setEncoderResolution(double ticks_per_mm){
writeByteArray(Register.MM_PER_TICK,(floatToByteArray((float) ticks_per_mm,ByteOrder.LITTLE_ENDIAN)));
}
/**
* Tuning this value should be unnecessary.<br>
* The goBILDA Odometry Computer has a per-device tuned yaw offset already applied when you receive it.<br><br>
* This is a scalar that is applied to the gyro's yaw value. Increasing it will mean it will report more than one degree for every degree the sensor fusion algorithm measures. <br><br>
* You can tune this variable by rotating the robot a large amount (10 full turns is a good starting place) and comparing the amount that the robot rotated to the amount measured.
* Rotating the robot exactly 10 times should measure 3600°. If it measures more or less, divide moved amount by the measured amount and apply that value to the Yaw Offset.<br><br>
* If you find that to get an accurate heading number you need to apply a scalar of more than 1.05, or less than 0.95, your device may be bad. Please reach out to tech@gobilda.com
* @param yawOffset A scalar for the robot's heading.
*/
public void setYawScalar(double yawOffset){
writeByteArray(Register.YAW_SCALAR,(floatToByteArray((float) yawOffset, ByteOrder.LITTLE_ENDIAN)));
}
/**
* Send a position that the Pinpoint should use to track your robot relative to. You can use this to
* update the estimated position of your robot with new external sensor data, or to run a robot
* in field coordinates. <br><br>
* This overrides the current position. <br><br>
* <strong>Using this feature to track your robot's position in field coordinates:</strong> <br>
* When you start your code, send a Pose2D that describes the starting position on the field of your robot. <br>
* Say you're on the red alliance, your robot is against the wall and closer to the audience side,
* and the front of your robot is pointing towards the center of the field.
* You can send a setPosition with something like -600mm x, -1200mm Y, and 90 degrees. The pinpoint would then always
* keep track of how far away from the center of the field you are. <br><br>
* <strong>Using this feature to update your position with additional sensors: </strong><br>
* Some robots have a secondary way to locate their robot on the field. This is commonly
* Apriltag localization in FTC, but it can also be something like a distance sensor.
* Often these external sensors are absolute (meaning they measure something about the field)
* so their data is very accurate. But they can be slower to read, or you may need to be in a very specific
* position on the field to use them. In that case, spend most of your time relying on the Pinpoint
* to determine your location. Then when you pull a new position from your secondary sensor,
* send a setPosition command with the new position. The Pinpoint will then track your movement
* relative to that new, more accurate position.
* @param pos a Pose2D describing the robot's new position.
*/
public Pose2D setPosition(Pose2D pos){
writeByteArray(Register.X_POSITION,(floatToByteArray((float) pos.getX(DistanceUnit.MM), ByteOrder.LITTLE_ENDIAN)));
writeByteArray(Register.Y_POSITION,(floatToByteArray((float) pos.getY(DistanceUnit.MM),ByteOrder.LITTLE_ENDIAN)));
writeByteArray(Register.H_ORIENTATION,(floatToByteArray((float) pos.getHeading(AngleUnit.RADIANS),ByteOrder.LITTLE_ENDIAN)));
return pos;
}
/**
* Checks the deviceID of the Odometry Computer. Should return 1.
* @return 1 if device is functional.
*/
public int getDeviceID(){return readInt(Register.DEVICE_ID);}
/**
* @return the firmware version of the Odometry Computer
*/
public int getDeviceVersion(){return readInt(Register.DEVICE_VERSION); }
public float getYawScalar(){return readFloat(Register.YAW_SCALAR); }
/**
* Device Status stores any faults the Odometry Computer may be experiencing. These faults include:
* @return one of the following states:<br>
* NOT_READY - The device is currently powering up. And has not initialized yet. RED LED<br>
* READY - The device is currently functioning as normal. GREEN LED<br>
* CALIBRATING - The device is currently recalibrating the gyro. RED LED<br>
* FAULT_NO_PODS_DETECTED - the device does not detect any pods plugged in. PURPLE LED <br>
* FAULT_X_POD_NOT_DETECTED - The device does not detect an X pod plugged in. BLUE LED <br>
* FAULT_Y_POD_NOT_DETECTED - The device does not detect a Y pod plugged in. ORANGE LED <br>
*/
public DeviceStatus getDeviceStatus(){return lookupStatus(deviceStatus); }
/**
* Checks the Odometry Computer's most recent loop time.<br><br>
* If values less than 500, or more than 1100 are commonly seen here, there may be something wrong with your device. Please reach out to tech@gobilda.com
* @return loop time in microseconds (1/1,000,000 seconds)
*/
public int getLoopTime(){return loopTime; }
/**
* Checks the Odometry Computer's most recent loop frequency.<br><br>
* If values less than 900, or more than 2000 are commonly seen here, there may be something wrong with your device. Please reach out to tech@gobilda.com
* @return Pinpoint Frequency in Hz (loops per second),
*/
public double getFrequency(){
if (loopTime != 0){
return 1000000.0/loopTime;
}
else {
return 0;
}
}
/**
* @return the raw value of the X (forward) encoder in ticks
*/
public int getEncoderX(){return xEncoderValue; }
/**
* @return the raw value of the Y (strafe) encoder in ticks
*/
public int getEncoderY(){return yEncoderValue; }
/**
* @return the estimated X (forward) position of the robot in mm
*/
public double getPosX(){return xPosition; }
/**
* @return the estimated Y (Strafe) position of the robot in mm
*/
public double getPosY(){return yPosition; }
/**
* @return the estimated H (heading) position of the robot in Radians
*/
public double getHeading(){return hOrientation;}
/**
* @return the estimated X (forward) velocity of the robot in mm/sec
*/
public double getVelX(){return xVelocity; }
/**
* @return the estimated Y (strafe) velocity of the robot in mm/sec
*/
public double getVelY(){return yVelocity; }
/**
* @return the estimated H (heading) velocity of the robot in radians/sec
*/
public double getHeadingVelocity(){return hVelocity; }
/**
* <strong> This uses its own I2C read, avoid calling this every loop. </strong>
* @return the user-set offset for the X (forward) pod
*/
public float getXOffset(){return readFloat(Register.X_POD_OFFSET);}
/**
* <strong> This uses its own I2C read, avoid calling this every loop. </strong>
* @return the user-set offset for the Y (strafe) pod
*/
public float getYOffset(){return readFloat(Register.Y_POD_OFFSET);}
/**
* @return a Pose2D containing the estimated position of the robot
*/
public Pose2D getPosition(){
return new Pose2D(DistanceUnit.MM,
xPosition,
yPosition,
AngleUnit.RADIANS,
hOrientation);
}
/**
* @return a Pose2D containing the estimated velocity of the robot, velocity is unit per second
*/
public Pose2D getVelocity(){
return new Pose2D(DistanceUnit.MM,
xVelocity,
yVelocity,
AngleUnit.RADIANS,
hVelocity);
}
}

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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java Normal file
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@ -0,0 +1,211 @@
package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose2D;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.GoBildaPinpointDriver;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
/**
* This is the Pinpoint class. This class extends the Localizer superclass and is a
* localizer that uses the two wheel odometry set up with the IMU to have more accurate heading
* readings. The diagram below, which is modified from Road Runner, shows a typical set up.
*
* The view is from the top of the robot looking downwards.
*
* left on robot is the y positive direction
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || |
* | || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* With the pinpoint your readings will be used in mm
* to use inches ensure to divide your mm value by 25.4
* @author Logan Nash
* @author Havish Sripada 12808 - RevAmped Robotics
* @author Ethan Doak - Gobilda
* @version 1.0, 10/2/2024
*/
public class PinpointLocalizer extends Localizer {
private HardwareMap hardwareMap;
private Pose startPose;
private GoBildaPinpointDriver odo;
private double previousHeading;
private double totalHeading;
/**
* This creates a new PinpointLocalizer from a HardwareMap, with a starting Pose at (0,0)
* facing 0 heading.
*
* @param map the HardwareMap
*/
public PinpointLocalizer(HardwareMap map){ this(map, new Pose());}
/**
* This creates a new PinpointLocalizer from a HardwareMap and a Pose, with the Pose
* specifying the starting pose of the localizer.
*
* @param map the HardwareMap
* @param setStartPose the Pose to start from
*/
public PinpointLocalizer(HardwareMap map, Pose setStartPose){
hardwareMap = map;
// TODO: replace this with your Pinpoint port
odo = hardwareMap.get(GoBildaPinpointDriver.class,"odo");
//This uses mm, to use inches divide these numbers by 25.4
odo.setOffsets(-84.0, -168.0); //these are tuned for 3110-0002-0001 Product Insight #1
//TODO: If you find that the gobilda Yaw Scaling is incorrect you can edit this here
// odo.setYawScalar(1.0);
//TODO: Set your encoder resolution here, I have the Gobilda Odometry products already included.
//TODO: If you would like to use your own odometry pods input the ticks per mm in the commented part below
odo.setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
//odo.setEncoderResolution(13.26291192);
//TODO: Set encoder directions
odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);
odo.resetPosAndIMU();
setStartPose(setStartPose);
totalHeading = 0;
previousHeading = startPose.getHeading();
resetPinpoint();
}
/**
* This returns the current pose estimate.
*
* @return returns the current pose estimate as a Pose
*/
@Override
public Pose getPose() {
Pose2D pose = odo.getPosition();
return new Pose(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH), pose.getHeading(AngleUnit.RADIANS));
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Pose
*/
@Override
public Pose getVelocity() {
Pose2D pose = odo.getVelocity();
return new Pose(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH), pose.getHeading(AngleUnit.RADIANS));
}
/**
* This returns the current velocity estimate.
*
* @return returns the current velocity estimate as a Vector
*/
@Override
public Vector getVelocityVector() {
Pose2D pose = odo.getVelocity();
Vector returnVector = new Vector();
returnVector.setOrthogonalComponents(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH));
return returnVector;
}
/**
* This sets the start pose. Changing the start pose should move the robot as if all its
* previous movements were displacing it from its new start pose.
*
* @param setStart the new start pose
*/
@Override
public void setStartPose(Pose setStart) {startPose = setStart;}
/**
* This sets the current pose estimate. Changing this should just change the robot's current
* pose estimate, not anything to do with the start pose.
*
* @param setPose the new current pose estimate
*/
@Override
public void setPose(Pose setPose) {
resetPinpoint();
Pose setPinpointPose = MathFunctions.subtractPoses(setPose, startPose);
odo.setPosition(new Pose2D(DistanceUnit.INCH, setPinpointPose.getY(), setPinpointPose.getX(), AngleUnit.RADIANS, setPinpointPose.getHeading()));
}
/**
* This updates the total heading of the robot. The Pinpoint handles all other updates itself.
*/
@Override
public void update() {
odo.update();
totalHeading += MathFunctions.getSmallestAngleDifference(odo.getHeading(),previousHeading);
previousHeading = odo.getHeading();
}
/**
* This returns how far the robot has turned in radians, in a number not clamped between 0 and
* 2 * pi radians. This is used for some tuning things and nothing actually within the following.
*
* @return returns how far the robot has turned in total, in radians.
*/
@Override
public double getTotalHeading() {
return totalHeading;
}
/**
* This returns the Y encoder value as none of the odometry tuners are required for this localizer
* @return returns the Y encoder value
*/
@Override
public double getForwardMultiplier() {
return odo.getEncoderY();
}
/**
* This returns the X encoder value as none of the odometry tuners are required for this localizer
* @return returns the X encoder value
*/
@Override
public double getLateralMultiplier() {
return odo.getEncoderX();
}
/**
* This returns either the factory tuned yaw scalar or the yaw scalar tuned by yourself.
* @return returns the yaw scalar
*/
@Override
public double getTurningMultiplier() {
return odo.getYawScalar();
}
/**
* This resets the IMU.
*/
@Override
public void resetIMU() {
odo.recalibrateIMU();
}
/**
* This resets the OTOS.
*/
public void resetPinpoint(){
odo.resetPosAndIMU();
}
}

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/* MIT License
* Copyright (c) [2024] [Base 10 Assets, LLC]
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose2D;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.GoBildaPinpointDriver;
import java.util.Locale;
/*
This opmode shows how to use the goBILDA® Pinpoint Odometry Computer.
The goBILDA Odometry Computer is a device designed to solve the Pose Exponential calculation
commonly associated with Dead Wheel Odometry systems. It reads two encoders, and an integrated
system of senors to determine the robot's current heading, X position, and Y position.
it uses an ESP32-S3 as a main cpu, with an STM LSM6DSV16X IMU.
It is validated with goBILDA "Dead Wheel" Odometry pods, but should be compatible with any
quadrature rotary encoder. The ESP32 PCNT peripheral is speced to decode quadrature encoder signals
at a maximum of 40mhz per channel. Though the maximum in-application tested number is 130khz.
The device expects two perpendicularly mounted Dead Wheel pods. The encoder pulses are translated
into mm and their readings are transformed by an "offset", this offset describes how far away
the pods are from the "tracking point", usually the center of rotation of the robot.
Dead Wheel pods should both increase in count when moved forwards and to the left.
The gyro will report an increase in heading when rotated counterclockwise.
The Pose Exponential algorithm used is described on pg 181 of this book:
https://github.com/calcmogul/controls-engineering-in-frc
For support, contact tech@gobilda.com
-Ethan Doak
*/
//TODO: If tuning comment out the @Disabled
@TeleOp(name="goBILDA® PinPoint Odometry Example", group="Linear OpMode")
@Disabled
public class SensorGoBildaPinpointExample extends LinearOpMode {
GoBildaPinpointDriver odo; // Declare OpMode member for the Odometry Computer
double oldTime = 0;
@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.
odo = hardwareMap.get(GoBildaPinpointDriver.class,"odo");
/*
Set the odometry pod positions relative to the point that the odometry computer tracks around.
The X pod offset refers to how far sideways from the tracking point the
X (forward) odometry pod is. Left of the center is a positive number,
right of center is a negative number. the Y pod offset refers to how far forwards from
the tracking point the Y (strafe) odometry pod is. forward of center is a positive number,
backwards is a negative number.
*/
odo.setOffsets(-84.0, -168.0); //these are tuned for 3110-0002-0001 Product Insight #1
/*
Set the kind of pods used by your robot. If you're using goBILDA odometry pods, select either
the goBILDA_SWINGARM_POD, or the goBILDA_4_BAR_POD.
If you're using another kind of odometry pod, uncomment setEncoderResolution and input the
number of ticks per mm of your odometry pod.
*/
odo.setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
//odo.setEncoderResolution(13.26291192);
/*
Set the direction that each of the two odometry pods count. The X (forward) pod should
increase when you move the robot forward. And the Y (strafe) pod should increase when
you move the robot to the left.
*/
odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);
/*
Before running the robot, recalibrate the IMU. This needs to happen when the robot is stationary
The IMU will automatically calibrate when first powered on, but recalibrating before running
the robot is a good idea to ensure that the calibration is "good".
resetPosAndIMU will reset the position to 0,0,0 and also recalibrate the IMU.
This is recommended before you run your autonomous, as a bad initial calibration can cause
an incorrect starting value for x, y, and heading.
*/
//odo.recalibrateIMU();
odo.resetPosAndIMU();
telemetry.addData("Status", "Initialized");
telemetry.addData("X offset", odo.getXOffset());
telemetry.addData("Y offset", odo.getYOffset());
telemetry.addData("Device Version Number:", odo.getDeviceVersion());
telemetry.addData("Device Scalar", odo.getYawScalar());
telemetry.update();
// Wait for the game to start (driver presses START)
waitForStart();
resetRuntime();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
/*
Request an update from the Pinpoint odometry computer. This checks almost all outputs
from the device in a single I2C read.
*/
odo.update();
/*
Optionally, you can update only the heading of the device. This takes less time to read, but will not
pull any other data. Only the heading (which you can pull with getHeading() or in getPosition().
*/
//odo.update(GoBildaPinpointDriver.readData.ONLY_UPDATE_HEADING);
if (gamepad1.a){
odo.resetPosAndIMU(); //resets the position to 0 and recalibrates the IMU
}
if (gamepad1.b){
odo.recalibrateIMU(); //recalibrates the IMU without resetting position
}
/*
This code prints the loop frequency of the REV Control Hub. This frequency is effected
by I²C reads/writes. So it's good to keep an eye on. This code calculates the amount
of time each cycle takes and finds the frequency (number of updates per second) from
that cycle time.
*/
double newTime = getRuntime();
double loopTime = newTime-oldTime;
double frequency = 1/loopTime;
oldTime = newTime;
/*
gets the current Position (x & y in mm, and heading in degrees) of the robot, and prints it.
*/
Pose2D pos = odo.getPosition();
String data = String.format(Locale.US, "{X: %.3f, Y: %.3f, H: %.3f}", pos.getX(DistanceUnit.MM), pos.getY(DistanceUnit.MM), pos.getHeading(AngleUnit.DEGREES));
telemetry.addData("Position", data);
/*
gets the current Velocity (x & y in mm/sec and heading in degrees/sec) and prints it.
*/
Pose2D vel = odo.getVelocity();
String velocity = String.format(Locale.US,"{XVel: %.3f, YVel: %.3f, HVel: %.3f}", vel.getX(DistanceUnit.MM), vel.getY(DistanceUnit.MM), vel.getHeading(AngleUnit.DEGREES));
telemetry.addData("Velocity", velocity);
/*
Gets the Pinpoint device status. Pinpoint can reflect a few states. But we'll primarily see
READY: the device is working as normal
CALIBRATING: the device is calibrating and outputs are put on hold
NOT_READY: the device is resetting from scratch. This should only happen after a power-cycle
FAULT_NO_PODS_DETECTED - the device does not detect any pods plugged in
FAULT_X_POD_NOT_DETECTED - The device does not detect an X pod plugged in
FAULT_Y_POD_NOT_DETECTED - The device does not detect a Y pod plugged in
*/
telemetry.addData("Status", odo.getDeviceStatus());
telemetry.addData("Pinpoint Frequency", odo.getFrequency()); //prints/gets the current refresh rate of the Pinpoint
telemetry.addData("REV Hub Frequency: ", frequency); //prints the control system refresh rate
telemetry.update();
}
}}