Add first pass of Roadrunner class files
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.dashboard.canvas.Canvas;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.Vector2d;
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public final class Drawing {
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private Drawing() {}
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public static void drawRobot(Canvas c, Pose2d t) {
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final double ROBOT_RADIUS = 9;
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c.setStrokeWidth(1);
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c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
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Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
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Vector2d p1 = t.position.plus(halfv);
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Vector2d p2 = p1.plus(halfv);
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c.strokeLine(p1.x, p1.y, p2.x, p2.y);
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}
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}
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.roadrunner.Time;
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import com.acmerobotics.roadrunner.Twist2dDual;
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public interface Localizer {
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Twist2dDual<Time> update();
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}
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package org.firstinspires.ftc.teamcode;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.canvas.Canvas;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.*;
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import com.acmerobotics.roadrunner.AngularVelConstraint;
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import com.acmerobotics.roadrunner.DualNum;
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import com.acmerobotics.roadrunner.HolonomicController;
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import com.acmerobotics.roadrunner.MecanumKinematics;
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import com.acmerobotics.roadrunner.MinVelConstraint;
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import com.acmerobotics.roadrunner.MotorFeedforward;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.Pose2dDual;
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import com.acmerobotics.roadrunner.ProfileAccelConstraint;
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import com.acmerobotics.roadrunner.Time;
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import com.acmerobotics.roadrunner.TimeTrajectory;
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import com.acmerobotics.roadrunner.TimeTurn;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.TurnConstraints;
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import com.acmerobotics.roadrunner.Twist2dDual;
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import com.acmerobotics.roadrunner.VelConstraint;
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import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
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import com.acmerobotics.roadrunner.ftc.Encoder;
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import com.acmerobotics.roadrunner.ftc.FlightRecorder;
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import com.acmerobotics.roadrunner.ftc.LazyImu;
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import com.acmerobotics.roadrunner.ftc.LynxFirmware;
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import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
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import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
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import com.acmerobotics.roadrunner.ftc.RawEncoder;
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import com.qualcomm.hardware.lynx.LynxModule;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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import com.qualcomm.robotcore.hardware.HardwareMap;
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import com.qualcomm.robotcore.hardware.IMU;
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import com.qualcomm.robotcore.hardware.VoltageSensor;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
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import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
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import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
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import org.firstinspires.ftc.teamcode.messages.PoseMessage;
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import java.lang.Math;
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import java.util.Arrays;
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import java.util.LinkedList;
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import java.util.List;
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@Config
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public final class MecanumDrive {
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public static class Params {
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// IMU orientation
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// TODO: fill in these values based on
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// see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
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public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
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RevHubOrientationOnRobot.LogoFacingDirection.UP;
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public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
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RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
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// drive model parameters
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public double inPerTick = 1;
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public double lateralInPerTick = inPerTick;
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public double trackWidthTicks = 0;
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// feedforward parameters (in tick units)
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public double kS = 0;
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public double kV = 0;
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public double kA = 0;
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// path profile parameters (in inches)
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public double maxWheelVel = 50;
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public double minProfileAccel = -30;
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public double maxProfileAccel = 50;
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// turn profile parameters (in radians)
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public double maxAngVel = Math.PI; // shared with path
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public double maxAngAccel = Math.PI;
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// path controller gains
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public double axialGain = 0.0;
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public double lateralGain = 0.0;
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public double headingGain = 0.0; // shared with turn
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public double axialVelGain = 0.0;
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public double lateralVelGain = 0.0;
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public double headingVelGain = 0.0; // shared with turn
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}
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public static Params PARAMS = new Params();
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public final MecanumKinematics kinematics = new MecanumKinematics(
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PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
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public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
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PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
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public final VelConstraint defaultVelConstraint =
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new MinVelConstraint(Arrays.asList(
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kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
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new AngularVelConstraint(PARAMS.maxAngVel)
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));
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public final AccelConstraint defaultAccelConstraint =
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new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
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public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
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public final VoltageSensor voltageSensor;
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public final LazyImu lazyImu;
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public final Localizer localizer;
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public Pose2d pose;
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private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
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private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
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private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
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private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
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private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
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public class DriveLocalizer implements Localizer {
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public final Encoder leftFront, leftBack, rightBack, rightFront;
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public final IMU imu;
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private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
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private Rotation2d lastHeading;
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private boolean initialized;
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public DriveLocalizer() {
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leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
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leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
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rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
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rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
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imu = lazyImu.get();
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// TODO: reverse encoders if needed
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// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
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}
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@Override
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public Twist2dDual<Time> update() {
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PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
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PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
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PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
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PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
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YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
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FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
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leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
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Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
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if (!initialized) {
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initialized = true;
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lastLeftFrontPos = leftFrontPosVel.position;
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lastLeftBackPos = leftBackPosVel.position;
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lastRightBackPos = rightBackPosVel.position;
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lastRightFrontPos = rightFrontPosVel.position;
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lastHeading = heading;
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return new Twist2dDual<>(
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Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
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DualNum.constant(0.0, 2)
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);
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}
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double headingDelta = heading.minus(lastHeading);
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Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
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new DualNum<Time>(new double[]{
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(leftFrontPosVel.position - lastLeftFrontPos),
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leftFrontPosVel.velocity,
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}).times(PARAMS.inPerTick),
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new DualNum<Time>(new double[]{
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(leftBackPosVel.position - lastLeftBackPos),
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leftBackPosVel.velocity,
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}).times(PARAMS.inPerTick),
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new DualNum<Time>(new double[]{
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(rightBackPosVel.position - lastRightBackPos),
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rightBackPosVel.velocity,
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}).times(PARAMS.inPerTick),
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new DualNum<Time>(new double[]{
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(rightFrontPosVel.position - lastRightFrontPos),
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rightFrontPosVel.velocity,
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}).times(PARAMS.inPerTick)
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));
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lastLeftFrontPos = leftFrontPosVel.position;
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lastLeftBackPos = leftBackPosVel.position;
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lastRightBackPos = rightBackPosVel.position;
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lastRightFrontPos = rightFrontPosVel.position;
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lastHeading = heading;
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return new Twist2dDual<>(
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twist.line,
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DualNum.cons(headingDelta, twist.angle.drop(1))
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);
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}
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}
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public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
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this.pose = pose;
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LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
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for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
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module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
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}
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// TODO: make sure your config has motors with these names (or change them)
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// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
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leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
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leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
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rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
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rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
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leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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// TODO: reverse motor directions if needed
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// leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
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// TODO: make sure your config has an IMU with this name (can be BNO or BHI)
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// see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
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lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
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PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
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voltageSensor = hardwareMap.voltageSensor.iterator().next();
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localizer = new DriveLocalizer();
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FlightRecorder.write("MECANUM_PARAMS", PARAMS);
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}
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public void setDrivePowers(PoseVelocity2d powers) {
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MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
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PoseVelocity2dDual.constant(powers, 1));
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double maxPowerMag = 1;
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for (DualNum<Time> power : wheelVels.all()) {
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maxPowerMag = Math.max(maxPowerMag, power.value());
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}
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leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
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leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
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rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
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rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
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}
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public final class FollowTrajectoryAction implements Action {
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public final TimeTrajectory timeTrajectory;
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private double beginTs = -1;
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private final double[] xPoints, yPoints;
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public FollowTrajectoryAction(TimeTrajectory t) {
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timeTrajectory = t;
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List<Double> disps = com.acmerobotics.roadrunner.Math.range(
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0, t.path.length(),
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Math.max(2, (int) Math.ceil(t.path.length() / 2)));
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xPoints = new double[disps.size()];
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yPoints = new double[disps.size()];
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for (int i = 0; i < disps.size(); i++) {
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Pose2d p = t.path.get(disps.get(i), 1).value();
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xPoints[i] = p.position.x;
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yPoints[i] = p.position.y;
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}
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}
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@Override
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public boolean run(@NonNull TelemetryPacket p) {
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double t;
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if (beginTs < 0) {
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beginTs = Actions.now();
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t = 0;
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} else {
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t = Actions.now() - beginTs;
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}
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if (t >= timeTrajectory.duration) {
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leftFront.setPower(0);
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leftBack.setPower(0);
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rightBack.setPower(0);
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rightFront.setPower(0);
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return false;
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}
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Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
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targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
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PoseVelocity2d robotVelRobot = updatePoseEstimate();
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PoseVelocity2dDual<Time> command = new HolonomicController(
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PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
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PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
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)
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.compute(txWorldTarget, pose, robotVelRobot);
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driveCommandWriter.write(new DriveCommandMessage(command));
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MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
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double voltage = voltageSensor.getVoltage();
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final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
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PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
|
||||||
|
double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
|
||||||
|
double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
|
||||||
|
double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
|
||||||
|
double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
|
||||||
|
mecanumCommandWriter.write(new MecanumCommandMessage(
|
||||||
|
voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
|
||||||
|
));
|
||||||
|
|
||||||
|
leftFront.setPower(leftFrontPower);
|
||||||
|
leftBack.setPower(leftBackPower);
|
||||||
|
rightBack.setPower(rightBackPower);
|
||||||
|
rightFront.setPower(rightFrontPower);
|
||||||
|
|
||||||
|
p.put("x", pose.position.x);
|
||||||
|
p.put("y", pose.position.y);
|
||||||
|
p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
|
||||||
|
|
||||||
|
Pose2d error = txWorldTarget.value().minusExp(pose);
|
||||||
|
p.put("xError", error.position.x);
|
||||||
|
p.put("yError", error.position.y);
|
||||||
|
p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
|
||||||
|
|
||||||
|
// only draw when active; only one drive action should be active at a time
|
||||||
|
Canvas c = p.fieldOverlay();
|
||||||
|
drawPoseHistory(c);
|
||||||
|
|
||||||
|
c.setStroke("#4CAF50");
|
||||||
|
Drawing.drawRobot(c, txWorldTarget.value());
|
||||||
|
|
||||||
|
c.setStroke("#3F51B5");
|
||||||
|
Drawing.drawRobot(c, pose);
|
||||||
|
|
||||||
|
c.setStroke("#4CAF50FF");
|
||||||
|
c.setStrokeWidth(1);
|
||||||
|
c.strokePolyline(xPoints, yPoints);
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void preview(Canvas c) {
|
||||||
|
c.setStroke("#4CAF507A");
|
||||||
|
c.setStrokeWidth(1);
|
||||||
|
c.strokePolyline(xPoints, yPoints);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public final class TurnAction implements Action {
|
||||||
|
private final TimeTurn turn;
|
||||||
|
|
||||||
|
private double beginTs = -1;
|
||||||
|
|
||||||
|
public TurnAction(TimeTurn turn) {
|
||||||
|
this.turn = turn;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public boolean run(@NonNull TelemetryPacket p) {
|
||||||
|
double t;
|
||||||
|
if (beginTs < 0) {
|
||||||
|
beginTs = Actions.now();
|
||||||
|
t = 0;
|
||||||
|
} else {
|
||||||
|
t = Actions.now() - beginTs;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t >= turn.duration) {
|
||||||
|
leftFront.setPower(0);
|
||||||
|
leftBack.setPower(0);
|
||||||
|
rightBack.setPower(0);
|
||||||
|
rightFront.setPower(0);
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
Pose2dDual<Time> txWorldTarget = turn.get(t);
|
||||||
|
targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
|
||||||
|
|
||||||
|
PoseVelocity2d robotVelRobot = updatePoseEstimate();
|
||||||
|
|
||||||
|
PoseVelocity2dDual<Time> command = new HolonomicController(
|
||||||
|
PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
|
||||||
|
PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
|
||||||
|
)
|
||||||
|
.compute(txWorldTarget, pose, robotVelRobot);
|
||||||
|
driveCommandWriter.write(new DriveCommandMessage(command));
|
||||||
|
|
||||||
|
MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
|
||||||
|
double voltage = voltageSensor.getVoltage();
|
||||||
|
final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
|
||||||
|
PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
|
||||||
|
double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
|
||||||
|
double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
|
||||||
|
double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
|
||||||
|
double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
|
||||||
|
mecanumCommandWriter.write(new MecanumCommandMessage(
|
||||||
|
voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
|
||||||
|
));
|
||||||
|
|
||||||
|
leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
|
||||||
|
leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
|
||||||
|
rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
|
||||||
|
rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
|
||||||
|
|
||||||
|
Canvas c = p.fieldOverlay();
|
||||||
|
drawPoseHistory(c);
|
||||||
|
|
||||||
|
c.setStroke("#4CAF50");
|
||||||
|
Drawing.drawRobot(c, txWorldTarget.value());
|
||||||
|
|
||||||
|
c.setStroke("#3F51B5");
|
||||||
|
Drawing.drawRobot(c, pose);
|
||||||
|
|
||||||
|
c.setStroke("#7C4DFFFF");
|
||||||
|
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void preview(Canvas c) {
|
||||||
|
c.setStroke("#7C4DFF7A");
|
||||||
|
c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public PoseVelocity2d updatePoseEstimate() {
|
||||||
|
Twist2dDual<Time> twist = localizer.update();
|
||||||
|
pose = pose.plus(twist.value());
|
||||||
|
|
||||||
|
poseHistory.add(pose);
|
||||||
|
while (poseHistory.size() > 100) {
|
||||||
|
poseHistory.removeFirst();
|
||||||
|
}
|
||||||
|
|
||||||
|
estimatedPoseWriter.write(new PoseMessage(pose));
|
||||||
|
|
||||||
|
return twist.velocity().value();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void drawPoseHistory(Canvas c) {
|
||||||
|
double[] xPoints = new double[poseHistory.size()];
|
||||||
|
double[] yPoints = new double[poseHistory.size()];
|
||||||
|
|
||||||
|
int i = 0;
|
||||||
|
for (Pose2d t : poseHistory) {
|
||||||
|
xPoints[i] = t.position.x;
|
||||||
|
yPoints[i] = t.position.y;
|
||||||
|
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
c.setStrokeWidth(1);
|
||||||
|
c.setStroke("#3F51B5");
|
||||||
|
c.strokePolyline(xPoints, yPoints);
|
||||||
|
}
|
||||||
|
|
||||||
|
public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
|
||||||
|
return new TrajectoryActionBuilder(
|
||||||
|
TurnAction::new,
|
||||||
|
FollowTrajectoryAction::new,
|
||||||
|
new TrajectoryBuilderParams(
|
||||||
|
1e-6,
|
||||||
|
new ProfileParams(
|
||||||
|
0.25, 0.1, 1e-2
|
||||||
|
)
|
||||||
|
),
|
||||||
|
beginPose, 0.0,
|
||||||
|
defaultTurnConstraints,
|
||||||
|
defaultVelConstraint, defaultAccelConstraint
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.messages;
|
||||||
|
|
||||||
|
import com.acmerobotics.roadrunner.PoseVelocity2dDual;
|
||||||
|
import com.acmerobotics.roadrunner.Time;
|
||||||
|
|
||||||
|
public final class DriveCommandMessage {
|
||||||
|
public long timestamp;
|
||||||
|
public double forwardVelocity;
|
||||||
|
public double forwardAcceleration;
|
||||||
|
public double lateralVelocity;
|
||||||
|
public double lateralAcceleration;
|
||||||
|
public double angularVelocity;
|
||||||
|
public double angularAcceleration;
|
||||||
|
|
||||||
|
public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
|
||||||
|
this.timestamp = System.nanoTime();
|
||||||
|
this.forwardVelocity = poseVelocity.linearVel.x.get(0);
|
||||||
|
this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
|
||||||
|
this.lateralVelocity = poseVelocity.linearVel.y.get(0);
|
||||||
|
this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
|
||||||
|
this.angularVelocity = poseVelocity.angVel.get(0);
|
||||||
|
this.angularAcceleration = poseVelocity.angVel.get(1);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,19 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.messages;
|
||||||
|
|
||||||
|
public final class MecanumCommandMessage {
|
||||||
|
public long timestamp;
|
||||||
|
public double voltage;
|
||||||
|
public double leftFrontPower;
|
||||||
|
public double leftBackPower;
|
||||||
|
public double rightBackPower;
|
||||||
|
public double rightFrontPower;
|
||||||
|
|
||||||
|
public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
|
||||||
|
this.timestamp = System.nanoTime();
|
||||||
|
this.voltage = voltage;
|
||||||
|
this.leftFrontPower = leftFrontPower;
|
||||||
|
this.leftBackPower = leftBackPower;
|
||||||
|
this.rightBackPower = rightBackPower;
|
||||||
|
this.rightFrontPower = rightFrontPower;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.messages;
|
||||||
|
|
||||||
|
import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
|
||||||
|
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
||||||
|
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
||||||
|
|
||||||
|
public final class MecanumLocalizerInputsMessage {
|
||||||
|
public long timestamp;
|
||||||
|
public PositionVelocityPair leftFront;
|
||||||
|
public PositionVelocityPair leftBack;
|
||||||
|
public PositionVelocityPair rightBack;
|
||||||
|
public PositionVelocityPair rightFront;
|
||||||
|
public double yaw;
|
||||||
|
public double pitch;
|
||||||
|
public double roll;
|
||||||
|
|
||||||
|
public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
|
||||||
|
this.timestamp = System.nanoTime();
|
||||||
|
this.leftFront = leftFront;
|
||||||
|
this.leftBack = leftBack;
|
||||||
|
this.rightBack = rightBack;
|
||||||
|
this.rightFront = rightFront;
|
||||||
|
{
|
||||||
|
this.yaw = angles.getYaw(AngleUnit.RADIANS);
|
||||||
|
this.pitch = angles.getPitch(AngleUnit.RADIANS);
|
||||||
|
this.roll = angles.getRoll(AngleUnit.RADIANS);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,17 @@
|
|||||||
|
package org.firstinspires.ftc.teamcode.messages;
|
||||||
|
|
||||||
|
import com.acmerobotics.roadrunner.Pose2d;
|
||||||
|
|
||||||
|
public final class PoseMessage {
|
||||||
|
public long timestamp;
|
||||||
|
public double x;
|
||||||
|
public double y;
|
||||||
|
public double heading;
|
||||||
|
|
||||||
|
public PoseMessage(Pose2d pose) {
|
||||||
|
this.timestamp = System.nanoTime();
|
||||||
|
this.x = pose.position.x;
|
||||||
|
this.y = pose.position.y;
|
||||||
|
this.heading = pose.heading.toDouble();
|
||||||
|
}
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user