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Implemented Move state for RedCrab

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Cyberarm
2023-12-11 17:03:08 -06:00
parent 3cecfce1cf
commit 31c280e9c1
2 changed files with 161 additions and 19 deletions
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161
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Move.java Normal file
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package dev.cyberarm.minibots.red_crab.states;
import com.qualcomm.robotcore.util.Range;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class Move extends CyberarmState {
private final RedCrabMinibot robot;
private final String groupName, actionName;
private final double distanceMM, lerpMM_UP, lerpMM_DOWN, maxPower, minPower, toleranceMM;
private boolean strafe = false;
private final int timeoutMS;
private double initialHeadingDegrees = 1024.0;
public Move(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
this.groupName = groupName;
this.actionName = actionName;
this.distanceMM = robot.config.variable(groupName, actionName, "distanceMM").value();
this.lerpMM_UP = robot.config.variable(groupName, actionName, "lerpMM_UP").value();
this.lerpMM_DOWN = robot.config.variable(groupName, actionName, "lerpMM_DOWN").value();
this.toleranceMM = robot.config.variable(groupName, actionName, "toleranceMM").value();
this.maxPower = robot.config.variable(groupName, actionName, "maxPower").value();
this.minPower = robot.config.variable(groupName, actionName, "minPower").value();
this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value();
// Validate distance and lerp distances
if (lerpMM_UP == 0 && lerpMM_DOWN == 0) { return; }
// --- Good lerp UP distance?
if (Math.abs(distanceMM) - lerpMM_UP < 0) {
throw(new RuntimeException("Invalid lerp UP distance"));
// --- Good lerp DOWN distance?
} else if (Math.abs(distanceMM) - (lerpMM_UP + lerpMM_DOWN) < 0) {
throw(new RuntimeException("Invalid lerp distance(s)"));
}
}
@Override
public void start() {
initialHeadingDegrees = Utilities.facing(robot.imu);
if (initialHeadingDegrees > 365.0) {
throw(new RuntimeException("INVALID Initial IMU value!"));
}
if (strafe) {
robot.frontLeft.resetEncoder();
robot.frontRight.resetEncoder();
robot.backLeft.resetEncoder();
robot.backRight.resetEncoder();
robot.frontLeft.setPositionTolerance(toleranceMM);
robot.frontRight.setPositionTolerance(toleranceMM);
robot.backLeft.setPositionTolerance(toleranceMM);
robot.backRight.setPositionTolerance(toleranceMM);
robot.frontLeft.setTargetDistance(distanceMM);
robot.frontRight.setTargetDistance(-distanceMM);
robot.backLeft.setTargetDistance(-distanceMM);
robot.backRight.setTargetDistance(distanceMM);
} else {
robot.left.resetEncoder();
robot.right.resetEncoder();
robot.left.setPositionTolerance(toleranceMM);
robot.right.setPositionTolerance(toleranceMM);
robot.left.setTargetDistance(distanceMM);
robot.right.setTargetDistance(distanceMM);
}
}
@Override
public void exec() {
if (strafe) {
strafeMove();
} else {
tankMove();
}
}
private void tankMove(){
double travelledDistance = Math.abs(robot.left.getDistance());
double power = lerpPower(travelledDistance);
double angleDiff = Utilities.angleDiff(initialHeadingDegrees, Utilities.facing(robot.imu));
double leftPower = power;
double rightPower = power;
// use +10% of power at 7 degrees of error to correct angle
double correctivePower = Utilities.lerp(0.0, 1.0, angleDiff / 7.0) * (power + power * 0.1);
if (angleDiff < -0.5) {
leftPower += correctivePower;
} else if (angleDiff > 0.5) {
rightPower += correctivePower;
}
robot.left.set(leftPower);
robot.right.set(rightPower);
if (robot.left.atTargetPosition() && robot.right.atTargetPosition()) {
robot.left.set(0);
robot.right.set(0);
this.finished();
}
}
private void strafeMove() {
double travelledDistance = Math.abs(robot.frontLeft.getDistance());
double power = lerpPower(travelledDistance);
double angleDiff = Utilities.angleDiff(initialHeadingDegrees, Utilities.facing(robot.imu));
double frontPower = power;
double backPower = power;
// use +10% of power at 7 degrees of error to correct angle
double correctivePower = Utilities.lerp(0.0, 1.0, angleDiff / 7.0) * (power + power * 0.1);
if (angleDiff < -0.5) {
frontPower += correctivePower;
} else if (angleDiff > 0.5) {
backPower += correctivePower;
}
robot.frontLeft.set(frontPower);
robot.frontRight.set(-frontPower);
robot.backLeft.set(-backPower);
robot.backRight.set(backPower);
if (robot.frontLeft.atTargetPosition() && robot.backRight.atTargetPosition()) {
robot.frontLeft.set(0);
robot.frontRight.set(0);
robot.backLeft.set(0);
robot.backRight.set(0);
this.finished();
}
}
private double lerpPower(double travelledDistance) {
double lerpPower = maxPower;
// Ease power up
if (travelledDistance < lerpMM_UP) { // Not using <= to prevent divide by zero
lerpPower = Utilities.lerp(minPower, maxPower, Range.clip(travelledDistance / lerpMM_UP, 0.0, 1.0));
// Cruising power
} else if (travelledDistance < Math.abs(distanceMM) - lerpMM_DOWN) {
lerpPower = maxPower;
// Ease power down
} else {
lerpPower = Utilities.lerp(minPower, maxPower, Range.clip( (Math.abs(distanceMM) - travelledDistance) / lerpMM_DOWN, 0.0, 1.0));
}
return lerpPower;
}
}

19
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/StrafeMove.java
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package dev.cyberarm.minibots.red_crab.states;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class StrafeMove extends CyberarmState {
private final RedCrabMinibot robot;
private final String groupName, actionName;
public StrafeMove(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
this.groupName = groupName;
this.actionName = actionName;
}
@Override
public void exec() {
}
}