From 4980caf0c2b66e55e61ed8f475ab884ffdc4543e Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Tue, 30 Jan 2024 23:32:08 -0600 Subject: [PATCH] RedCrab: MoveToCoordinate now supports lerping in and out based on distances, untested: angle correction/rotate to target angle --- .../minibots/red_crab/cyberarm_RedCrab.json | 2 +- .../red_crab/states/MoveToCoordinate.java | 108 +++++++++++++----- 2 files changed, 79 insertions(+), 31 deletions(-) diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json index 2a1906e..438e29c 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json @@ -1 +1 @@ -{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-30 17:45:43 -0600","spec_version":2,"revision":1146},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - 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Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"fallbackPath","value":"Ix0"},{"name":"minConfidence","value":"Dx0.7"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}} \ No newline at end of file diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java index 4370f5f..8e81855 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java @@ -1,7 +1,8 @@ package dev.cyberarm.minibots.red_crab.states; +import com.qualcomm.robotcore.util.Range; + import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; -import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import dev.cyberarm.engine.V2.CyberarmState; import dev.cyberarm.engine.V2.Utilities; @@ -13,8 +14,14 @@ public class MoveToCoordinate extends CyberarmState { private final String groupName, actionName; private final boolean stopDrivetrain; private final int timeoutMS; - private final double targetAngleDegrees, angleToleranceDegrees, minDistanceMM, targetX_MM, targetY_MM; + private final double targetAngleDegrees, targetAngleToleranceDegrees, minDistanceMM; + private final double maxVelocityMM, minVelocityMM, lerpMM_UP, lerpMM_DOWN, lerpDegrees; private final Vector2D targetPosMM; + private Vector2D robotInitialPosMM = new Vector2D(), robotPosMM = new Vector2D(); + private Vector2D direction = new Vector2D(); + private double distanceFromTargetMM = 0; + private double velocity = 0; + private double angleDiffDegrees = 0; public MoveToCoordinate(RedCrabMinibot robot, String groupName, String actionName) { this.robot = robot; @@ -23,24 +30,46 @@ public class MoveToCoordinate extends CyberarmState { this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value(); this.stopDrivetrain = robot.config.variable(groupName, actionName, "stopDrivetrain").value(); - this.angleToleranceDegrees = robot.config.variable(groupName, actionName, "angleToleranceDEGREES").value(); + + this.targetAngleToleranceDegrees = robot.config.variable(groupName, actionName, "targetAngleToleranceDEGREES").value(); this.targetAngleDegrees = robot.config.variable(groupName, actionName, "targetAngleDEGREES").value(); + + this.lerpDegrees = robot.config.variable(groupName, actionName, "lerpDEGREES").value(); + this.lerpMM_UP = robot.config.variable(groupName, actionName, "lerpMM_UP").value(); + this.lerpMM_DOWN = robot.config.variable(groupName, actionName, "lerpMM_DOWN").value(); + + this.maxVelocityMM = robot.config.variable(groupName, actionName, "maxVelocityMM").value(); + this.minVelocityMM = robot.config.variable(groupName, actionName, "minVelocityMM").value(); + this.minDistanceMM = robot.config.variable(groupName, actionName, "minDistanceMM").value(); String targetPosMM = robot.config.variable(groupName, actionName, "targetPosMM").value(); String[] targetPos = targetPosMM.split("x"); - this.targetX_MM = Double.parseDouble(targetPos[0]); - this.targetY_MM = Double.parseDouble(targetPos[1]); + this.targetPosMM = new Vector2D(Double.parseDouble(targetPos[0]), Double.parseDouble(targetPos[1])); + } - this.targetPosMM = new Vector2D(this.targetX_MM, this.targetY_MM); + @Override + public void start() { + this.robotInitialPosMM = new Vector2D(RedCrabMinibot.localizer.xMM(), RedCrabMinibot.localizer.yMM()); } @Override public void exec() { - Vector2D robotPosMM = new Vector2D(RedCrabMinibot.localizer.xMM(), RedCrabMinibot.localizer.yMM()); - Vector2D direction = targetPosMM.minus(robotPosMM).normalize(); - double distanceMM = robotPosMM.distance(this.targetPosMM); + this.robotPosMM = new Vector2D(RedCrabMinibot.localizer.xMM(), RedCrabMinibot.localizer.yMM()); + this.direction = targetPosMM.minus(robotPosMM).normalize(); + this.distanceFromTargetMM = robotPosMM.distance(this.targetPosMM); + double newAngleDiffDegrees = Utilities.angleDiff(Utilities.facing(robot.imu), targetAngleDegrees); + // FIXME: Test this! + // Ignore new angle diff since it appears to be a numeric sign flip and not a useful value (prevent toggling shortest rotation decision.) + if (!(Math.abs(newAngleDiffDegrees) - Math.abs(this.angleDiffDegrees) <= 2.0 && Math.abs(newAngleDiffDegrees) >= 178.0)) + this.angleDiffDegrees = newAngleDiffDegrees; - if (distanceMM <= minDistanceMM || runTime() >= timeoutMS) { + + boolean rotationGood = Utilities.isBetween( + angleDiffDegrees, + targetAngleDegrees - targetAngleToleranceDegrees, + targetAngleDegrees + targetAngleToleranceDegrees); + + if ((distanceFromTargetMM <= minDistanceMM && rotationGood) || runTime() >= timeoutMS) { if (stopDrivetrain) { robot.frontLeft.setVelocity(0); robot.frontRight.setVelocity(0); @@ -56,12 +85,18 @@ public class MoveToCoordinate extends CyberarmState { } private void drivetrain(Vector2D direction) { + double rotationStrength = Utilities.lerp( + minVelocityMM, + maxVelocityMM, + Range.clip(Math.abs(angleDiffDegrees) / lerpDegrees, 0.0, 1.0)); + if (angleDiffDegrees < 0) + rotationStrength *= -1; + // https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html#field-centric double y = direction.x(); // robot forward is in the X axis double x = direction.y(); // robot side to side is on the Y axis - // FIXME: Dynamically set rotation as needed to achieve target heading using shortest rotation - double rx = 0;//engine.gamepad1.right_stick_x; + double rx = rotationStrength; //engine.gamepad1.right_stick_x; double botHeading = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS); @@ -80,20 +115,7 @@ public class MoveToCoordinate extends CyberarmState { double frontRightPower = (rotY - rotX - rx) / denominator; double backRightPower = (rotY + rotX - rx) / denominator; - double maxVelocity = Utilities.unitToTicks( - RedCrabMinibot.DRIVETRAIN_MOTOR_TICKS_PER_REVOLUTION, - RedCrabMinibot.DRIVETRAIN_GEAR_RATIO, - RedCrabMinibot.DRIVETRAIN_WHEEL_DIAMETER_MM, - DistanceUnit.MM, - RedCrabMinibot.DRIVETRAIN_VELOCITY_MAX_MM); - double slowVelocity = Utilities.unitToTicks( - RedCrabMinibot.DRIVETRAIN_MOTOR_TICKS_PER_REVOLUTION, - RedCrabMinibot.DRIVETRAIN_GEAR_RATIO, - RedCrabMinibot.DRIVETRAIN_WHEEL_DIAMETER_MM, - DistanceUnit.MM, - RedCrabMinibot.DRIVETRAIN_VELOCITY_SLOW_MM); - // FIXME: Lerp up/down when starting move and getting close to target - double velocity = slowVelocity; //robotSlowMode ? slowVelocity : maxVelocity; + velocity = lerpVelocity(); robot.frontLeft.setVelocity(frontLeftPower * velocity); robot.backLeft.setVelocity(backLeftPower * velocity); @@ -101,14 +123,40 @@ public class MoveToCoordinate extends CyberarmState { robot.backRight.setVelocity(backRightPower * velocity); } + private double lerpVelocity() { + double distanceFromInitialPosMM = robotInitialPosMM.distance(robotPosMM); + double lerpVelocity; + + // Ease power up + if (distanceFromInitialPosMM < lerpMM_UP) { + lerpVelocity = Utilities.lerp( + minVelocityMM, + maxVelocityMM, + Range.clip( + distanceFromInitialPosMM / lerpMM_UP, 0.0, 1.0)); + // Cruising power + } else if (distanceFromTargetMM > lerpMM_DOWN) { + lerpVelocity = maxVelocityMM; + // Ease power down + } else { + lerpVelocity = Utilities.lerp( + minVelocityMM, + maxVelocityMM, + Range.clip( + distanceFromTargetMM / lerpMM_DOWN, 0.0, 1.0)); + } + + return lerpVelocity; + } + @Override public void telemetry() { - Vector2D robotPosMM = new Vector2D(RedCrabMinibot.localizer.xMM(), RedCrabMinibot.localizer.yMM()); - Vector2D direction = targetPosMM.minus(robotPosMM).normalize(); - engine.telemetry.addData("Current Position MM", "X: %.2f Y: %.2f", robotPosMM.x(), robotPosMM.y()); engine.telemetry.addData("Target Position MM", "X: %.2f Y: %.2f", targetPosMM.x(), targetPosMM.y()); engine.telemetry.addData("Move NORMAL", "X: %.2f Y: %.2f", direction.x(), direction.y()); - engine.telemetry.addData("Distance MM", "%.2fmm", robotPosMM.distance(targetPosMM)); + engine.telemetry.addData("Distance MM", "%.2fmm", distanceFromTargetMM); + engine.telemetry.addData("Angle Diff DEGREES", "%.2f degrees", angleDiffDegrees); +// engine.telemetry.addData("Velocity", "%.2f T/s", velocity); +// engine.telemetry.addData("LERP DOWN", "%.2f (%.2fmm)", distanceFromTargetMM / lerpMM_DOWN, distanceFromTargetMM); } }