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RedCrab: Moved Localizer updater into Task, corrected track width and forward offsets

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Cyberarm
2024-02-01 20:36:15 -06:00
parent 1c71771034
commit 6d53ab38eb
12 changed files with 42 additions and 9 deletions
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8
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/Localizer.java
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@@ -13,12 +13,12 @@ import dev.cyberarm.engine.V2.Utilities;
public class Localizer {
private final RedCrabMinibot robot;
private double rawX = 0, rawY = 0, rawR = 0, offsetX = 0, offsetY = 0;
private final double trackWidthMM = 365.0, forwardOffsetMM = 140.0, wheelDiameterMM = 90.0;
private final double trackWidthMM = 387.35, forwardOffsetMM = 133.35, wheelDiameterMM = 90.0;
private final int encoderTicksPerRevolution = 8192;
private final double encoderGearRatio = 1;
private double lastEncoderXLeftMM, lastEncoderXRightMM, lastEncoderYCenterMM;
// private double xDeltaMultiplier = 0.87012987, yDeltaMultiplier = 0.25;
private double xDeltaMultiplier = 1, yDeltaMultiplier = 1;
private double xPosMultiplier = 0.675956739, yPosMultiplier = 0.941867531;
private HolonomicOdometry odometry;
public Localizer(RedCrabMinibot robot) {
this.robot = robot;
@@ -100,11 +100,11 @@ public class Localizer {
}
public double xMM() {
return odometry.getPose().getX() + offsetX; //rawX;
return odometry.getPose().getX() * xPosMultiplier + offsetX; //rawX;
}
public double yMM() {
return odometry.getPose().getY() + offsetY; //rawY;
return odometry.getPose().getY() * xPosMultiplier + offsetY; //rawY;
}
public double xIn() {

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
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File diff suppressed because one or more lines are too long

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
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@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@Autonomous(name = "Cyberarm Red Crab BLUE AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueAudienceEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousBlueAudienceEngine extends RedCrabEngine {
public void setup() {
robot = new RedCrabMinibot(true);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
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@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@Autonomous(name = "Cyberarm Red Crab BLUE BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueBackstageEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousBlueBackstageEngine extends RedCrabEngine {
public void setup() {
robot = new RedCrabMinibot(true);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java
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@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@Autonomous(name = "Cyberarm Red Crab Auto DEBUGGING", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabEngine {
public void setup() {
robot = new RedCrabMinibot(true);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
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@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@Autonomous(name = "Cyberarm Red Crab RED AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedAudienceEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousRedAudienceEngine extends RedCrabEngine {
public void setup() {
robot = new RedCrabMinibot(true);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
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@@ -6,6 +6,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@Autonomous(name = "Cyberarm Red Crab RED BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedBackstageEngine extends RedCrabEngine {
@@ -13,6 +14,7 @@ public class RedCrabAutonomousRedBackstageEngine extends RedCrabEngine {
public void setup() {
robot = new RedCrabMinibot(true);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
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@@ -10,9 +10,6 @@ public abstract class RedCrabEngine extends CyberarmEngine {
@Override
public void loop() {
Utilities.hubsClearBulkReadCache(hardwareMap);
if (RedCrabMinibot.localizer != null) {
RedCrabMinibot.localizer.integrate();
}
super.loop();

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
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@@ -8,6 +8,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
@TeleOp(name = "Cyberarm Red Crab TeleOp DEBUGGING", group = "MINIBOT")
public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
@@ -17,6 +18,8 @@ public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
robot = new RedCrabMinibot(false);
addTask(new LocalizerTask(robot));
addState(new CyberarmState() {
@Override

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
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@@ -6,6 +6,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.LocalizerTask;
import dev.cyberarm.minibots.red_crab.states.Pilot;
@TeleOp(name = "Cyberarm Red Crab TeleOp", group = "MINIBOT")
@@ -15,6 +16,7 @@ public class RedCrabTeleOpEngine extends RedCrabEngine {
robot = new RedCrabMinibot(false);
addTask(new ClawArmTask(robot));
addTask(new LocalizerTask(robot));
addState(new Pilot(robot));
}

21
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/LocalizerTask.java Normal file
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@@ -0,0 +1,21 @@
package dev.cyberarm.minibots.red_crab.states;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class LocalizerTask extends CyberarmState {
private final RedCrabMinibot robot;
public LocalizerTask(RedCrabMinibot robot) {
this.robot = robot;
}
@Override
public void exec() {
Utilities.hubsClearBulkReadCache(engine.hardwareMap);
if (RedCrabMinibot.localizer != null) {
RedCrabMinibot.localizer.integrate();
}
}
}

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java
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@@ -98,7 +98,7 @@ public class MoveToCoordinate extends CyberarmState {
double y = direction.x(); // robot forward is in the X axis
double x = direction.y(); // robot side to side is on the Y axis
double rx = rotationStrength; //engine.gamepad1.right_stick_x;
double rx = 0; // -rotationStrength; //engine.gamepad1.right_stick_x;
double botHeading = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);