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port over swerve from spike hector & susan
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.imu; | ||
|
|
||
| import com.ctre.phoenix6.configs.MountPoseConfigs; | ||
| import com.ctre.phoenix6.configs.Pigeon2Configuration; | ||
| import com.ctre.phoenix6.hardware.Pigeon2; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import frc.robot.util.scheduling.LifecycleSubsystem; | ||
| import frc.robot.util.scheduling.SubsystemPriority; | ||
| import org.littletonrobotics.junction.Logger; | ||
|
|
||
| public class ImuSubsystem extends LifecycleSubsystem { | ||
| private final Pigeon2 imu; | ||
|
|
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| public ImuSubsystem(Pigeon2 imu) { | ||
| super(SubsystemPriority.IMU); | ||
|
|
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| this.imu = imu; | ||
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| Pigeon2Configuration imuConfig = new Pigeon2Configuration(); | ||
|
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| imu.getConfigurator().apply(imuConfig); | ||
| } | ||
|
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| public void robotPeriodic() { | ||
| Logger.getInstance().recordOutput("Imu/RobotHeading", this.getRobotHeading().getDegrees()); | ||
| Logger.getInstance() | ||
| .recordOutput("Imu/RobotHeadingRadians", this.getRobotHeading().getRadians()); | ||
| } | ||
|
|
||
| public Rotation2d getRobotHeading() { | ||
| return Rotation2d.fromDegrees(imu.getYaw().getValue()); | ||
| } | ||
|
|
||
| public Rotation2d getRoll() { | ||
| return Rotation2d.fromDegrees(imu.getRoll().getValue()); | ||
| } | ||
|
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| public void zero() { | ||
| setAngle(new Rotation2d()); | ||
|
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| MountPoseConfigs mountPoseConfig = new MountPoseConfigs(); | ||
|
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| mountPoseConfig.MountPoseRoll = getRoll().getDegrees(); | ||
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| imu.getConfigurator().apply(mountPoseConfig); | ||
| } | ||
|
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| public void setAngle(Rotation2d zeroAngle) { | ||
| this.imu.setYaw(zeroAngle.getDegrees()); | ||
| } | ||
|
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| public boolean atAngle(Rotation2d angle) { | ||
| return Math.abs(getRobotHeading().minus(angle).getDegrees()) < 3; | ||
| } | ||
|
|
||
| public Command getZeroCommand() { | ||
| return Commands.runOnce(() -> zero()); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.localization; | ||
|
|
||
| import com.fasterxml.jackson.core.JsonProcessingException; | ||
| import com.fasterxml.jackson.databind.DeserializationFeature; | ||
| import com.fasterxml.jackson.databind.ObjectMapper; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import frc.robot.localization.LimelightHelpers.LimelightResults; | ||
|
|
||
| public class JacksonLagUtil { | ||
| public static void causeLag() { | ||
| ObjectMapper mapper = | ||
| new ObjectMapper().configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false); | ||
|
|
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| System.out.println("JacksonLagUtil: Causing lag spike..."); | ||
| double time = Timer.getFPGATimestamp(); | ||
| try { | ||
| LimelightResults results = new LimelightResults(); | ||
| mapper.readValue(mapper.writeValueAsString(results), LimelightHelpers.LimelightResults.class); | ||
| } catch (JsonProcessingException e) { | ||
| System.err.println("JacksonLagUtil: Failed to cause lag spike, JSON parser error:"); | ||
| e.printStackTrace(); | ||
| } | ||
| System.out.println( | ||
| "JacksonLagUtil: Lag spike caused in " + (Timer.getFPGATimestamp() - time) + "s"); | ||
| } | ||
|
|
||
| private JacksonLagUtil() {} | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.localization; | ||
|
|
||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.util.Units; | ||
| import java.util.List; | ||
|
|
||
| public class Landmarks { | ||
| public static final Pose2d APRILTAG_1 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(610.77), Units.inchesToMeters(42.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d APRILTAG_2 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(610.77), Units.inchesToMeters(108.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d APRILTAG_3 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(610.77), Units.inchesToMeters(174.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d APRILTAG_4 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(636.96), Units.inchesToMeters(265.74), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d APRILTAG_5 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(14.25), Units.inchesToMeters(265.74), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d APRILTAG_6 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(40.45), Units.inchesToMeters(174.19), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d APRILTAG_7 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(40.45), Units.inchesToMeters(108.19), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d APRILTAG_8 = | ||
| new Pose2d( | ||
| Units.inchesToMeters(40.45), Units.inchesToMeters(42.19), Rotation2d.fromDegrees(0)); | ||
|
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| public static final Pose2d BLUE_GRID_RIGHT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(42), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_CENTER = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(108), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_LEFT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(174), Rotation2d.fromDegrees(0)); | ||
|
|
||
| public static final Pose2d BLUE_GRID_LEFT_NODE_LEFT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(196), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_LEFT_NODE_CENTER = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(174), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_LEFT_NODE_RIGHT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(152), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_CENTER_NODE_LEFT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(130), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_CENTER_NODE_CENTER = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(108), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_CENTER_NODE_RIGHT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(86), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_RIGHT_NODE_LEFT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(64), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_RIGHT_NODE_CENTER = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(42), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d BLUE_GRID_RIGHT_NODE_RIGHT = | ||
| new Pose2d(Units.inchesToMeters(54.05), Units.inchesToMeters(20), Rotation2d.fromDegrees(0)); | ||
|
|
||
| public static final Pose2d RED_GRID_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(42), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_CENTER = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(108), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(174), Rotation2d.fromDegrees(180)); | ||
|
|
||
| public static final Pose2d RED_GRID_LEFT_NODE_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(64), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_LEFT_NODE_CENTER = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(42), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_LEFT_NODE_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(20), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_CENTER_NODE_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(130), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_CENTER_NODE_CENTER = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(108), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_CENTER_NODE_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(86), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_RIGHT_NODE_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(196), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_RIGHT_NODE_CENTER = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(174), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d RED_GRID_RIGHT_NODE_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(596.77), Units.inchesToMeters(152), Rotation2d.fromDegrees(180)); | ||
|
|
||
| public static final Pose2d BLUE_STAGING_MARK_FAR_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(278.05), Units.inchesToMeters(36.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d BLUE_STAGING_MARK_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(278.05), Units.inchesToMeters(84.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d BLUE_STAGING_MARK_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(278.05), Units.inchesToMeters(132.19), Rotation2d.fromDegrees(180)); | ||
| public static final Pose2d BLUE_STAGING_MARK_FAR_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(278.05), Units.inchesToMeters(180.19), Rotation2d.fromDegrees(180)); | ||
|
|
||
| public static final Pose2d RED_STAGING_MARK_FAR_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(372.77), Units.inchesToMeters(36.19), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d RED_STAGING_MARK_LEFT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(372.77), Units.inchesToMeters(84.19), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d RED_STAGING_MARK_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(372.77), Units.inchesToMeters(132.19), Rotation2d.fromDegrees(0)); | ||
| public static final Pose2d RED_STAGING_MARK_FAR_RIGHT = | ||
| new Pose2d( | ||
| Units.inchesToMeters(372.77), Units.inchesToMeters(180.19), Rotation2d.fromDegrees(0)); | ||
|
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| public static final List<Pose2d> RED_GRIDS = | ||
| List.of(RED_GRID_LEFT, RED_GRID_CENTER, RED_GRID_RIGHT); | ||
| public static final List<Pose2d> BLUE_GRIDS = | ||
| List.of(BLUE_GRID_LEFT, BLUE_GRID_CENTER, BLUE_GRID_RIGHT); | ||
|
|
||
| private Landmarks() {} | ||
| } |
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