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fixed turn to angle #57

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merged 2 commits into from
Feb 10, 2024
Merged

fixed turn to angle #57

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c72e15f
fixed the function. hopefully.
nmp2965 Feb 10, 2024
26635f8
kjfhdsaghjlfdhjksabhjkdafjkl
amb2127 Feb 10, 2024
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9 changes: 5 additions & 4 deletions src/main/java/frc/subsystem/Superstructure.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.subsystem;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import frc.robot.Constants;
import frc.robot.Robot;
Expand Down Expand Up @@ -124,7 +125,7 @@ public void update() {
superstructure.setWantedShooterPosition(0);
superstructure.setCurrentState(States.GENERAL_INTERMEDIATE);
}
superstructure.targetAngleRad = 0; // get the target angle needed to aim at speaker
superstructure.targetAngle = drive.findAngleToSpeaker(); // get the target angle needed to aim at speaker
// set target angle and wrist position based on other logic to determine front or back
}
},
Expand Down Expand Up @@ -199,7 +200,7 @@ public void setCurrentState(States newState) {
}

private double wantedShooterPosition;
private double targetAngleRad;
private Rotation2d targetAngle;
public void update() {
currentState.update();
arm.setPosition(currentState.armPos);
Expand Down Expand Up @@ -231,7 +232,7 @@ public static Superstructure getSuperstructure() {
return superstructure;
}

public double getTargetAngleRad() {
return targetAngleRad;
public Rotation2d getTargetAngle() {
return targetAngle;
}
}
29 changes: 19 additions & 10 deletions src/main/java/frc/subsystem/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -264,8 +264,8 @@ public synchronized void swerveDriveFieldRelative(@NotNull ControllerDriveInputs
kinematicLimit = KinematicLimits.NORMAL_DRIVING.kinematicLimit;
}

public void swerveDriveTargetAngle(@NotNull ControllerDriveInputs inputs, double targetAngleRad) {
double turn = turnPID.calculate(gyroInputs.rotation2d.getRadians(), targetAngleRad);
public void swerveDriveTargetAngle(@NotNull ControllerDriveInputs inputs, Rotation2d targetAngleRad) {
double turn = turnPID.calculate(gyroInputs.rotation2d.getRadians(), targetAngleRad.getRadians());
nextChassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(DRIVE_HIGH_SPEED_M * inputs.getX(),
DRIVE_HIGH_SPEED_M * inputs.getY(),
turn * MAX_TELEOP_TURN_SPEED,
Expand Down Expand Up @@ -309,21 +309,30 @@ public double findDistanceToSpeaker() {
* @return angle of robot needed to face speaker
*/
@AutoLogOutput(key = "Drive/Angle to Speaker")
public double findAngleToSpeaker() {

double yDistanceToBlue = blueAllianceSpeaker.getY() - poseEstimator.getEstimatedPosition().getY();
double yDistanceToRed = redAllianceSpeaker.getY() - poseEstimator.getEstimatedPosition().getY();
public Rotation2d findAngleToSpeaker() {
Rotation2d heading = gyroInputs.rotation2d;
double deltaX;
double deltaY;
Rotation2d delta;

if (ally.isPresent()) {
if (ally.get() == DriverStation.Alliance.Red) {
return Math.atan2(yDistanceToRed, (redAllianceSpeaker.getX() - poseEstimator.getEstimatedPosition().getX()));
deltaY = redAllianceSpeaker.getY() - getPose().getY();
deltaX = redAllianceSpeaker.getX() - getPose().getX();
} else {
deltaY = blueAllianceSpeaker.getY() - getPose().getY();
deltaX = blueAllianceSpeaker.getX() - getPose().getX();
}

if (ally.get() == DriverStation.Alliance.Blue) {
return Math.atan2(yDistanceToBlue, (blueAllianceSpeaker.getX() - poseEstimator.getEstimatedPosition().getX()));
Rotation2d target = new Rotation2d(deltaX, deltaY);
delta = target.minus(heading);

if(Math.abs(delta.getRadians()) > (Math.PI / 2)) {
target.rotateBy(Rotation2d.fromRadians(Math.PI));
}
return target;
}
return 0;
return null;
}

public void resetOdometry(Pose2d pose) {
Expand Down
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