Contains functions for moving in autonomous mode, such as setting the robots trajectory, and getting speeds to set motors. More...

Static Public Member Functions
static void	updateTrajectory (MecaDrive m_drive, Pose2d target, ArrayList< Translation2d > interiorWaypoints)
	Generate a 2d cartesian trajectory (line/spline) and apply it to robot, with the endpoint given, "target," which reaches every point in interiorWaypoints, all relative to the drive base odometry.

static void	applyChassisSpeeds (MecaDrive m_drive)
	using the chassis speeds from the trajectory specified by the robot, drive the robot

Static Private Member Functions
static ChassisSpeeds	getChassisSpeeds (MecaDrive m_drive)
	return chassis speeds (to be then scaled and applied to driving the robot) retrived from the trajectory of the robot and the time within the trajectory

static double	linearizeVelocity (double velocity, double maxSpeed)
	"linearized" in this case means a value that has been turned into a number from -1 to 1, relative to the given "max," which decides what value is associated with a linearized magnitude of 1.

static double	linearizeVelocity (double velocity)
	linearize velocity using the max velocity of the robot, overloaded (from Constants)

Detailed Description

Contains functions for moving in autonomous mode, such as setting the robots trajectory, and getting speeds to set motors.

TODO: Untested

Author: xoth42

Definition at line 18 of file Autonomous.java.

Member Function Documentation

◆ applyChassisSpeeds()

static void frc.robot.subsystems.Autonomous.applyChassisSpeeds ( MecaDrive m_drive )

static

using the chassis speeds from the trajectory specified by the robot, drive the robot

TODO: verify functionality and test

Parameters

m_drive MecaDrive drive base

Definition at line 63 of file Autonomous.java.

                                                                {
        ChassisSpeeds currentChassisSpeeds = getChassisSpeeds(m_drive);
        
        // linearize speed is needed because the mecanum cartesian drive takes arguments (velocities) actually as ratios, from 1 to -1. See MecaDrive.drive
        m_drive.drive(linearizeVelocity(currentChassisSpeeds.vxMetersPerSecond), linearizeVelocity(currentChassisSpeeds.vyMetersPerSecond), linearizeVelocity(currentChassisSpeeds.omegaRadiansPerSecond, Constants.DRIVE_MAX_ANGULAR_VELOCITY));
    }   

References frc.robot.subsystems.MecaDrive.drive(), frc.robot.Constants.DRIVE_MAX_ANGULAR_VELOCITY, frc.robot.subsystems.Autonomous.getChassisSpeeds(), and frc.robot.subsystems.Autonomous.linearizeVelocity().

Referenced by frc.robot.Robot.autonomousPeriodic().

◆ getChassisSpeeds()

static ChassisSpeeds frc.robot.subsystems.Autonomous.getChassisSpeeds ( MecaDrive m_drive )

staticprivate

return chassis speeds (to be then scaled and applied to driving the robot) retrived from the trajectory of the robot and the time within the trajectory

(done in robot auton periodic) have mecadrive deal with setting trajectorytime (setTrajectoryTime) within autonomous (eg. knowing where to go, relative to robot's odometry). Probably best to be set within a periodic function.

Parameters

m_drive (MecaDrive) drivebase, to get the trajectory, time, and pose

Returns: ChassisSpeeds - https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html

Definition at line 47 of file Autonomous.java.

                                                                     {
        // get a (pose on spline) of the trajectory at "trajectoryTime" seconds relative to the beginning of the trajectory
        Trajectory.State goal = m_drive.getCurrentTrajectory().sample(m_drive.getCurrentTrajectoryTime()); 
        
 
        // return the chassis speeds (controller compares current pose of robot and goal to find the adequate speeds)
        return m_drive.getChassisController().calculate(m_drive.getPose(), goal);
    }

References frc.robot.subsystems.DriveBase.getChassisController(), frc.robot.subsystems.DriveBase.getCurrentTrajectory(), frc.robot.subsystems.DriveBase.getCurrentTrajectoryTime(), and frc.robot.subsystems.MecaDrive.getPose().

Referenced by frc.robot.subsystems.Autonomous.applyChassisSpeeds().

◆ linearizeVelocity() [1/2]

static double frc.robot.subsystems.Autonomous.linearizeVelocity ( double velocity )

staticprivate

linearize velocity using the max velocity of the robot, overloaded (from Constants)

Parameters

velocity meters/second

Returns: velocity from -1 to 1

Definition at line 106 of file Autonomous.java.

                                                                {
        return linearizeVelocity(velocity, Constants.maxVelocityMetersPerSecond);
    }

References frc.robot.subsystems.Autonomous.linearizeVelocity(), and frc.robot.Constants.maxVelocityMetersPerSecond.

◆ linearizeVelocity() [2/2]

static double frc.robot.subsystems.Autonomous.linearizeVelocity	(	double	velocity,
		double	maxSpeed
	)

staticprivate

"linearized" in this case means a value that has been turned into a number from -1 to 1, relative to the given "max," which decides what value is associated with a linearized magnitude of 1.

TODO: check that this function is working correctly (double-check math)

Parameters

velocity	double meters/second
maxSpeed	double meters/second

Returns

Definition at line 79 of file Autonomous.java.

                                                                                {
        // Speed is a scalar, (velocity is not scalar, negative matters) which means that maxSpeed has no direction, and thus a negative value in this case would imply a incorrect usage for maxSpeed.
        if (maxSpeed <= 0){
            throw new IllegalArgumentException("maxSpeed must be positive and greater than 0");
        }
 
        double linearizedVelocity; // from 1 to -1
 
        if (velocity == 0)  {
            linearizedVelocity = 0;
        } 
        else if (velocity < 0)  {
            // if velocity is in greater magnitude than maxSpeed, divide it by maxspeed so that it is in the range [0, 1]
            linearizedVelocity = Math.max(-1, velocity / maxSpeed);
        }
        else {
            linearizedVelocity = Math.min(1, velocity / maxSpeed);
        }
    
        return linearizedVelocity; 
    }

Referenced by frc.robot.subsystems.Autonomous.applyChassisSpeeds(), and frc.robot.subsystems.Autonomous.linearizeVelocity().

◆ updateTrajectory()

static void frc.robot.subsystems.Autonomous.updateTrajectory	(	MecaDrive	m_drive,
		Pose2d	target,
		ArrayList< Translation2d >	interiorWaypoints
	)

static

Generate a 2d cartesian trajectory (line/spline) and apply it to robot, with the endpoint given, "target," which reaches every point in interiorWaypoints, all relative to the drive base odometry.

For reference, see link https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/trajectory-generation.html

Parameters

m_drive	drive base, for start pose and trajectory config (MecaDrive) m_drive could be DriveBase instead, but there is no getPose() for tank drive, same thing with getChassisSpeeds
target	ending location (Pose2d)
interiorWaypoints	the points that the trajectory must reach (ArrayList<Translation2d>)

Definition at line 32 of file Autonomous.java.

                                                                                                                        {       
        // https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.html
        // interior waypoints to-be-used, refrence https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/trajectory-generation.html
        Trajectory trajectory = TrajectoryGenerator.generateTrajectory(m_drive.getPose(), interiorWaypoints, target, m_drive.getTrajectoryConfig());
        m_drive.setCurrentTrajectory(trajectory);
    }

References frc.robot.subsystems.MecaDrive.getPose(), frc.robot.subsystems.DriveBase.getTrajectoryConfig(), and frc.robot.subsystems.DriveBase.setCurrentTrajectory().

Referenced by frc.robot.Robot.autonomousCheckForButtonPresses().

The documentation for this class was generated from the following file:

Autonomous.java

2023 Drive base

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ applyChassisSpeeds()

◆ getChassisSpeeds()

◆ linearizeVelocity() [1/2]

◆ linearizeVelocity() [2/2]

◆ updateTrajectory()