ferry from anywhere on field

Co-authored-by: k4limul <[email protected]>

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -212,16 +212,19 @@ private void configureDriverBindings() {
         //         .andThen(new BuzzController(driver, Assist.BUZZ_INTENSITY)
         //             .deadlineWith(new LEDSet(LEDInstructions.AUTO_SWERVE))));
 
+        // driver.getTopButton()
+        //     .onTrue(new ShooterSetRPM(Settings.Shooter.FERRY))
+        //     .whileTrue(new SwerveDriveToFerry()
+        //         .deadlineWith(new LEDSet(LEDInstructions.SPEAKER_ALIGN)
+        //         .andThen(new ShooterWaitForTarget()
+        //             .withTimeout(0.5)))
+        //         .andThen(new ConveyorShoot()))
+        //     .onFalse(new ConveyorStop())
+        //     .onFalse(new IntakeStop())
+        //     .onFalse(new ShooterSetRPM(Settings.Shooter.PODIUM_SHOT));
+
         driver.getTopButton()
-            .onTrue(new ShooterSetRPM(Settings.Shooter.FERRY))
-            .whileTrue(new SwerveDriveToFerry()
-                .deadlineWith(new LEDSet(LEDInstructions.SPEAKER_ALIGN)
-                .andThen(new ShooterWaitForTarget()
-                    .withTimeout(0.5)))
-                .andThen(new ConveyorShoot()))
-            .onFalse(new ConveyorStop())
-            .onFalse(new IntakeStop())
-            .onFalse(new ShooterSetRPM(Settings.Shooter.PODIUM_SHOT));
+            .whileTrue(new SwerveDriveFerryFromCurrentPosition());
 
         // climb
         driver.getRightButton()

src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveFerryFromCurrentPosition.java

@@ -0,0 +1,115 @@
+package com.stuypulse.robot.commands.swerve;
+
+import com.stuypulse.robot.Robot;
+import com.stuypulse.robot.constants.Field;
+import com.stuypulse.robot.subsystems.conveyor.Conveyor;
+import com.stuypulse.robot.subsystems.intake.Intake;
+import com.stuypulse.robot.subsystems.odometry.Odometry;
+import com.stuypulse.robot.subsystems.shooter.Shooter;
+import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
+import com.stuypulse.stuylib.control.angle.AngleController;
+import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController;
+import com.stuypulse.stuylib.math.Angle;
+import com.stuypulse.stuylib.math.Vector2D;
+import com.stuypulse.stuylib.streams.numbers.IStream;
+import com.stuypulse.stuylib.streams.numbers.filters.LowPassFilter;
+import com.stuypulse.stuylib.util.AngleVelocity;
+import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.robot.constants.Settings.Swerve.Assist;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+
+
+public class SwerveDriveFerryFromCurrentPosition extends Command {
+
+    private final SwerveDrive swerve;
+    private final Odometry odometry;
+    private final Shooter shooter;
+    private final Conveyor conveyor;
+    private final Intake intake;
+
+    private final AngleController controller;
+    private final IStream angleVelocity;
+
+    public SwerveDriveFerryFromCurrentPosition() {
+        swerve = SwerveDrive.getInstance();
+        shooter = Shooter.getInstance();
+        odometry = Odometry.getInstance();
+        conveyor = Conveyor.getInstance();
+        intake = Intake.getInstance();
+
+        controller = new AnglePIDController(Assist.kP, Assist.kI, Assist.kD)
+            .setOutputFilter(x -> -x);
+
+        AngleVelocity derivative = new AngleVelocity();
+
+        angleVelocity = IStream.create(() -> derivative.get(Angle.fromRotation2d(getTargetAngle())))
+            .filtered(new LowPassFilter(Assist.ANGLE_DERIV_RC))
+            // make angleVelocity contribute less once distance is less than REDUCED_FF_DIST
+            // so that angular velocity doesn't oscillate
+            .filtered(x -> x * Math.min(1, getDistanceToTarget() / Assist.REDUCED_FF_DIST))
+            .filtered(x -> -x);
+
+        addRequirements(swerve, shooter, odometry, conveyor, intake);
+    }
+
+    // returns pose of close amp corner
+    private Translation2d getTargetPose() {
+
+        Translation2d pose = Robot.isBlue()
+            ? new Translation2d(0, Field.WIDTH - 1.5)
+            : new Translation2d(0, 1.5);
+
+        return pose;
+
+        // Translation2d offset = odometry.getRobotVelocity()
+        //     .times(NOTE_TRAVEL_TIME);
+
+        // return pose.minus(offset);
+    }
+
+    private Rotation2d getTargetAngle() {
+        return odometry.getPose().getTranslation().minus(getTargetPose()).getAngle();
+    }
+
+    private double getDistanceToTarget() {
+        return odometry.getPose().getTranslation().getDistance(getTargetPose());
+    }
+
+    private double getAngleTolerance() {
+        double distance = getDistanceToTarget();
+        final double SHOT_LANDING_TOLERANCE = 1.0;
+
+        return Math.toDegrees(Math.atan(SHOT_LANDING_TOLERANCE / distance));
+    }
+
+    @Override
+    public void initialize() {
+        swerve.stop();
+        shooter.setTargetSpeeds(Settings.Shooter.FERRY);
+    }
+
+    @Override
+    public void execute() {
+        double omega = angleVelocity.get() + controller.update(
+            Angle.fromRotation2d(getTargetAngle()),
+            Angle.fromRotation2d(odometry.getPose().getRotation()));
+
+        SmartDashboard.putNumber("Ferry/Angle Tolerance", getAngleTolerance());
+
+        intake.acquire();
+        conveyor.toShooter();
+
+        swerve.drive(new Vector2D(new Translation2d(0, 0)), omega);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intake.stop();
+        conveyor.stop();
+        shooter.setTargetSpeeds(Settings.Shooter.PODIUM_SHOT);
+    }
+}

src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveToFerry.java

@@ -33,7 +33,7 @@ public SwerveDriveToFerry() {
             // use robot's y, put in x and rotation
 
             return new Pose2d(
-                SLMath.clamp(robot.getX(), Field.FERRY_SHOT_MIN_X, Field.FERRY_SHOT_MAX_X),
+                Field.CONST_FERRY_X,
                 Robot.isBlue() ? Math.max(robot.getY(), Field.FERRY_CUTOFF) : Math.min(robot.getY(), Field.WIDTH - Field.FERRY_CUTOFF),
                 targetAngle
             );