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Convert wrist to use Rotation2d #210

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Convert wrist to use Rotation2d #210

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049b2af
Convert wrist to use Rotation2d
Apr 8, 2023
d2fbe3c
Merge branch 'main' into chris/wrist-rotation2d
Apr 9, 2023
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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/auto/commands/WristPresetCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@ public void init() {
public void run() {}

public boolean isCompleted() {
return m_wrist.isAtTargetAngle() && Math.abs(m_wrist.getVelocity()) < m_minAngleVelocity;
return m_wrist.isAtTargetAngle()
&& Math.abs(m_wrist.getVelocity().getDegrees()) < m_minAngleVelocity;
}

public void postComplete(boolean interrupted) {}
Expand Down
12 changes: 9 additions & 3 deletions src/main/java/frc/robot/subsystems/Superstructure.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import frc.robot.subsystems.Claw.IntakeState;
import frc.robot.subsystems.Wrist.WristPreset;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import lombok.Getter;
import lombok.RequiredArgsConstructor;
Expand All @@ -13,6 +14,9 @@
@Accessors(prefix = "m_")
@RequiredArgsConstructor
public class Superstructure implements Subsystem {
private static final Rotation2d STOW_DANGER_ANGLE = Rotation2d.fromDegrees(0.0);
private static final Rotation2d SCORE_DANGER_ANGLE = Rotation2d.fromDegrees(-40.0);

/** Game Piece options. */
public enum GamePiece {
Cube,
Expand Down Expand Up @@ -77,7 +81,7 @@ public void update() {
elevatorPreset = Elevator.Preset.Floor;
wristPreset = WristPreset.Hybrid;

if (Math.abs(m_wrist.getVelocity()) > 80.0) {
if (Math.abs(m_wrist.getVelocity().getDegrees()) > 80.0) {
setDesiredIntakeState(IntakeState.Out);
} else if (m_claw.getIntakeState() == IntakeState.Out) {
setGlobalState(GlobalState.PostScore);
Expand All @@ -102,13 +106,15 @@ public void update() {
}

boolean wristInStowDangerZone =
wristPreset.getConePreset() > 0.0 || wristPreset.getCubePreset() > 0.0;
wristPreset.getConePreset().getDegrees() > STOW_DANGER_ANGLE.getDegrees()
|| wristPreset.getCubePreset().getDegrees() > STOW_DANGER_ANGLE.getDegrees();
boolean elevatorInStowDangerZone =
(elevatorPreset.getValue() > 14.78 && m_elevator.getHeight() < 14.78)
|| (elevatorPreset.getValue() < 14.78 && m_elevator.getHeight() > 14.78);

boolean wristInScoreDangerZone =
wristPreset.getConePreset() < -40.0 || wristPreset.getCubePreset() < -40.0;
wristPreset.getConePreset().getDegrees() < SCORE_DANGER_ANGLE.getDegrees()
|| wristPreset.getCubePreset().getDegrees() < SCORE_DANGER_ANGLE.getDegrees();
boolean elevatorInScoreDangerZone =
(elevatorPreset.getValue() > 15.82 && m_elevator.getHeight() < 15.82)
|| (elevatorPreset.getValue() < 22.59 && m_elevator.getHeight() > 22.59)
Expand Down
77 changes: 38 additions & 39 deletions src/main/java/frc/robot/subsystems/Wrist.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
import com.ctre.phoenixpro.signals.InvertedValue;
import com.ctre.phoenixpro.signals.NeutralModeValue;
import com.ctre.phoenixpro.signals.SensorDirectionValue;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import lombok.Getter;
Expand All @@ -23,9 +24,10 @@
@Accessors(prefix = "m_")
public class Wrist implements Subsystem {

private static final double STOW_OFFSET = 32.25;
private static final Rotation2d STOW_OFFSET = Rotation2d.fromDegrees(32.25);
private static final double WRIST_FF = 0.45;
private static final double ENCODER_OFFSET = 304.189 - STOW_OFFSET;
private static final Rotation2d ENCODER_OFFSET =
Rotation2d.fromDegrees(304.189).minus(STOW_OFFSET);

@Setter @Getter private WristState m_state = WristState.Manual;
@Getter private WristPreset m_preset = WristPreset.Stow;
Expand All @@ -35,17 +37,18 @@ public class Wrist implements Subsystem {

private final DigitalInput m_wristHall;

@Getter private double m_targetAngle = STOW_OFFSET;
@Getter @Setter private Rotation2d m_targetAngle = STOW_OFFSET;

@Setter private double m_motorOutput = 0.0;

private final double ANGLE_TOLERANCE = 1.0; // degrees
private final Rotation2d ANGLE_TOLERANCE = Rotation2d.fromDegrees(1.0);

public enum WristState {
Manual,
ClosedLoop
}

@Accessors(prefix = "m_")
public enum WristPreset {
Floor(-107.59, -96.77),
Hybrid(-44.6, -44.6),
Expand All @@ -58,22 +61,21 @@ public enum WristPreset {
MiniHp(-89.5, -86.0),
PreScore(0.0, 0.0),
Manual(0.0, 0.0),
PreStow(STOW_OFFSET - 25, STOW_OFFSET - 25);
PreStow(
STOW_OFFSET.minus(Rotation2d.fromDegrees(25)),
STOW_OFFSET.minus(Rotation2d.fromDegrees(25)));

private final double cube;
private final double cone;
@Getter private final Rotation2d m_cubePreset;
@Getter private final Rotation2d m_conePreset;

WristPreset(double cube, double cone) {
this.cube = cube;
this.cone = cone;
WristPreset(Rotation2d cube, Rotation2d cone) {
m_cubePreset = cube;
m_conePreset = cone;
}

public double getCubePreset() {
return this.cube;
}

public double getConePreset() {
return this.cone;
WristPreset(double cubeDegrees, double coneDegrees) {
m_cubePreset = Rotation2d.fromDegrees(cubeDegrees);
m_conePreset = Rotation2d.fromDegrees(coneDegrees);
}
}

Expand Down Expand Up @@ -131,65 +133,62 @@ public void setPreset(WristPreset nextPreset) {
m_preset = nextPreset;
// TODO handle cycle bug
if (m_preset == WristPreset.Manual && m_state != WristState.ClosedLoop) {
setTargetAngleDegrees(getCurrentAngleDegrees());
setTargetAngle(getCurrentAngle());

} else if (m_preset == WristPreset.Manual && m_state == WristState.ClosedLoop) {
// Intentionally left blank
} else if (currentGamePiece == GamePiece.Cube) {

setTargetAngleDegrees(m_preset.getCubePreset());
setTargetAngle(m_preset.getCubePreset());
} else {
setTargetAngleDegrees(m_preset.getConePreset());
setTargetAngle(m_preset.getConePreset());
}
}

public double getCurrentAngleDegrees() {
return (m_encoder.getAbsolutePosition().getValue() * 360.0) - ENCODER_OFFSET;
}

private double getRawAngleDegrees() {
return m_encoder.getAbsolutePosition().getValue() * 360.0;
public Rotation2d getCurrentAngle() {
return getRawAngle().minus(ENCODER_OFFSET);
}

public void setTargetAngleDegrees(double angle) {
m_targetAngle = angle;
private Rotation2d getRawAngle() {
return Rotation2d.fromRotations(m_encoder.getAbsolutePosition().getValue());
}

public double getVelocity() {
return m_encoder.getVelocity().getValue() * 360.0;
public Rotation2d getVelocity() {
return Rotation2d.fromRotations(m_encoder.getVelocity().getValue());
}

public boolean getWristHall() {
return !m_wristHall.get();
}

public boolean isAtTargetAngle() {
return Math.abs(getCurrentAngleDegrees() - m_targetAngle) < ANGLE_TOLERANCE;
return Math.abs(getCurrentAngle().minus(m_targetAngle).getDegrees())
< ANGLE_TOLERANCE.getDegrees();
}

public void dashboardUpdate() {}

public void debugDashboardUpdate() {
SmartDashboard.putNumber("Wrist Angle", getCurrentAngleDegrees());
SmartDashboard.putNumber("Wrist Angle Target", m_targetAngle);
SmartDashboard.putNumber("Wrist Angle", getCurrentAngle().getDegrees());
SmartDashboard.putNumber("Wrist Angle Target", m_targetAngle.getDegrees());
SmartDashboard.putString("Wrist Preset", m_preset.toString());
SmartDashboard.putNumber("Wrist Stator", m_wristMotor.getStatorCurrent().getValue());
SmartDashboard.putBoolean("Wrist Sensor", getWristHall());
SmartDashboard.putNumber("Wrist Absolute Encoder", m_encoder.getAbsolutePosition().getValue());
SmartDashboard.putNumber("Wrist Raw Angle", getRawAngleDegrees());
SmartDashboard.putNumber("Wrist Velocity", getVelocity());
SmartDashboard.putNumber("Wrist Raw Angle", getRawAngle().getDegrees());
SmartDashboard.putNumber("Wrist Velocity", getVelocity().getDegrees());
}

public void update() {
GamePiece currentGamePiece = Superstructure.getCurrentGamePiece();
if (m_preset == WristPreset.Manual && m_state != WristState.ClosedLoop) {
setTargetAngleDegrees(getCurrentAngleDegrees());
setTargetAngle(getCurrentAngle());
} else if (m_preset == WristPreset.Manual && m_state == WristState.ClosedLoop) {
// Intentionally left blank
} else if (currentGamePiece == GamePiece.Cube) {
setTargetAngleDegrees(m_preset.getCubePreset());
setTargetAngle(m_preset.getCubePreset());
} else {
setTargetAngleDegrees(m_preset.getConePreset());
setTargetAngle(m_preset.getConePreset());
}

switch (m_state) {
Expand All @@ -200,9 +199,9 @@ public void update() {
case ClosedLoop:
m_wristMotor.setControl(
ControlMode.PositionVoltage,
(m_targetAngle + ENCODER_OFFSET) / 360.0,
m_targetAngle.plus(ENCODER_OFFSET).getRotations(),
true,
Math.sin(Math.toRadians(getCurrentAngleDegrees())) * -WRIST_FF);
getCurrentAngle().getSin() * -WRIST_FF);
break;
default:
break;
Expand Down