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* need to find out pose of robot and rdius of drive base * done, but math is probs wrong and idk where to call the command * added to robot container * Use real-world values and correctly grab data * Update drive wheel radius --------- Co-authored-by: charlesmackenzie <[email protected]>
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src/main/java/frc/robot/commands/WheelRadiusCharacterization.java
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| package frc.robot.commands; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.filter.SlewRateLimiter; | ||
| import edu.wpi.first.math.kinematics.ChassisSpeeds; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants.TunerConstants; | ||
| import frc.robot.subsystems.drive.CommandSwerveDrivetrain; | ||
| import java.util.function.DoubleSupplier; | ||
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| public class WheelRadiusCharacterization extends Command { | ||
| private static final double characterizationSpeed = 0.8; | ||
| private static final double driveRadius = TunerConstants.kModuleRadiusMeters; | ||
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| private final DoubleSupplier gyroYawRadsSupplier; // need to get pose of the robot | ||
| private final CommandSwerveDrivetrain drivetrain; | ||
| private final SlewRateLimiter omegaLimiter = new SlewRateLimiter(1.0); | ||
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| private double lastGyroYawRads = 0.0; | ||
| private double accumGyroYawRads = 0.0; | ||
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| private double omegaDirection = 1; | ||
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| private double[] startWheelPositions; | ||
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| private double currentEffectiveWheelRadius = 0.0; | ||
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| public WheelRadiusCharacterization( | ||
| CommandSwerveDrivetrain drive, DoubleSupplier gyroYawRadsSupplier) { | ||
| drivetrain = drive; | ||
| this.gyroYawRadsSupplier = gyroYawRadsSupplier; | ||
| addRequirements(drive); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| // Reset | ||
| lastGyroYawRads = gyroYawRadsSupplier.getAsDouble(); | ||
| accumGyroYawRads = 0.0; | ||
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| startWheelPositions = drivetrain.getWheelRadiusCharacterizationPosition(); | ||
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| omegaLimiter.reset(0); | ||
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| if (!SmartDashboard.containsKey("Effective Wheel Radius")) { | ||
| SmartDashboard.putNumber("Effective Wheel Radius", 0.0); | ||
| } | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| // Run drive at velocity | ||
| drivetrain.runWheelRadiusCharacterization( | ||
| omegaLimiter.calculate(omegaDirection * characterizationSpeed)); | ||
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| // Get yaw and wheel positions | ||
| accumGyroYawRads += | ||
| MathUtil.angleModulus(gyroYawRadsSupplier.getAsDouble() - lastGyroYawRads); | ||
| lastGyroYawRads = gyroYawRadsSupplier.getAsDouble(); | ||
| double averageWheelPosition = 0.0; | ||
| double[] wheelPositions = drivetrain.getWheelRadiusCharacterizationPosition(); | ||
| for (int i = 0; i < 4; i++) { | ||
| averageWheelPosition += Math.abs(wheelPositions[i] - startWheelPositions[i]); | ||
| } | ||
| averageWheelPosition /= 4.0; | ||
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| currentEffectiveWheelRadius = (accumGyroYawRads * driveRadius) / averageWheelPosition; | ||
| SmartDashboard.putNumber( | ||
| "TestMode/RadiusCharacterization/DrivePosition", averageWheelPosition); | ||
| SmartDashboard.putNumber( | ||
| "TestMode/RadiusCharacterization/AccumGyroYawRads", accumGyroYawRads); | ||
| SmartDashboard.putNumber( | ||
| "TestMode/RadiusCharacterization/CurrentWheelRadiusInches", | ||
| Units.metersToInches(currentEffectiveWheelRadius)); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| if (Math.abs(accumGyroYawRads) <= Math.PI * 2.0) { | ||
| SmartDashboard.putNumber("Effective Wheel Radius", -1.0); | ||
| } else { | ||
| SmartDashboard.putNumber("Effective Wheel Radius", currentEffectiveWheelRadius); | ||
| } | ||
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| drivetrain.setGoalChassisSpeeds(new ChassisSpeeds()); | ||
| } | ||
| } |
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