forked from acmerobotics/road-runner-quickstart
/
TrajectorySequenceRunnerCancelable.java
278 lines (207 loc) 路 10.4 KB
/
TrajectorySequenceRunnerCancelable.java
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package org.firstinspires.ftc.teamcode.trajectorysequence;
import androidx.annotation.Nullable;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.canvas.Canvas;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
import com.acmerobotics.roadrunner.control.PIDCoefficients;
import com.acmerobotics.roadrunner.control.PIDFController;
import com.acmerobotics.roadrunner.drive.DriveSignal;
import com.acmerobotics.roadrunner.followers.TrajectoryFollower;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.profile.MotionState;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker;
import com.acmerobotics.roadrunner.util.NanoClock;
import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.SequenceSegment;
import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TrajectorySegment;
import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.TurnSegment;
import org.firstinspires.ftc.teamcode.trajectorysequence.sequencesegment.WaitSegment;
import org.firstinspires.ftc.teamcode.util.DashboardUtil;
import java.util.ArrayList;
import java.util.Collections;
import java.util.LinkedList;
import java.util.List;
@Config
public class TrajectorySequenceRunnerCancelable {
public static String COLOR_INACTIVE_TRAJECTORY = "#4caf507a";
public static String COLOR_INACTIVE_TURN = "#7c4dff7a";
public static String COLOR_INACTIVE_WAIT = "#dd2c007a";
public static String COLOR_ACTIVE_TRAJECTORY = "#4CAF50";
public static String COLOR_ACTIVE_TURN = "#7c4dff";
public static String COLOR_ACTIVE_WAIT = "#dd2c00";
public static int POSE_HISTORY_LIMIT = 100;
private final TrajectoryFollower follower;
private final PIDFController turnController;
private final NanoClock clock;
private TrajectorySequence currentTrajectorySequence;
private double currentSegmentStartTime;
private int currentSegmentIndex;
private int lastSegmentIndex;
private Pose2d lastPoseError = new Pose2d();
List<TrajectoryMarker> remainingMarkers = new ArrayList<>();
private final FtcDashboard dashboard;
private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
public TrajectorySequenceRunnerCancelable(TrajectoryFollower follower, PIDCoefficients headingPIDCoefficients) {
this.follower = follower;
turnController = new PIDFController(headingPIDCoefficients);
turnController.setInputBounds(0, 2 * Math.PI);
clock = NanoClock.system();
dashboard = FtcDashboard.getInstance();
dashboard.setTelemetryTransmissionInterval(25);
}
public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) {
currentTrajectorySequence = trajectorySequence;
currentSegmentStartTime = clock.seconds();
currentSegmentIndex = 0;
lastSegmentIndex = -1;
}
public @Nullable
DriveSignal update(Pose2d poseEstimate, Pose2d poseVelocity) {
Pose2d targetPose = null;
DriveSignal driveSignal = null;
TelemetryPacket packet = new TelemetryPacket();
Canvas fieldOverlay = packet.fieldOverlay();
SequenceSegment currentSegment = null;
if (currentTrajectorySequence != null) {
if (currentSegmentIndex >= currentTrajectorySequence.size()) {
for (TrajectoryMarker marker : remainingMarkers) {
marker.getCallback().onMarkerReached();
}
remainingMarkers.clear();
currentTrajectorySequence = null;
}
if (currentTrajectorySequence == null)
return new DriveSignal();
double now = clock.seconds();
boolean isNewTransition = currentSegmentIndex != lastSegmentIndex;
currentSegment = currentTrajectorySequence.get(currentSegmentIndex);
if (isNewTransition) {
currentSegmentStartTime = now;
lastSegmentIndex = currentSegmentIndex;
for (TrajectoryMarker marker : remainingMarkers) {
marker.getCallback().onMarkerReached();
}
remainingMarkers.clear();
remainingMarkers.addAll(currentSegment.getMarkers());
Collections.sort(remainingMarkers, (t1, t2) -> Double.compare(t1.getTime(), t2.getTime()));
}
double deltaTime = now - currentSegmentStartTime;
if (currentSegment instanceof TrajectorySegment) {
Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory();
if (isNewTransition)
follower.followTrajectory(currentTrajectory);
if (!follower.isFollowing()) {
currentSegmentIndex++;
driveSignal = new DriveSignal();
} else {
driveSignal = follower.update(poseEstimate, poseVelocity);
lastPoseError = follower.getLastError();
}
targetPose = currentTrajectory.get(deltaTime);
} else if (currentSegment instanceof TurnSegment) {
MotionState targetState = ((TurnSegment) currentSegment).getMotionProfile().get(deltaTime);
turnController.setTargetPosition(targetState.getX());
double correction = turnController.update(poseEstimate.getHeading());
double targetOmega = targetState.getV();
double targetAlpha = targetState.getA();
lastPoseError = new Pose2d(0, 0, turnController.getLastError());
Pose2d startPose = currentSegment.getStartPose();
targetPose = startPose.copy(startPose.getX(), startPose.getY(), targetState.getX());
driveSignal = new DriveSignal(
new Pose2d(0, 0, targetOmega + correction),
new Pose2d(0, 0, targetAlpha)
);
if (deltaTime >= currentSegment.getDuration()) {
currentSegmentIndex++;
driveSignal = new DriveSignal();
}
} else if (currentSegment instanceof WaitSegment) {
lastPoseError = new Pose2d();
targetPose = currentSegment.getStartPose();
driveSignal = new DriveSignal();
if (deltaTime >= currentSegment.getDuration()) {
currentSegmentIndex++;
}
}
while (remainingMarkers.size() > 0 && deltaTime > remainingMarkers.get(0).getTime()) {
remainingMarkers.get(0).getCallback().onMarkerReached();
remainingMarkers.remove(0);
}
}
poseHistory.add(poseEstimate);
if (POSE_HISTORY_LIMIT > -1 && poseHistory.size() > POSE_HISTORY_LIMIT) {
poseHistory.removeFirst();
}
packet.put("x", poseEstimate.getX());
packet.put("y", poseEstimate.getY());
packet.put("heading (deg)", Math.toDegrees(poseEstimate.getHeading()));
packet.put("xError", getLastPoseError().getX());
packet.put("yError", getLastPoseError().getY());
packet.put("headingError (deg)", Math.toDegrees(getLastPoseError().getHeading()));
draw(fieldOverlay, currentTrajectorySequence, currentSegment, targetPose, poseEstimate);
dashboard.sendTelemetryPacket(packet);
return driveSignal;
}
private void draw(
Canvas fieldOverlay,
TrajectorySequence sequence, SequenceSegment currentSegment,
Pose2d targetPose, Pose2d poseEstimate
) {
if (sequence != null) {
for (int i = 0; i < sequence.size(); i++) {
SequenceSegment segment = sequence.get(i);
if (segment instanceof TrajectorySegment) {
fieldOverlay.setStrokeWidth(1);
fieldOverlay.setStroke(COLOR_INACTIVE_TRAJECTORY);
DashboardUtil.drawSampledPath(fieldOverlay, ((TrajectorySegment) segment).getTrajectory().getPath());
} else if (segment instanceof TurnSegment) {
Pose2d pose = segment.getStartPose();
fieldOverlay.setFill(COLOR_INACTIVE_TURN);
fieldOverlay.fillCircle(pose.getX(), pose.getY(), 2);
} else if (segment instanceof WaitSegment) {
Pose2d pose = segment.getStartPose();
fieldOverlay.setStrokeWidth(1);
fieldOverlay.setStroke(COLOR_INACTIVE_WAIT);
fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3);
}
}
}
if (currentSegment != null) {
if (currentSegment instanceof TrajectorySegment) {
Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory();
fieldOverlay.setStrokeWidth(1);
fieldOverlay.setStroke(COLOR_ACTIVE_TRAJECTORY);
DashboardUtil.drawSampledPath(fieldOverlay, currentTrajectory.getPath());
} else if (currentSegment instanceof TurnSegment) {
Pose2d pose = currentSegment.getStartPose();
fieldOverlay.setFill(COLOR_ACTIVE_TURN);
fieldOverlay.fillCircle(pose.getX(), pose.getY(), 3);
} else if (currentSegment instanceof WaitSegment) {
Pose2d pose = currentSegment.getStartPose();
fieldOverlay.setStrokeWidth(1);
fieldOverlay.setStroke(COLOR_ACTIVE_WAIT);
fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3);
}
}
if (targetPose != null) {
fieldOverlay.setStrokeWidth(1);
fieldOverlay.setStroke("#4CAF50");
DashboardUtil.drawRobot(fieldOverlay, targetPose);
}
fieldOverlay.setStroke("#3F51B5");
DashboardUtil.drawPoseHistory(fieldOverlay, poseHistory);
fieldOverlay.setStroke("#3F51B5");
DashboardUtil.drawRobot(fieldOverlay, poseEstimate);
}
public Pose2d getLastPoseError() {
return lastPoseError;
}
public boolean isBusy() {
return currentTrajectorySequence != null;
}
public void breakFollowing() {
currentTrajectorySequence = null;
remainingMarkers.clear();
}
}