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Merge pull request #534 from truher/main
min-time holonomic controller, also some estimator work
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63 changes: 63 additions & 0 deletions
63
lib/src/main/java/org/team100/lib/commands/drivetrain/DriveToPoseSimple.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| package org.team100.lib.commands.drivetrain; | ||
|
|
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| import org.team100.lib.controller.drivetrain.HolonomicFieldRelativeController; | ||
| import org.team100.lib.dashboard.Glassy; | ||
| import org.team100.lib.logging.Level; | ||
| import org.team100.lib.logging.LoggerFactory; | ||
| import org.team100.lib.logging.LoggerFactory.FieldRelativeVelocityLogger; | ||
| import org.team100.lib.motion.drivetrain.SwerveDriveSubsystem; | ||
| import org.team100.lib.motion.drivetrain.SwerveState; | ||
| import org.team100.lib.motion.drivetrain.kinodynamics.FieldRelativeVelocity; | ||
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| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
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| /** | ||
| * Given a pose, drive there using only the holonomic controller, | ||
| * no profile, no trajectory. This doesn't seem to work well to follow | ||
| * a trajectory or profile, don't use it for that, just give it a point | ||
| * you want to go to, and it will go there. It makes no attempt to | ||
| * impose feasibility constraints or coordinate the axes. | ||
| */ | ||
| public class DriveToPoseSimple extends Command implements Glassy { | ||
| private final FieldRelativeVelocityLogger m_log_output; | ||
| private final SwerveState m_goal; | ||
| private final HolonomicFieldRelativeController m_controller; | ||
| private final SwerveDriveSubsystem m_swerve; | ||
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| public DriveToPoseSimple( | ||
| LoggerFactory parent, | ||
| Pose2d goal, | ||
| HolonomicFieldRelativeController controller, | ||
| SwerveDriveSubsystem swerve) { | ||
| LoggerFactory child = parent.child(this); | ||
| m_log_output = child.fieldRelativeVelocityLogger(Level.TRACE, "output"); | ||
| // goal is motionless at the specified pose. | ||
| m_goal = new SwerveState(goal); | ||
| m_controller = controller; | ||
| m_swerve = swerve; | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| // ? | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| SwerveState measurement = m_swerve.getState(); | ||
| FieldRelativeVelocity output = m_controller.calculate(measurement, m_goal); | ||
| m_log_output.log(() -> output); | ||
| m_swerve.driveInFieldCoordsVerbatim(output); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return m_controller.atReference(); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| m_swerve.stop(); | ||
| } | ||
| } |
106 changes: 106 additions & 0 deletions
106
lib/src/main/java/org/team100/lib/controller/drivetrain/MinTimeDriveController.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| package org.team100.lib.controller.drivetrain; | ||
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| import org.team100.lib.controller.simple.MinTimeController; | ||
| import org.team100.lib.framework.TimedRobot100; | ||
| import org.team100.lib.logging.LoggerFactory; | ||
| import org.team100.lib.motion.drivetrain.SwerveState; | ||
| import org.team100.lib.motion.drivetrain.kinodynamics.FieldRelativeVelocity; | ||
| import org.team100.lib.state.State100; | ||
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| import edu.wpi.first.math.MathUtil; | ||
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| /** Min-time controllers on all axes. */ | ||
| public class MinTimeDriveController implements HolonomicFieldRelativeController { | ||
| /** Should be stronger than switching. */ | ||
| private static final int INITIAL_CURVE_ACCEL = 12; | ||
| /** Should be weaker than switching. */ | ||
| private static final int GOAL_CURVE_ACCEL = 7; | ||
| private static final int SWITCHING_CURVE_ACCEL = 9; | ||
| private static final double[] FULL_STATE_K = new double[] { 2.0, 0.2 }; | ||
| /** Switch to full-state proportional when this close to the goal. */ | ||
| private static final double EASE = 0.1; | ||
| private static final double TOLERANCE = 0.01; | ||
| private static final int MAX_OMEGA_RAD_S = 5; | ||
| private static final int MAX_VELOCITY_M_S = 5; | ||
| private final MinTimeController m_xController; | ||
| private final MinTimeController m_yController; | ||
| private final MinTimeController m_thetaController; | ||
| private final Log m_log; | ||
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| public MinTimeDriveController(LoggerFactory parent, Log log) { | ||
| LoggerFactory child = parent.child(this); | ||
| m_xController = new MinTimeController( | ||
| child, | ||
| x -> x, | ||
| MAX_VELOCITY_M_S, | ||
| SWITCHING_CURVE_ACCEL, | ||
| GOAL_CURVE_ACCEL, | ||
| INITIAL_CURVE_ACCEL, | ||
| TOLERANCE, | ||
| EASE, | ||
| FULL_STATE_K); | ||
| m_yController = new MinTimeController( | ||
| child, | ||
| x -> x, | ||
| MAX_VELOCITY_M_S, | ||
| SWITCHING_CURVE_ACCEL, | ||
| GOAL_CURVE_ACCEL, | ||
| INITIAL_CURVE_ACCEL, | ||
| TOLERANCE, | ||
| EASE, | ||
| FULL_STATE_K); | ||
| m_thetaController = new MinTimeController( | ||
| child, | ||
| MathUtil::angleModulus, | ||
| MAX_OMEGA_RAD_S, | ||
| SWITCHING_CURVE_ACCEL, | ||
| GOAL_CURVE_ACCEL, | ||
| INITIAL_CURVE_ACCEL, | ||
| TOLERANCE, | ||
| EASE, | ||
| FULL_STATE_K); | ||
| m_log = log; | ||
| } | ||
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| @Override | ||
| public boolean atReference() { | ||
| return m_xController.atSetpoint() && | ||
| m_yController.atSetpoint() && | ||
| m_thetaController.atSetpoint(); | ||
| } | ||
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| /** | ||
| * Makes no attempt to coordinate the axes or provide feasible output. | ||
| */ | ||
| @Override | ||
| public FieldRelativeVelocity calculate(SwerveState measurement, SwerveState reference) { | ||
| m_log.measurement.log(() -> measurement); | ||
| m_log.reference.log(() -> reference); | ||
| m_log.error.log(() -> reference.minus(measurement)); | ||
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| FieldRelativeVelocity u_FF = reference.velocity(); | ||
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| State100 xFB = m_xController.calculate( | ||
| TimedRobot100.LOOP_PERIOD_S, | ||
| measurement.x(), | ||
| reference.x()); | ||
| State100 yFB = m_yController.calculate( | ||
| TimedRobot100.LOOP_PERIOD_S, | ||
| measurement.y(), | ||
| reference.y()); | ||
| State100 thetaFB = m_thetaController.calculate( | ||
| TimedRobot100.LOOP_PERIOD_S, | ||
| measurement.theta(), | ||
| reference.theta()); | ||
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| FieldRelativeVelocity u_FB = new FieldRelativeVelocity( | ||
| xFB.v(), yFB.v(), thetaFB.v()); | ||
| m_log.u_FB.log(() -> u_FB); | ||
| return u_FF.plus(u_FB); | ||
| } | ||
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| @Override | ||
| public void reset() { | ||
| // nothing to do | ||
| } | ||
| } |
74 changes: 74 additions & 0 deletions
74
lib/src/main/java/org/team100/lib/controller/simple/FullStateController.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| package org.team100.lib.controller.simple; | ||
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| import java.util.function.DoubleUnaryOperator; | ||
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| import org.team100.lib.logging.Level; | ||
| import org.team100.lib.logging.LoggerFactory; | ||
| import org.team100.lib.logging.LoggerFactory.DoubleLogger; | ||
| import org.team100.lib.logging.LoggerFactory.State100Logger; | ||
| import org.team100.lib.state.State100; | ||
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| /** | ||
| * Patterned after FullStateDriveController. | ||
| */ | ||
| public class FullStateController { | ||
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| private final State100Logger m_log_measurement; | ||
| private final State100Logger m_log_reference; // ref v is FF | ||
| private final State100Logger m_log_error; | ||
| private final DoubleLogger m_log_u_FB; | ||
| private final double m_K1; // position | ||
| private final double m_K2; // velocity | ||
| private final DoubleUnaryOperator m_modulus; | ||
| private final double m_tol1; | ||
| private final double m_tol2; | ||
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| private boolean m_atSetpoint = false; | ||
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| public FullStateController( | ||
| LoggerFactory parent, | ||
| double k1, | ||
| double k2, | ||
| DoubleUnaryOperator modulus, | ||
| double xtol, | ||
| double vtol) { | ||
| LoggerFactory child = parent.child("FullStateController"); | ||
| m_log_reference = child.state100Logger(Level.DEBUG, "reference"); | ||
| m_log_measurement = child.state100Logger(Level.DEBUG, "measurement"); | ||
| m_log_error = child.state100Logger(Level.DEBUG, "error"); | ||
| m_log_u_FB = child.doubleLogger(Level.DEBUG, "u_FB"); | ||
| m_K1 = k1; | ||
| m_K2 = k2; | ||
| m_modulus = modulus; | ||
| m_tol1 = xtol; | ||
| m_tol2 = vtol; | ||
| } | ||
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| public double calculate(State100 measurement, State100 reference) { | ||
| m_log_measurement.log(() -> measurement); | ||
| m_log_reference.log(() -> reference); | ||
| m_log_error.log(() -> reference.minus(measurement)); | ||
| double u_FF = reference.v(); | ||
| m_atSetpoint = true; | ||
| double u_FB = calculateFB(measurement, reference); | ||
| m_log_u_FB.log(() -> u_FB); | ||
| return u_FF + u_FB; | ||
| } | ||
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| private double calculateFB(State100 measurement, State100 setpoint) { | ||
| double xError = m_modulus.applyAsDouble(setpoint.x() - measurement.x()); | ||
| double xDotError = setpoint.v() - measurement.v(); | ||
| m_atSetpoint &= Math.abs(xError) < m_tol1 && Math.abs(xDotError) < m_tol2; | ||
| return m_K1 * xError + m_K2 * xDotError; | ||
| } | ||
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| /** True if the most recent call to calculate() was at the setpoint. */ | ||
| public boolean atSetpoint() { | ||
| return m_atSetpoint; | ||
| } | ||
|
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| public void reset() { | ||
| m_atSetpoint = false; | ||
| } | ||
|
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| } |
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