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update command logic and abstract auton path
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| // TrajectoryConfig trajectoryConfig = new TrajectoryConfig( | ||
| // Constants.SwerveDrivetrain.kDriveMaxSpeedMPS, | ||
| // Constants.SwerveDrivetrain.kDriveMaxAcceleration); | ||
| // trajectoryConfig.setKinematics(swerveDrivetrain.getKinematics()); | ||
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|
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| // Trajectory trajectory = TrajectoryGenerator.generateTrajectory( | ||
| // new Pose2d(0, 0, new Rotation2d(0)), | ||
| // List.of( | ||
| // new Translation2d(1, 2), | ||
| // new Translation2d(3, 1) | ||
| // ), | ||
| // new Pose2d(4, 2, Rotation2d.fromDegrees(180.0)), | ||
| // trajectoryConfig); | ||
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| // swerveDrivetrain.getField().getObject("traj").setTrajectory(trajectory); | ||
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| // SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( | ||
| // trajectory, | ||
| // swerveDrivetrain::getSimPose, | ||
| // swerveDrivetrain.getKinematics(), | ||
| // swerveDrivetrain.xController, | ||
| // swerveDrivetrain.yController, | ||
| // swerveDrivetrain.thetaController, | ||
| // swerveDrivetrain::setModuleStates, | ||
| // swerveDrivetrain); | ||
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||
| // return new SequentialCommandGroup( | ||
| // new InstantCommand(() -> swerveDrivetrain.resetSimOdometry(trajectory.getInitialPose())), | ||
| // swerveControllerCommand, | ||
| // new InstantCommand(() -> swerveDrivetrain.stopModules()) | ||
| // ); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import java.util.List; | ||
|
|
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| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.trajectory.Trajectory; | ||
| import edu.wpi.first.math.trajectory.TrajectoryGenerator; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; | ||
| import frc.robot.subsystems.SwerveDrivetrain; | ||
|
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| public class AutonPathExample extends SequentialCommandGroup { | ||
| /** Creates a new AutonPathExample. */ | ||
| private final SwerveDrivetrain swerveDrivetrain; | ||
| private SwerveControllerCommand swerveControllerCommand; | ||
| private Trajectory trajectory; | ||
|
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| public AutonPathExample(SwerveDrivetrain drivetrain) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.swerveDrivetrain = drivetrain; | ||
| addRequirements(drivetrain); | ||
|
|
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| trajectory = TrajectoryGenerator.generateTrajectory( | ||
| new Pose2d(0, 0, new Rotation2d(0)), | ||
| List.of( | ||
| new Translation2d(1, 2), | ||
| new Translation2d(3, 1) | ||
| ), | ||
| new Pose2d(4, 2, Rotation2d.fromDegrees(180.0)), | ||
| swerveDrivetrain.getTrajectoryConfig()); | ||
|
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| swerveDrivetrain.getField().getObject("traj").setTrajectory(trajectory); | ||
|
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| swerveControllerCommand = new SwerveControllerCommand( | ||
| trajectory, | ||
| swerveDrivetrain::getSimPose, | ||
| swerveDrivetrain.getKinematics(), | ||
| swerveDrivetrain.xController, | ||
| swerveDrivetrain.yController, | ||
| swerveDrivetrain.thetaController, | ||
| swerveDrivetrain::setModuleStates, | ||
| swerveDrivetrain); | ||
|
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| addCommands( | ||
| new InstantCommand(() -> swerveDrivetrain.resetSimOdometry(trajectory.getInitialPose())), | ||
| swerveControllerCommand, | ||
| new InstantCommand(() -> swerveDrivetrain.stopModules())); | ||
| } | ||
|
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||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| super.initialize(); | ||
| swerveDrivetrain.setAutonomous(); | ||
| } | ||
|
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||
| @Override | ||
| public void execute() { | ||
| super.execute(); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| super.end(interrupted); | ||
| swerveDrivetrain.setDisabled(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return super.isFinished(); | ||
| } | ||
| } |
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