Examples with Trajectory com.team254.lib_2014.trajectory.Trajectory used on opensource projects

Example 1 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Relic_Main by TeamOverdrive.

the class TextFileDeserializer method deserialize.

public Path deserialize(String serialized) {
    StringTokenizer tokenizer = new StringTokenizer(serialized, "\n");
    System.out.println("Parsing path string...");
    System.out.println("String has " + serialized.length() + " chars");
    System.out.println("Found " + tokenizer.countTokens() + " tokens");
    String name = tokenizer.nextToken();
    int num_elements = Integer.parseInt(tokenizer.nextToken());
    Trajectory left = new Trajectory(num_elements);
    for (int i = 0; i < num_elements; ++i) {
        Trajectory.Segment segment = new Trajectory.Segment();
        StringTokenizer line_tokenizer = new StringTokenizer(tokenizer.nextToken(), " ");
        segment.pos = Double.parseDouble(line_tokenizer.nextToken());
        segment.vel = Double.parseDouble(line_tokenizer.nextToken());
        segment.acc = Double.parseDouble(line_tokenizer.nextToken());
        segment.jerk = Double.parseDouble(line_tokenizer.nextToken());
        segment.heading = Double.parseDouble(line_tokenizer.nextToken());
        segment.dt = Double.parseDouble(line_tokenizer.nextToken());
        segment.x = Double.parseDouble(line_tokenizer.nextToken());
        segment.y = Double.parseDouble(line_tokenizer.nextToken());
        left.setSegment(i, segment);
    }
    Trajectory right = new Trajectory(num_elements);
    for (int i = 0; i < num_elements; ++i) {
        Trajectory.Segment segment = new Trajectory.Segment();
        StringTokenizer line_tokenizer = new StringTokenizer(tokenizer.nextToken(), " ");
        segment.pos = Double.parseDouble(line_tokenizer.nextToken());
        segment.vel = Double.parseDouble(line_tokenizer.nextToken());
        segment.acc = Double.parseDouble(line_tokenizer.nextToken());
        segment.jerk = Double.parseDouble(line_tokenizer.nextToken());
        segment.heading = Double.parseDouble(line_tokenizer.nextToken());
        segment.dt = Double.parseDouble(line_tokenizer.nextToken());
        segment.x = Double.parseDouble(line_tokenizer.nextToken());
        segment.y = Double.parseDouble(line_tokenizer.nextToken());
        right.setSegment(i, segment);
    }
    System.out.println("...finished parsing path from string.");
    return new Path(name, new Trajectory.Pair(left, right));
}

Example 2 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Relic_Main by TeamOverdrive.

the class Arc method calculate.

public static Path calculate(TrajectoryGenerator.Config config, TrajectoryGenerator.Strategy strategy, double start_velocity, double start_heading, double distance, double goal_velocity, double goal_heading) {
    // Generate trajectory based to the inputs
    Trajectory reference = TrajectoryGenerator.generate(config, strategy, // start velocity
    start_velocity, // start heading
    start_heading, // goal position
    Math.abs(distance), // goal velocity
    goal_velocity, // goal angle
    goal_heading);
    Trajectory leftProfile = reference;
    Trajectory rightProfile = reference.copy();
    // Calculate the radius of the arc
    double radius = Math.copySign(Math.abs(Math.abs(distance) / (goal_heading - start_heading * Math.PI / 180.0)), distance);
    double width = 12.625;
    // Find the difference between the left and right motors
    double faster = (radius + (width / 2.0)) / radius;
    double slower = (radius - (width / 2.0)) / radius;
    System.out.println(faster);
    System.out.println(slower);
    // Determine which way to curve
    if (goal_heading - start_heading > 0) {
        leftProfile.scale(faster);
        rightProfile.scale(slower);
    } else if (goal_heading - start_heading < 0) {
        leftProfile.scale(slower);
        rightProfile.scale(faster);
    }
    Path ref = new Path("Arc", new Trajectory.Pair(leftProfile, rightProfile));
    if (distance < 0)
        InvertY.calculate(ref);
    return ref;
}

Example 3 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Relic_Main by TeamOverdrive.

the class TestPointTurning method main.

public static void main(String... args) {
    TrajectoryGenerator.Config config = new TrajectoryGenerator.Config();
    // In/s
    config.max_vel = 2.5 * 12;
    // In/s^2
    config.max_acc = 8 * 12;
    // In/s^3
    config.max_jerk = 10 * 12;
    // seconds, change of time in each update
    config.dt = 0.01;
    double angle = Math.PI / 2;
    TrajectoryGenerator.Strategy strategy = TrajectoryGenerator.SCurvesStrategy;
    Trajectory ref = TrajectoryGenerator.generate(config, strategy, 0, 0, 1e-10, 0, angle);
    Trajectory leftProfile = ref;
    Trajectory rightProfile = ref.copy();
    // Calculate the radius of the arc
    double radius = Math.abs(Math.abs(1e-10) / (angle * Math.PI / 180.0));
    double width = 12.625;
    // Find the difference between the left and right motors
    double faster = (radius + (width / 2.0)) / radius;
    double slower = (radius - (width / 2.0)) / radius;
    // Determine which way to curve
    if (angle > 0) {
        leftProfile.scale(faster);
        rightProfile.scale(slower);
    } else {
        leftProfile.scale(slower);
        rightProfile.scale(faster);
    }
    System.out.println(leftProfile.toString());
    System.out.println("====================");
    System.out.println(rightProfile.toString());
    System.out.println("Angle: " + angle);
    System.out.println(angle - rightProfile.getSegment(rightProfile.getNumSegments() - 1).heading);
}

Example 4 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Relic_Main by TeamOverdrive.

the class TestingSplinesDoubleTrajectory method runOpMode.

@Override
public void runOpMode() throws InterruptedException {
    // Used to log the speed and position to be able to plot the data in Excel
    PhoneLogger logger = new PhoneLogger("SpeedPosTimeData.csv");
    // Generate a simple path for testing
    Path path = Line.calculate(defaultTrajectoryConfig, TrajectoryGenerator.SCurvesStrategy, 0, 0, 15, 0);
    // Init our drivetrain
    Drive mDrive = new Drive();
    mDrive.init(this, true);
    // Use speed control to make the output of the motor linear
    mDrive.setRunMode(DcMotor.RunMode.RUN_USING_ENCODER);
    /*
        * Used to make it easier to save constants
        * P term, D term, V term, A term, P term for gyro compensation
        * We are not using I because the feed-forward + feed-back control
        * will be enough to control the system
        */
    FollowerConfig followerConfig = new FollowerConfig(Constants.p.getDouble(), Constants.d.getDouble(), Constants.v.getDouble(), Constants.a.getDouble(), Constants.headingP.getDouble());
    // New Drive Controller
    TrajectoryDriveController controller = new TrajectoryDriveController(mDrive, followerConfig);
    // Tell the controller what profiles to follow
    // (the two 1's are in case we want to mirror the path)
    controller.loadPath(path, 1, 1);
    // Lets go
    telemetry.setAutoClear(false);
    telemetry.addData("Ready to Start", "");
    telemetry.update();
    waitForStart();
    telemetry.setAutoClear(true);
    telemetry.clearAll();
    // Used to calculate the change in time from the last reading
    ElapsedTime dtTimer = new ElapsedTime();
    ElapsedTime timeToComplete = new ElapsedTime();
    double totalTime = 0;
    boolean first = true;
    // Used to calculate speed
    double lastPosition = 0;
    while (opModeIsActive()) {
        // data
        telemetry.addData("Time To Complete", totalTime);
        telemetry.addData("Left Distance", mDrive.getLeftDistanceInches());
        telemetry.addData("Right Distance", mDrive.getRightDistanceInches());
        telemetry.addData("Left Speed", controller.wantedLeftSpeed);
        telemetry.addData("Right Speed", controller.wantedRightSpeed);
        telemetry.addData("Speed output", controller.getGoal());
        telemetry.addData("Gyro", mDrive.getGyroAngleRadians());
        telemetry.addData("dt", dtTimer.seconds());
        telemetry.addData("Number of Segments", controller.getNumSegments());
        telemetry.addData("Current Pos", controller.getFollowerCurrentSegment());
        telemetry.update();
        // Make sure we only update when we told the controller/trajectory we would
        if (dtTimer.seconds() > defaultTrajectoryConfig.dt && !controller.isOnTarget()) {
            // Update our controller
            controller.update();
            // Used to log data so we can plot it
            double currentTime = timeToComplete.milliseconds();
            double currentLeftPos = mDrive.getLeftDistanceInches();
            double left_speed = (currentLeftPos - lastPosition) / dtTimer.milliseconds();
            logger.write(String.valueOf(currentTime) + "," + String.valueOf(path.getLeftWheelTrajectory().getSegment(controller.getFollowerCurrentSegment()).pos) + "," + String.valueOf(currentLeftPos));
            idle();
            dtTimer.reset();
        } else if (controller.isOnTarget()) {
            mDrive.setLeftRightPower(0, 0);
            if (first) {
                // Track how long it took to complete the path
                totalTime = timeToComplete.seconds();
                first = false;
            }
        }
    }
    // Close the logger
    logger.close();
    // Be able to move the robot after we run it
    mDrive.setRunMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}

Example 5 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Relic_Main by TeamOverdrive.

the class TestingSplinesSingleTrajectory method runOpMode.

@Override
public void runOpMode() throws InterruptedException {
    telemetry.addData("Started", "");
    telemetry.update();
    TrajectoryGenerator.Config config = new TrajectoryGenerator.Config();
    // In/s
    config.max_vel = 2.0 * 12;
    // In/s^2
    config.max_acc = 0.6 * 12;
    // In/s^3
    config.max_jerk = 0.4 * 12;
    // seconds
    config.dt = 0.01;
    Trajectory trajectory = TrajectoryGenerator.generate(config, TrajectoryGenerator.SCurvesStrategy, 0, 0, 10, 0, 0);
    telemetry.addData("Trajectory Generation Finished", "");
    telemetry.update();
    double gearing = Constants.DRIVE_GEAR_REDUCTION;
    // Volts
    double Vmax = 12;
    // lbs
    double mass = 48.0 / 9.8;
    double numberOfMotors = 2;
    // lb-in
    double stallTorque = 1.531179;
    double velocityMax = (5400 * Math.PI * Constants.WHEEL_DIAMETER_INCHES) / (gearing);
    double kv = Vmax / velocityMax;
    double accelerationMax = (2 * numberOfMotors * stallTorque * gearing) / (4.0 * mass);
    double ka = Vmax / accelerationMax;
    FollowerConfig followerConfig = new FollowerConfig(0.1, 0, kv, ka, Math.PI / 1000);
    TrajectoryFollower follower = new TrajectoryFollower("Follower");
    follower.configure(followerConfig.get()[0], followerConfig.get()[1], followerConfig.get()[2], followerConfig.get()[3], followerConfig.get()[4]);
    follower.setTrajectory(trajectory);
    Drive mDrive = new Drive();
    mDrive.init(this, true);
    mDrive.setRunMode(DcMotor.RunMode.RUN_USING_ENCODER);
    waitForStart();
    ElapsedTime time = new ElapsedTime();
    sleep(10);
    while (!follower.isFinishedTrajectory() && opModeIsActive()) {
        if (time.seconds() > config.dt) {
            double distance = (mDrive.getRightDistanceInches() + mDrive.getLeftDistanceInches()) / 2;
            double forwardSpeed = follower.calculate(distance);
            telemetry.addData("Distance", distance);
            telemetry.addData("Turning Error", mDrive.getGyroAngleDegrees() - follower.getHeading());
            telemetry.addData("Forward", forwardSpeed);
            telemetry.update();
            mDrive.setLeftRightPower(forwardSpeed, forwardSpeed);
            time.reset();
        }
    }
    mDrive.setLeftRightPower(0, 0);
}