Examples with Translation2d edu.wpi.first.math.geometry.Translation2d used on opensource projects

Example 1 with Translation2d

use of edu.wpi.first.math.geometry.Translation2d in project 6591-2022 by jafillmore.

the class RobotContainer method getAutonomousCommand.

/**
 * Use this to pass the autonomous command to the main {@link Robot} class.
 *
 * @return the command to run in autonomous
 */
public Command getAutonomousCommand() {
    // Create config for trajectory
    TrajectoryConfig config = new TrajectoryConfig(AutoConstants.kMaxSpeedMetersPerSecond, AutoConstants.kMaxAccelerationMetersPerSecondSquared).setKinematics(DriveConstants.kDriveKinematics);
    // An example trajectory to follow.  All units in meters.
    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(// Start at the origin facing the +X direction
    new Pose2d(0, 0, new Rotation2d(0)), // Pass through these two interior waypoints, making an 's' curve path
    List.of(new Translation2d(1, 1), new Translation2d(2, -1)), // End 3 meters straight ahead of where we started, facing forward
    new Pose2d(3, 0, new Rotation2d(0)), config);
    MecanumControllerCommand mecanumControllerCommand = new MecanumControllerCommand(exampleTrajectory, m_robotDrive::getPose, DriveConstants.kFeedforward, DriveConstants.kDriveKinematics, // Position contollers
    new PIDController(AutoConstants.kPXController, 0, 0), new PIDController(AutoConstants.kPYController, 0, 0), new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints), // Needed for normalizing wheel speeds
    AutoConstants.kMaxSpeedMetersPerSecond, // Velocity PID's
    new PIDController(DriveConstants.kPFrontLeftVel, 0, 0), new PIDController(DriveConstants.kPRearLeftVel, 0, 0), new PIDController(DriveConstants.kPFrontRightVel, 0, 0), new PIDController(DriveConstants.kPRearRightVel, 0, 0), m_robotDrive::getCurrentWheelSpeeds, // Consumer for the output motor voltages
    m_robotDrive::setDriveMotorControllersVolts, m_robotDrive);
    // Reset odometry to the starting pose of the trajectory.
    m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
    // Run path following command, then stop at the end.
    return mecanumControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
}

Example 2 with Translation2d

use of edu.wpi.first.math.geometry.Translation2d in project rapid-react-robot by wando-advanced-robotics.

the class DriveSystem method driveToPosition.

public Pose2d driveToPosition(double xMeters, double yMeters) {
    Translation2d translation = new Translation2d(xMeters, yMeters);
    Rotation2d angle = Rotation2d.fromDegrees(Math.atan(yMeters / xMeters) * (180 / Math.PI));
    if (angle.getDegrees() < 0) {
        angle = Rotation2d.fromDegrees(360 + angle.getDegrees());
    }
    System.out.println("Angle: " + angle.getDegrees());
    targetPosition = new Pose2d(translation, angle);
    if (targetPosition.getRotation().getDegrees() > robotAngle.getDegrees()) {
        if (targetPosition.getRotation().getDegrees() - robotAngle.getDegrees() > 180) {
            turnDirection = Direction.LEFT;
        } else if (targetPosition.getRotation().getDegrees() - robotAngle.getDegrees() <= 180) {
            turnDirection = Direction.RIGHT;
        }
    } else if (targetPosition.getRotation().getDegrees() <= robotAngle.getDegrees()) {
        if (targetPosition.getRotation().getDegrees() - robotAngle.getDegrees() < -180) {
            turnDirection = Direction.LEFT;
        } else if (targetPosition.getRotation().getDegrees() - robotAngle.getDegrees() >= -180) {
            turnDirection = Direction.RIGHT;
        }
    } else {
        turnDirection = Direction.LEFT;
    }
    System.out.println(turnDirection);
    // if (targetPosition.getY() >= 0) {
    // driveDirection = Direction.FORWARD;
    // }
    // else if (targetPosition.getY() < 0) {
    // driveDirection = Direction.BACKWARD;
    // }
    // else {
    // driveDirection = Direction.FORWARD;
    // }
    driveDirection = Direction.FORWARD;
    return targetPosition;
}

Example 3 with Translation2d

use of edu.wpi.first.math.geometry.Translation2d in project RapidReact2022 by robototes.

the class AutonomousCommand method getAutonomousCommand.

public Command getAutonomousCommand() {
    // Create config for trajectory
    TrajectoryConfig config = new TrajectoryConfig(AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED).setKinematics(AutoConstants.driveKinematics);
    // creating trajectory path (right now is a square)
    Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(new Pose2d(0, 0, Rotation2d.fromDegrees(0)), List.of(new Translation2d(1, 0), new Translation2d(1, 1), new Translation2d(0, 1)), new Pose2d(0, 0.0, Rotation2d.fromDegrees(0)), config);
    // creates thetacontroller (rotation)
    ProfiledPIDController thetaController = new ProfiledPIDController(0.000000005, 0, 0, AutoConstants.K_THETA_CONTROLLER_CONSTRAINTS);
    thetaController.enableContinuousInput(-Math.PI, Math.PI);
    exampleTrajectory.relativeTo(drivebaseSubsystem.getPoseAsPoseMeters());
    SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(exampleTrajectory, // Functional interface to feed supplier
    drivebaseSubsystem::getPoseAsPoseMeters, AutoConstants.driveKinematics, // Position controllers
    new PIDController(AutoConstants.PX_CONTROLLER, 0, 0), new PIDController(AutoConstants.PY_CONTROLLER, 0, 0), thetaController, drivebaseSubsystem::updateModules, drivebaseSubsystem);
    return swerveControllerCommand;
}

Example 4 with Translation2d

use of edu.wpi.first.math.geometry.Translation2d in project RapidReact2022 by ligerbots.

the class TrajectoryPlotter method plotWaypoints.

public void plotWaypoints(int index, List<Translation2d> waypoints) {
    String indexStr = "";
    if (index > 0) {
        indexStr = String.valueOf(index);
        m_maxWaypoints = Math.max(m_maxWaypoints, index);
    }
    final Rotation2d rot = Rotation2d.fromDegrees(0);
    List<Pose2d> poses = new ArrayList<Pose2d>();
    for (Translation2d t : waypoints) {
        poses.add(new Pose2d(t, rot));
    }
    m_field2d.getObject("waypoints" + indexStr).setPoses(poses);
}

Example 5 with Translation2d

use of edu.wpi.first.math.geometry.Translation2d in project RapidReact2022-340 by Greater-Rochester-Robotics.

the class SwerveDrive method getAngleOfTarget.

/**
 * Estimates the closest angle to the target,
 * given that the odometry is working
 * @return angle in radians (not restricted to PI to -PI)
 */
public double getAngleOfTarget() {
    // get the current angle
    double currentAngle = getGyroInRad();
    // if the pose hasn't been set return current angle.
    if (!hasPoseBeenSet) {
        return currentAngle;
    }
    // Calculating current angle between -pi and pi
    double absoluteCurrentAngle = currentAngle % Constants.TWO_PI;
    if (absoluteCurrentAngle > Math.PI) {
        absoluteCurrentAngle -= 2 * (Math.PI);
    } else if (absoluteCurrentAngle < -Math.PI) {
        absoluteCurrentAngle += 2 * Math.PI;
    }
    // Finds where the center of the field is with respect to the robot
    Translation2d target = driveOdometry.getPoseMeters().getTranslation().minus(Constants.FIELD_CENTER);
    // based on that, find the angle of the above Tanslation2d object
    double desiredAngle = Math.atan2(target.getY(), target.getX());
    // Calculate the robot's target angle given the continuous angle of the gyroscope
    return currentAngle - absoluteCurrentAngle + desiredAngle;
}