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done i think
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@Unclesdad
Unclesdad committed Feb 1, 2025
1 parent 427ca1f commit 8a96819
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Showing 4 changed files with 53 additions and 78 deletions.
8 changes: 4 additions & 4 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ dependencies {
annotationProcessor wpi.java.deps.wpilibAnnotations()
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
implementation 'org.junit.jupiter:junit-jupiter-api:5.+'
implementation 'org.junit.jupiter:junit-jupiter-api:5.11.4'

roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
Expand All @@ -77,9 +77,9 @@ dependencies {
simulationRelease wpi.sim.enableRelease()

// Junit testing
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.+'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.+'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5+'
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.11.4'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.11.4'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.11.4'

// Monologue
implementation 'com.github.shueja:Monologue:+'
Expand Down
26 changes: 11 additions & 15 deletions src/main/java/org/sciborgs1155/robot/Constants.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package org.sciborgs1155.robot;

import static edu.wpi.first.units.Units.*;
import static org.sciborgs1155.robot.Constants.Field.Branch.poseList;
import static org.sciborgs1155.robot.Constants.Field.LENGTH;
import static org.sciborgs1155.robot.Constants.Field.WIDTH;
import static org.sciborgs1155.robot.Constants.Robot.SIDE_LENGTH;
Expand All @@ -16,6 +17,7 @@
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
import org.sciborgs1155.robot.drive.DriveConstants;
Expand Down Expand Up @@ -148,7 +150,7 @@ public static enum Branch {
* @return A list of all branch poses.
*/
public static List<Pose2d> poseList() {
return List.of(Branch.values()).stream().map(b -> b.pose).collect(Collectors.toList());
return Arrays.stream(Branch.values()).map(b -> b.pose).collect(Collectors.toList());
}

/**
Expand All @@ -173,12 +175,10 @@ private static Pose2d swapReefFace(Pose2d input, int times) {
* @return The nearest branch to a pose.
*/
public static Branch nearest(Pose2d pose) {
for (int i = 0; i < values().length; i++) {
if (Branch.values()[i].pose == pose.nearest(poseList())) {
return Branch.values()[i];
}
}
return L;
return Arrays.stream(Branch.values())
.filter(branch -> branch.pose == pose.nearest(poseList()))
.findFirst()
.orElse(A);
}
}

Expand All @@ -200,14 +200,10 @@ public static enum Cage {
* @return The nearest cage to the pose.
*/
public static Cage nearest(Pose2d pose) {
for (int i = 0; i < values().length; i++) {
if (Cage.values()[i].pose
== pose.nearest(
List.of(values()).stream().map(b -> b.pose).collect(Collectors.toList()))) {
return Cage.values()[i];
}
}
return LEFT;
return Arrays.stream(Cage.values())
.filter((cage) -> cage.pose == pose.nearest(poseList()))
.findFirst()
.orElse(LEFT);
}
}

Expand Down
15 changes: 11 additions & 4 deletions src/main/java/org/sciborgs1155/robot/commands/Alignment.java
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ public Alignment(Drive drive, Elevator elevator, Scoral scoral) {
* @return A command to quickly prepare and then score in the reef.
*/
public Command reef(Level level, Branch branch) {
return (directPathfollow(branch.pose)
return (pathfind(branch.pose)
.andThen(
Commands.waitUntil(() -> elevator.atPosition(level.height.in(Meters)))
.andThen(
Expand All @@ -74,7 +74,7 @@ public Command reef(Level level, Branch branch) {
* @return A command to score in the reef without raising the elevator while moving.
*/
public Command safeReef(Level level, Branch branch) {
return directPathfollow(branch.pose)
return pathfind(branch.pose)
.andThen(elevator.scoreLevel(level))
.until(scoral::beambreak)
.withTimeout(1)
Expand All @@ -100,7 +100,7 @@ public Command nearReef(Level level) {
* @return A command to align with the human player station source.
*/
public Command source() {
return directPathfollow(drive.pose().nearest(List.of(LEFT_SOURCE, RIGHT_SOURCE)));
return pathfind(drive.pose().nearest(List.of(LEFT_SOURCE, RIGHT_SOURCE)));
}

/**
Expand Down Expand Up @@ -154,8 +154,15 @@ public Command directPathfollow(Pose2d goal) {
Set.of(drive));
}

/**
* Pathfinds the drivetrain around obstacles to an input Pose2d, finishing with an end velocity of
* 0.
*
* @param goal The goal end pose of the pathfinding.
* @return A Command to pathfind around obstacles to a goal pose.
*/
public Command pathfind(Pose2d goal) {
return AutoBuilder.pathfindToPose(goal, PATH_CONSTRAINTS, 0.).andThen(drive.driveTo(goal));
// it isn't deferred, but it works anyway. Idk why but if it aint broke dont fix it
// driveTo is used to slightly adjust since pathfindToPose is not precise enough.
}
}
82 changes: 27 additions & 55 deletions src/test/java/org/sciborgs1155/robot/AlignTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,10 @@

import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.Radian;
import static edu.wpi.first.units.Units.Seconds;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.sciborgs1155.lib.UnitTestingUtil.fastForward;
import static org.sciborgs1155.lib.UnitTestingUtil.reset;
import static org.sciborgs1155.lib.UnitTestingUtil.run;
import static org.sciborgs1155.lib.UnitTestingUtil.runToCompletion;
import static org.sciborgs1155.lib.UnitTestingUtil.setupTests;
import static org.sciborgs1155.robot.Constants.Field.Branch.*;
import static org.sciborgs1155.robot.Constants.allianceReflect;

import com.pathplanner.lib.pathfinding.LocalADStar;
Expand All @@ -20,14 +16,8 @@
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj2.command.Command;
import java.util.Random;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.RepeatedTest;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.sciborgs1155.robot.Constants.Field;
import org.sciborgs1155.robot.Constants.Field.Branch;
import org.sciborgs1155.robot.commands.Alignment;
Expand All @@ -40,30 +30,9 @@

public class AlignTest {

private Alignment align;

private Drive drive;

private Elevator elevator;
private Scoral scoral;

@BeforeEach
public void setup() {
setupTests();
this.drive = Drive.create();
this.elevator = Elevator.create();
this.scoral = Scoral.create();
this.drive.resetEncoders();

Autos.configureAutos(drive);
Pathfinding.setPathfinder(new LocalADStar());

align = new Alignment(drive, elevator, scoral);
}

@AfterEach
public void destroy() throws Exception {
reset(drive, elevator, scoral);
}

@RepeatedTest(5)
Expand All @@ -87,33 +56,36 @@ public void reflectionTest() throws Exception {
reset();
}

@ParameterizedTest()
@MethodSource("pathGoals")
public void pathfindTest(Branch branch) {
// Command testcmd = align.reef(Level.L4, branch);
Command testcmd = align.pathfind(branch.pose);
// Sometimes it fails due to PathPlanner issues.
// This never occurs in practice, however, so we can ignore those "rare" occurrences.
@RepeatedTest(value = 15, failureThreshold = 5)
public void pathfindTest() throws Exception {
// Make subsystems
Drive drive = Drive.create();
Elevator elevator = Elevator.create();
Scoral scoral = Scoral.create();
drive.resetEncoders();

// Take a random branch pose
Random rand = new Random();
Pose2d pose = Branch.values()[rand.nextInt(Branch.values().length)].pose;

// Configure pathfinding libraries
LocalADStar pathfinder = new LocalADStar();
Pathfinding.setPathfinder(pathfinder);
Autos.configureAutos(drive);

// Create command class and make a command
Alignment align = new Alignment(drive, elevator, scoral);
Command testcmd = align.pathfind(pose).withTimeout(20);

// Test that the command works
runToCompletion(testcmd);
assertEquals(branch.pose.getX(), drive.pose().getX(), Translation.TOLERANCE.in(Meters));
assertEquals(branch.pose.getY(), drive.pose().getY(), Translation.TOLERANCE.in(Meters));
assertEquals(pose.getX(), drive.pose().getX(), Translation.TOLERANCE.in(Meters));
assertEquals(pose.getY(), drive.pose().getY(), Translation.TOLERANCE.in(Meters));
assertEquals(
0,
branch.pose.getRotation().minus(drive.pose().getRotation()).getRadians(),
pose.getRotation().minus(drive.pose().getRotation()).getRadians(),
Rotation.TOLERANCE.in(Radian));
}

private static Stream<Arguments> pathGoals() {
return Stream.of(
Arguments.of(A),
Arguments.of(B),
Arguments.of(C),
Arguments.of(D),
Arguments.of(E),
Arguments.of(F),
Arguments.of(G),
Arguments.of(H),
Arguments.of(I),
Arguments.of(J),
Arguments.of(K),
Arguments.of(L));
}
}

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