Updated 2023 Autonomous
This commit includes the first draft of the autonomous
actor, which we will be testing and adjusting as needed.
This also includes sending the superstructure goals and
a preloaded cone test in the lib test file.
Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: I01ec7859989a4dfd41251b44d3c1f98a8e8461b6
diff --git a/y2023/autonomous/BUILD b/y2023/autonomous/BUILD
index 6d6922b..cfcc19c 100644
--- a/y2023/autonomous/BUILD
+++ b/y2023/autonomous/BUILD
@@ -53,9 +53,11 @@
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_config",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//y2023:constants",
"//y2023/control_loops/drivetrain:drivetrain_base",
"//y2023/control_loops/superstructure:superstructure_goal_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
+ "//y2023/control_loops/superstructure/arm:generated_graph",
],
)
diff --git a/y2023/autonomous/auto_splines.cc b/y2023/autonomous/auto_splines.cc
index 0cc98a2..09cf4ea 100644
--- a/y2023/autonomous/auto_splines.cc
+++ b/y2023/autonomous/auto_splines.cc
@@ -4,7 +4,7 @@
#include "aos/flatbuffer_merge.h"
namespace y2023 {
-namespace actors {
+namespace autonomous {
namespace {
flatbuffers::Offset<frc971::MultiSpline> FixSpline(
@@ -92,6 +92,66 @@
return FixSpline(builder, multispline_builder.Finish(), alliance);
}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::TestSpline(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::Spline1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_1_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::Spline2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_2_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::Spline3(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_3_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::Spline4(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_4_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::Spline5(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(spline_5_, builder->fbb()),
+ alliance);
+}
+
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder,
@@ -112,15 +172,5 @@
return FixSpline(builder, multispline_builder.Finish(), alliance);
}
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::TestSpline(
- aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
- *builder,
- aos::Alliance alliance) {
- return FixSpline(
- builder,
- aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_, builder->fbb()),
- alliance);
-}
-
-} // namespace actors
+} // namespace autonomous
} // namespace y2023
diff --git a/y2023/autonomous/auto_splines.h b/y2023/autonomous/auto_splines.h
index 1280693..5c3bff9 100644
--- a/y2023/autonomous/auto_splines.h
+++ b/y2023/autonomous/auto_splines.h
@@ -1,10 +1,12 @@
-#ifndef Y2023_ACTORS_AUTO_SPLINES_H_
-#define Y2023_ACTORS_AUTO_SPLINES_H_
+#ifndef Y2023_AUTONOMOUS_AUTO_SPLINES_H_
+#define Y2023_AUTONOMOUS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/joystick_state_generated.h"
/*
The cooridinate system for the autonomous splines is the same as the spline
@@ -13,13 +15,23 @@
*/
namespace y2023 {
-namespace actors {
+namespace autonomous {
class AutonomousSplines {
public:
AutonomousSplines()
- : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/test_spline.json")) {}
+ : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/test_spline.json")),
+ spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_1.json")),
+ spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_2.json")),
+ spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_3.json")),
+ spline_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_4.json")),
+ spline_5_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_5.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder,
@@ -33,11 +45,37 @@
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder,
aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline3(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline4(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline5(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_1_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_2_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_3_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_4_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_5_;
};
-} // namespace actors
+} // namespace autonomous
} // namespace y2023
-#endif // Y2023_ACTORS_AUTO_SPLINES_H_
+#endif // Y2023_AUTONOMOUS_AUTO_SPLINES_H_
diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index 8e99af6..77965e4 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -5,13 +5,18 @@
#include <cmath>
#include "aos/logging/logging.h"
+#include "aos/util/math.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2023/autonomous/auto_splines.h"
+#include "y2023/constants.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/superstructure/arm/generated_graph.h"
DEFINE_bool(spline_auto, true, "Run simple test S-spline auto mode.");
+DEFINE_bool(charged_up, true, "If true run charged up autonomous mode");
namespace y2023 {
-namespace actors {
+namespace autonomous {
using ::aos::monotonic_clock;
using ::frc971::ProfileParametersT;
@@ -28,7 +33,9 @@
joystick_state_fetcher_(
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
robot_state_fetcher_(event_loop->MakeFetcher<aos::RobotState>("/aos")),
- auto_splines_() {
+ auto_splines_(),
+ arm_goal_position_(control_loops::superstructure::arm::NeutralIndex()),
+ points_(control_loops::superstructure::arm::PointList()) {
replan_timer_ = event_loop->AddTimer([this]() { Replan(); });
event_loop->OnRun([this, event_loop]() {
@@ -51,8 +58,9 @@
(joystick_state_fetcher_->alliance() != alliance_)) {
alliance_ = joystick_state_fetcher_->alliance();
is_planned_ = false;
- // Only kick the planning out by 2 seconds. If we end up enabled in that
- // second, then we will kick it out further based on the code below.
+ // Only kick the planning out by 2 seconds. If we end up enabled in
+ // that second, then we will kick it out further based on the code
+ // below.
replan_timer_->Setup(now + std::chrono::seconds(2));
}
if (joystick_state_fetcher_->enabled()) {
@@ -77,6 +85,27 @@
SplineDirection::kForward);
starting_position_ = test_spline_->starting_position();
+ } else if (FLAGS_charged_up) {
+ charged_up_splines_ = {
+ PlanSpline(std::bind(&AutonomousSplines::Spline1, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kBackward),
+ PlanSpline(std::bind(&AutonomousSplines::Spline2, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward),
+ PlanSpline(std::bind(&AutonomousSplines::Spline3, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kBackward),
+ PlanSpline(std::bind(&AutonomousSplines::Spline4, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward),
+ PlanSpline(std::bind(&AutonomousSplines::Spline5, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kBackward),
+ };
+
+ starting_position_ = charged_up_splines_.value()[0].starting_position();
+ CHECK(starting_position_);
}
is_planned_ = true;
@@ -113,8 +142,8 @@
CHECK(starting_position_);
SendStartingPosition(starting_position_.value());
}
- // Clear this so that we don't accidentally resend things as soon as we replan
- // later.
+ // Clear this so that we don't accidentally resend things as soon as we
+ // replan later.
user_indicated_safe_to_reset_ = false;
is_planned_ = false;
starting_position_.reset();
@@ -160,5 +189,204 @@
}
}
-} // namespace actors
+// Charged Up 3 Game Object Autonomous.
+void AutonomousActor::ChargedUp() {
+ aos::monotonic_clock::time_point start_time = aos::monotonic_clock::now();
+
+ CHECK(charged_up_splines_);
+
+ auto &splines = *charged_up_splines_;
+
+ // Tell the superstructure a cone was preloaded
+ if (!WaitForPreloaded()) return;
+
+ // Place first cone on mid level
+ MidConeScore();
+
+ // Wait until the arm is at the goal to spit
+ if (!WaitForArmGoal()) return;
+ Spit();
+
+ AOS_LOG(
+ INFO, "Placed first cone %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
+ // Drive and intake the cube nearest to the starting zone
+ if (!splines[0].WaitForPlan()) return;
+ splines[0].Start();
+
+ // Move arm into position to pickup a cube and start cube intake
+ PickupCube();
+ IntakeCube();
+
+ if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
+
+ // Drive back to grid and place cube on high level
+ if (!splines[1].WaitForPlan()) return;
+ splines[1].Start();
+
+ HighCubeScore();
+
+ if (!splines[1].WaitForSplineDistanceRemaining(0.02)) return;
+
+ if (!WaitForArmGoal()) return;
+ Spit();
+
+ AOS_LOG(
+ INFO, "Placed first cube %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
+ // Drive and intake the cube second nearest to the starting zone
+ if (!splines[2].WaitForPlan()) return;
+ splines[2].Start();
+
+ PickupCube();
+ IntakeCube();
+
+ if (!splines[2].WaitForSplineDistanceRemaining(0.02)) return;
+
+ // Drive back to grid and place object on mid level
+ if (!splines[3].WaitForPlan()) return;
+ splines[3].Start();
+
+ MidCubeScore();
+
+ if (!splines[3].WaitForSplineDistanceRemaining(0.02)) return;
+
+ if (!WaitForArmGoal()) return;
+ Spit();
+
+ AOS_LOG(
+ INFO, "Placed second cube %lf s\n",
+ aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
+ // Drive onto charging station
+ if (!splines[4].WaitForPlan()) return;
+ splines[4].Start();
+
+ if (!splines[4].WaitForSplineDistanceRemaining(0.02)) return;
+}
+
+void AutonomousActor::SendSuperstructureGoal() {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ control_loops::superstructure::Goal::Builder superstructure_builder =
+ builder.MakeBuilder<control_loops::superstructure::Goal>();
+
+ superstructure_builder.add_arm_goal_position(arm_goal_position_);
+ superstructure_builder.add_preloaded_with_cone(preloaded_);
+ superstructure_builder.add_roller_goal(roller_goal_);
+ superstructure_builder.add_wrist(wrist_goal_);
+
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+}
+
+[[nodiscard]] bool AutonomousActor::WaitForPreloaded() {
+ set_preloaded(true);
+ SendSuperstructureGoal();
+
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
+ event_loop()->monotonic_now(),
+ ActorBase::kLoopOffset);
+
+ bool loaded = false;
+ while (!loaded) {
+ if (ShouldCancel()) {
+ return false;
+ }
+
+ phased_loop.SleepUntilNext();
+ superstructure_status_fetcher_.Fetch();
+ CHECK(superstructure_status_fetcher_.get() != nullptr);
+
+ loaded = (superstructure_status_fetcher_->end_effector_state() ==
+ control_loops::superstructure::EndEffectorState::LOADED);
+ }
+
+ set_preloaded(false);
+ SendSuperstructureGoal();
+
+ return true;
+}
+
+void AutonomousActor::MidConeScore() {
+ set_arm_goal_position(
+ control_loops::superstructure::arm::ScoreFrontMidConeUpIndex());
+ set_wrist_goal(0.05);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::HighCubeScore() {
+ set_arm_goal_position(
+ control_loops::superstructure::arm::ScoreFrontHighCubeIndex());
+ set_wrist_goal(0.6);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::MidCubeScore() {
+ set_arm_goal_position(
+ control_loops::superstructure::arm::ScoreFrontMidCubeIndex());
+ set_wrist_goal(0.6);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::PickupCube() {
+ set_arm_goal_position(
+ control_loops::superstructure::arm::GroundPickupBackCubeIndex());
+ set_wrist_goal(0.6);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::Spit() {
+ set_roller_goal(control_loops::superstructure::RollerGoal::SPIT);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::IntakeCube() {
+ set_roller_goal(control_loops::superstructure::RollerGoal::INTAKE_CUBE);
+ SendSuperstructureGoal();
+}
+
+[[nodiscard]] bool AutonomousActor::WaitForArmGoal() {
+ constexpr double kEpsTheta = 0.01;
+
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
+ event_loop()->monotonic_now(),
+ ActorBase::kLoopOffset);
+
+ bool at_goal = false;
+ while (!at_goal) {
+ if (ShouldCancel()) {
+ return false;
+ }
+
+ phased_loop.SleepUntilNext();
+ superstructure_status_fetcher_.Fetch();
+ CHECK(superstructure_status_fetcher_.get() != nullptr);
+
+ // Check that the status had the right goal
+ at_goal = (std::abs(points_[arm_goal_position_](0) -
+ superstructure_status_fetcher_->arm()->theta0()) <
+ kEpsTheta &&
+ std::abs(points_[arm_goal_position_](1) -
+ superstructure_status_fetcher_->arm()->theta1()) <
+ kEpsTheta &&
+ std::abs(points_[arm_goal_position_](2) -
+ superstructure_status_fetcher_->arm()->theta2()) <
+ kEpsTheta) &&
+ (std::abs(wrist_goal_ -
+ superstructure_status_fetcher_->wrist()->position()) <
+ kEpsTheta);
+ }
+
+ set_preloaded(false);
+ SendSuperstructureGoal();
+
+ return true;
+}
+
+} // namespace autonomous
} // namespace y2023
diff --git a/y2023/autonomous/autonomous_actor.h b/y2023/autonomous/autonomous_actor.h
index cf0b458..d13003d 100644
--- a/y2023/autonomous/autonomous_actor.h
+++ b/y2023/autonomous/autonomous_actor.h
@@ -1,5 +1,5 @@
-#ifndef Y2023_ACTORS_AUTONOMOUS_ACTOR_H_
-#define Y2023_ACTORS_AUTONOMOUS_ACTOR_H_
+#ifndef Y2023_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
+#define Y2023_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
#include "aos/actions/actions.h"
#include "aos/actions/actor.h"
@@ -8,9 +8,11 @@
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "y2023/autonomous/auto_splines.h"
+#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
namespace y2023 {
-namespace actors {
+namespace autonomous {
class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
public:
@@ -20,11 +22,39 @@
const ::frc971::autonomous::AutonomousActionParams *params) override;
private:
+ void set_arm_goal_position(uint32_t requested_arm_goal_position) {
+ arm_goal_position_ = requested_arm_goal_position;
+ }
+
+ void set_roller_goal(
+ control_loops::superstructure::RollerGoal requested_roller_goal) {
+ roller_goal_ = requested_roller_goal;
+ }
+
+ void set_wrist_goal(double requested_wrist_goal) {
+ wrist_goal_ = requested_wrist_goal;
+ }
+
+ void set_preloaded(bool preloaded) { preloaded_ = preloaded; }
+
+ void SendSuperstructureGoal();
+ void HighCubeScore();
+ void MidCubeScore();
+ void MidConeScore();
+ void PickupCube();
+ void Spit();
+ void IntakeCube();
+
+ [[nodiscard]] bool WaitForArmGoal();
+
+ [[nodiscard]] bool WaitForPreloaded();
+
void Reset();
void SendStartingPosition(const Eigen::Vector3d &start);
void MaybeSendStartingPosition();
void SplineAuto();
+ void ChargedUp();
void Replan();
aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
@@ -32,10 +62,13 @@
aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
aos::Fetcher<aos::RobotState> robot_state_fetcher_;
+ double wrist_goal_ = 0.0;
+ control_loops::superstructure::RollerGoal roller_goal_ =
+ control_loops::superstructure::RollerGoal::IDLE;
+
aos::TimerHandler *replan_timer_;
aos::TimerHandler *button_poll_;
- std::optional<SplineHandle> test_spline_;
aos::Alliance alliance_ = aos::Alliance::kInvalid;
AutonomousSplines auto_splines_;
bool user_indicated_safe_to_reset_ = false;
@@ -44,9 +77,22 @@
bool is_planned_ = false;
std::optional<Eigen::Vector3d> starting_position_;
+
+ uint32_t arm_goal_position_;
+ bool preloaded_ = false;
+
+ aos::Sender<control_loops::superstructure::Goal> superstructure_goal_sender_;
+ aos::Fetcher<y2023::control_loops::superstructure::Status>
+ superstructure_status_fetcher_;
+
+ std::optional<SplineHandle> test_spline_;
+ std::optional<std::array<SplineHandle, 5>> charged_up_splines_;
+
+ // List of arm angles from arm::PointsList
+ const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
};
-} // namespace actors
+} // namespace autonomous
} // namespace y2023
-#endif // Y2023_ACTORS_AUTONOMOUS_ACTOR_H_
+#endif // Y2023_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
diff --git a/y2023/autonomous/autonomous_actor_main.cc b/y2023/autonomous/autonomous_actor_main.cc
index 1ee3c15..08a8960 100644
--- a/y2023/autonomous/autonomous_actor_main.cc
+++ b/y2023/autonomous/autonomous_actor_main.cc
@@ -11,7 +11,7 @@
aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
- ::y2023::actors::AutonomousActor autonomous(&event_loop);
+ ::y2023::autonomous::AutonomousActor autonomous(&event_loop);
event_loop.Run();
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index 4d5d43e..8ab2f27 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -20,12 +20,26 @@
void EndEffector::RunIteration(
const ::aos::monotonic_clock::time_point timestamp, RollerGoal roller_goal,
double falcon_current, double cone_position, bool beambreak,
- double *roller_voltage) {
+ double *roller_voltage, bool preloaded_with_cone) {
*roller_voltage = 0.0;
constexpr double kMinCurrent = 40.0;
constexpr double kMaxConePosition = 0.92;
+ // If we started off preloaded, skip to the loaded state.
+ // Make sure we weren't already there just in case.
+ if (preloaded_with_cone) {
+ switch (state_) {
+ case EndEffectorState::IDLE:
+ case EndEffectorState::INTAKING:
+ state_ = EndEffectorState::LOADED;
+ break;
+ case EndEffectorState::LOADED:
+ case EndEffectorState::SPITTING:
+ break;
+ }
+ }
+
// Let them switch game pieces
if (roller_goal == RollerGoal::INTAKE_CONE_UP) {
game_piece_ = vision::Class::CONE_UP;
@@ -90,8 +104,8 @@
break;
case EndEffectorState::LOADED:
timer_ = timestamp;
- // If loaded and beam break not triggered, intake
- if (!beambreak_status) {
+ // If loaded and beam break not triggered and not preloaded, intake
+ if (!beambreak_status && !preloaded_with_cone) {
state_ = EndEffectorState::INTAKING;
}
break;
diff --git a/y2023/control_loops/superstructure/end_effector.h b/y2023/control_loops/superstructure/end_effector.h
index 5ae96da..fe1896b 100644
--- a/y2023/control_loops/superstructure/end_effector.h
+++ b/y2023/control_loops/superstructure/end_effector.h
@@ -25,7 +25,7 @@
void RunIteration(const ::aos::monotonic_clock::time_point timestamp,
RollerGoal roller_goal, double falcon_current,
double cone_position, bool beambreak,
- double *intake_roller_voltage);
+ double *intake_roller_voltage, bool preloaded_with_cone);
EndEffectorState state() const { return state_; }
vision::Class game_piece() const { return game_piece_; }
void Reset();
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 0f19a1e..ece0790 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -88,7 +88,8 @@
? position->roller_falcon()->torque_current()
: 0.0,
position->cone_position(), position->end_effector_cube_beam_break(),
- &output_struct.roller_voltage);
+ &output_struct.roller_voltage,
+ unsafe_goal != nullptr ? unsafe_goal->preloaded_with_cone() : false);
if (output) {
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 670351a..7ac7000 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -22,6 +22,9 @@
wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
roller_goal:RollerGoal (id: 3);
+
+ // If true, we started with the cone loaded and should proceed to that state.
+ preloaded_with_cone:bool (id: 4);
}
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index c1c20a3..80e41f9 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -446,6 +446,26 @@
const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
};
+// Test that we are able to signal that the ball was preloaded
+TEST_F(SuperstructureTest, Preloaded) {
+ SetEnabled(true);
+ WaitUntilZeroed();
+
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_preloaded_with_cone(true);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(dt());
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->end_effector_state(),
+ EndEffectorState::LOADED);
+}
+
// Tests that the superstructure does nothing when the goal is to remain
// still.
TEST_F(SuperstructureTest, DoesNothing) {