Add code for swerve drivebase experiments
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I24701125e0826d46845cc85abdae8dff52b7c678
diff --git a/y2023_bot4/wpilib_interface.cc b/y2023_bot4/wpilib_interface.cc
new file mode 100644
index 0000000..a744ae0
--- /dev/null
+++ b/y2023_bot4/wpilib_interface.cc
@@ -0,0 +1,325 @@
+#include "ctre/phoenix/cci/Diagnostics_CCI.h"
+#include "ctre/phoenix6/TalonFX.hpp"
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/wpilib/can_sensor_reader.h"
+#include "frc971/wpilib/falcon.h"
+#include "frc971/wpilib/sensor_reader.h"
+#include "frc971/wpilib/swerve/swerve_drivetrain_writer.h"
+#include "frc971/wpilib/wpilib_robot_base.h"
+#include "y2023_bot4/constants.h"
+#include "y2023_bot4/drivetrain_can_position_generated.h"
+#include "y2023_bot4/drivetrain_position_generated.h"
+
+DEFINE_bool(ctre_diag_server, false,
+ "If true, enable the diagnostics server for interacting with "
+ "devices on the CAN bus using Phoenix Tuner");
+
+using frc971::wpilib::CANSensorReader;
+using frc971::wpilib::Falcon;
+using frc971::wpilib::swerve::DrivetrainWriter;
+using frc971::wpilib::swerve::SwerveModule;
+
+namespace drivetrain = frc971::control_loops::drivetrain;
+
+namespace y2023_bot4 {
+namespace wpilib {
+namespace {
+
+template <class T>
+T value_or_exit(std::optional<T> optional) {
+ CHECK(optional.has_value());
+ return optional.value();
+}
+
+flatbuffers::Offset<frc971::AbsolutePosition> module_offset(
+ frc971::AbsolutePosition::Builder builder,
+ frc971::wpilib::AbsoluteEncoder *module) {
+ builder.add_encoder(module->ReadRelativeEncoder());
+ builder.add_absolute_encoder(module->ReadAbsoluteEncoder());
+
+ return builder.Finish();
+}
+
+flatbuffers::Offset<SwerveModuleCANPosition> can_module_offset(
+ SwerveModuleCANPosition::Builder builder,
+ std::shared_ptr<SwerveModule> module) {
+ std::optional<flatbuffers::Offset<control_loops::CANFalcon>> rotation_offset =
+ module->rotation->TakeOffset();
+ std::optional<flatbuffers::Offset<control_loops::CANFalcon>>
+ translation_offset = module->translation->TakeOffset();
+
+ CHECK(rotation_offset.has_value());
+ CHECK(translation_offset.has_value());
+
+ builder.add_rotation(rotation_offset.value());
+ builder.add_translation(translation_offset.value());
+
+ return builder.Finish();
+}
+
+constexpr double kMaxFastEncoderPulsesPerSecond = std::max({
+ constants::Values::kMaxDrivetrainEncoderPulsesPerSecond(),
+});
+static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
+ "fast encoders are too fast");
+} // namespace
+
+class SensorReader : public ::frc971::wpilib::SensorReader {
+ public:
+ SensorReader(aos::ShmEventLoop *event_loop,
+ std::shared_ptr<const constants::Values> values)
+ : ::frc971::wpilib::SensorReader(event_loop),
+ values_(values),
+ drivetrain_position_sender_(
+ event_loop->MakeSender<AbsoluteDrivetrainPosition>("/drivetrain")) {
+ UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+ event_loop->SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
+ }
+
+ void RunIteration() override {
+ {
+ auto builder = drivetrain_position_sender_.MakeBuilder();
+
+ auto front_left_offset =
+ module_offset(builder.MakeBuilder<frc971::AbsolutePosition>(),
+ &front_left_encoder_);
+ auto front_right_offset =
+ module_offset(builder.MakeBuilder<frc971::AbsolutePosition>(),
+ &front_right_encoder_);
+ auto back_left_offset = module_offset(
+ builder.MakeBuilder<frc971::AbsolutePosition>(), &back_left_encoder_);
+ auto back_right_offset =
+ module_offset(builder.MakeBuilder<frc971::AbsolutePosition>(),
+ &back_right_encoder_);
+
+ AbsoluteDrivetrainPosition::Builder drivetrain_position_builder =
+ builder.MakeBuilder<AbsoluteDrivetrainPosition>();
+
+ drivetrain_position_builder.add_follower_wheel_one_position(
+ follower_wheel_one_encoder_->GetRaw());
+ drivetrain_position_builder.add_follower_wheel_two_position(
+ follower_wheel_two_encoder_->GetRaw());
+
+ drivetrain_position_builder.add_front_left_position(front_left_offset);
+ drivetrain_position_builder.add_front_right_position(front_right_offset);
+ drivetrain_position_builder.add_back_left_position(back_left_offset);
+ drivetrain_position_builder.add_back_right_position(back_right_offset);
+
+ builder.CheckOk(builder.Send(drivetrain_position_builder.Finish()));
+ }
+ }
+
+ void set_follower_wheel_one_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ follower_wheel_one_encoder_ = std::move(encoder);
+ follower_wheel_one_encoder_->SetMaxPeriod(0.005);
+ }
+ void set_follower_wheel_two_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ follower_wheel_two_encoder_ = std::move(encoder);
+ follower_wheel_two_encoder_->SetMaxPeriod(0.005);
+ }
+
+ void set_front_left_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ front_left_encoder_.set_encoder(std::move(encoder));
+ }
+ void set_front_left_absolute_pwm(
+ std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ front_left_encoder_.set_absolute_pwm(std::move(absolute_pwm));
+ }
+
+ void set_front_right_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ front_right_encoder_.set_encoder(std::move(encoder));
+ }
+ void set_front_right_absolute_pwm(
+ std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ front_right_encoder_.set_absolute_pwm(std::move(absolute_pwm));
+ }
+
+ void set_back_left_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ back_left_encoder_.set_encoder(std::move(encoder));
+ }
+ void set_back_left_absolute_pwm(
+ std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ back_left_encoder_.set_absolute_pwm(std::move(absolute_pwm));
+ }
+
+ void set_back_right_encoder(std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ back_right_encoder_.set_encoder(std::move(encoder));
+ }
+ void set_back_right_absolute_pwm(
+ std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ back_right_encoder_.set_absolute_pwm(std::move(absolute_pwm));
+ }
+
+ private:
+ std::shared_ptr<const constants::Values> values_;
+
+ aos::Sender<AbsoluteDrivetrainPosition> drivetrain_position_sender_;
+
+ std::unique_ptr<frc::Encoder> follower_wheel_one_encoder_,
+ follower_wheel_two_encoder_;
+
+ frc971::wpilib::AbsoluteEncoder front_left_encoder_, front_right_encoder_,
+ back_left_encoder_, back_right_encoder_;
+};
+
+class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
+ public:
+ ::std::unique_ptr<frc::Encoder> make_encoder(int index) {
+ return std::make_unique<frc::Encoder>(10 + index * 2, 11 + index * 2, false,
+ frc::Encoder::k4X);
+ }
+ void Run() override {
+ std::shared_ptr<const constants::Values> values =
+ std::make_shared<const constants::Values>(constants::MakeValues());
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("aos_config.json");
+
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry;
+ std::vector<std::shared_ptr<Falcon>> falcons;
+
+ // TODO(max): Change the CanBus names with TalonFX software.
+ std::shared_ptr<SwerveModule> front_left = std::make_shared<SwerveModule>(
+ frc971::wpilib::FalconParams{6, false},
+ frc971::wpilib::FalconParams{5, false}, "Drivetrain Bus",
+ &signals_registry, constants::Values::kDrivetrainStatorCurrentLimit(),
+ constants::Values::kDrivetrainSupplyCurrentLimit());
+ std::shared_ptr<SwerveModule> front_right = std::make_shared<SwerveModule>(
+ frc971::wpilib::FalconParams{3, false},
+ frc971::wpilib::FalconParams{4, false}, "Drivetrain Bus",
+ &signals_registry, constants::Values::kDrivetrainStatorCurrentLimit(),
+ constants::Values::kDrivetrainSupplyCurrentLimit());
+ std::shared_ptr<SwerveModule> back_left = std::make_shared<SwerveModule>(
+ frc971::wpilib::FalconParams{8, false},
+ frc971::wpilib::FalconParams{7, false}, "Drivetrain Bus",
+ &signals_registry, constants::Values::kDrivetrainStatorCurrentLimit(),
+ constants::Values::kDrivetrainSupplyCurrentLimit());
+ std::shared_ptr<SwerveModule> back_right = std::make_shared<SwerveModule>(
+ frc971::wpilib::FalconParams{2, false},
+ frc971::wpilib::FalconParams{1, false}, "Drivetrain Bus",
+ &signals_registry, constants::Values::kDrivetrainStatorCurrentLimit(),
+ constants::Values::kDrivetrainSupplyCurrentLimit());
+
+ // Thread 1
+ aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ can_sensor_reader_event_loop.set_name("CANSensorReader");
+
+ falcons.push_back(front_left->rotation);
+ falcons.push_back(front_left->translation);
+
+ falcons.push_back(front_right->rotation);
+ falcons.push_back(front_right->translation);
+
+ falcons.push_back(back_left->rotation);
+ falcons.push_back(back_left->translation);
+
+ falcons.push_back(back_right->rotation);
+ falcons.push_back(back_right->translation);
+
+ aos::Sender<AbsoluteCANPosition> can_position_sender =
+ can_sensor_reader_event_loop.MakeSender<AbsoluteCANPosition>(
+ "/drivetrain");
+
+ CANSensorReader can_sensor_reader(
+ &can_sensor_reader_event_loop, std::move(signals_registry), falcons,
+ [this, falcons, front_left, front_right, back_left, back_right,
+ &can_position_sender](ctre::phoenix::StatusCode status) {
+ // TODO(max): use status properly in the flatbuffer.
+ (void)status;
+
+ auto builder = can_position_sender.MakeBuilder();
+
+ for (auto falcon : falcons) {
+ falcon->RefreshNontimesyncedSignals();
+ falcon->SerializePosition(builder.fbb(), 1.0);
+ }
+
+ auto front_left_offset = can_module_offset(
+ builder.MakeBuilder<SwerveModuleCANPosition>(), front_left);
+ auto front_right_offset = can_module_offset(
+ builder.MakeBuilder<SwerveModuleCANPosition>(), front_right);
+ auto back_left_offset = can_module_offset(
+ builder.MakeBuilder<SwerveModuleCANPosition>(), back_left);
+ auto back_right_offset = can_module_offset(
+ builder.MakeBuilder<SwerveModuleCANPosition>(), back_right);
+
+ AbsoluteCANPosition::Builder can_position_builder =
+ builder.MakeBuilder<AbsoluteCANPosition>();
+
+ can_position_builder.add_front_left(front_left_offset);
+ can_position_builder.add_front_right(front_right_offset);
+ can_position_builder.add_back_left(back_left_offset);
+ can_position_builder.add_back_right(back_right_offset);
+
+ builder.CheckOk(builder.Send(can_position_builder.Finish()));
+ });
+
+ AddLoop(&can_sensor_reader_event_loop);
+
+ // Thread 2
+ // Setup CAN
+ if (!FLAGS_ctre_diag_server) {
+ c_Phoenix_Diagnostics_SetSecondsToStart(-1);
+ c_Phoenix_Diagnostics_Dispose();
+ }
+
+ ctre::phoenix::platform::can::CANComm_SetRxSchedPriority(
+ constants::Values::kDrivetrainRxPriority, true, "Drivetrain Bus");
+ ctre::phoenix::platform::can::CANComm_SetTxSchedPriority(
+ constants::Values::kDrivetrainTxPriority, true, "Drivetrain Bus");
+
+ aos::ShmEventLoop drivetrain_writer_event_loop(&config.message());
+ drivetrain_writer_event_loop.set_name("DrivetrainWriter");
+
+ DrivetrainWriter drivetrain_writer(
+ &drivetrain_writer_event_loop,
+ constants::Values::kDrivetrainWriterPriority, 12);
+
+ drivetrain_writer.set_falcons(front_left, front_right, back_left,
+ back_right);
+
+ AddLoop(&drivetrain_writer_event_loop);
+
+ // Thread 3
+ aos::ShmEventLoop sensor_reader_event_loop(&config.message());
+ sensor_reader_event_loop.set_name("SensorReader");
+ SensorReader sensor_reader(&sensor_reader_event_loop, values);
+
+ sensor_reader.set_follower_wheel_one_encoder(make_encoder(4));
+ sensor_reader.set_follower_wheel_two_encoder(make_encoder(5));
+
+ sensor_reader.set_front_left_encoder(make_encoder(1));
+ sensor_reader.set_front_left_absolute_pwm(
+ std::make_unique<frc::DigitalInput>(1));
+
+ sensor_reader.set_front_right_encoder(make_encoder(0));
+ sensor_reader.set_front_right_absolute_pwm(
+ std::make_unique<frc::DigitalInput>(0));
+
+ sensor_reader.set_back_left_encoder(make_encoder(2));
+ sensor_reader.set_back_left_absolute_pwm(
+ std::make_unique<frc::DigitalInput>(2));
+
+ sensor_reader.set_back_right_encoder(make_encoder(3));
+ sensor_reader.set_back_right_absolute_pwm(
+ std::make_unique<frc::DigitalInput>(3));
+
+ AddLoop(&sensor_reader_event_loop);
+
+ RunLoops();
+ }
+};
+
+} // namespace wpilib
+} // namespace y2023_bot4
+
+AOS_ROBOT_CLASS(::y2023_bot4::wpilib::WPILibRobot)