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Feat: use IMU for driving straight AutoCommon.java #31

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Feat: use IMU for driving straight AutoCommon.java #31

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fee0a36
Feat: use IMU for driving straight AutoCommon.java
gwarby Jan 31, 2024
0fd3d36
Feat: differentiate strafing and driving for IMU AutoCommon.java
gwarby Jan 31, 2024
9aff91c
Add accel. to short distance movements AutoCommon.java
gwarby Feb 20, 2024
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90 changes: 52 additions & 38 deletions AutoCommon.java
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Original file line number Diff line number Diff line change
Expand Up @@ -217,17 +217,22 @@ public void dropBottomPixel() {
************************************************************************/
public void drive(double fwd_bck, double right_left, double cw_ccw, double power) {
// Declare variables to be used later
double frontLeftDistance;
double rearLeftDistance;
double frontRightDistance;
double rearRightDistance;
double maxDistance;
double frontLeftPower;
double frontRightPower;
double rearLeftPower;
double rearRightPower;
boolean useNormCalc;

double frontLeftDistance, rearLeftDistance, frontRightDistance, rearRightDistance;
double frontLeftPower, frontRightPower, rearLeftPower, rearRightPower;
double maxDistance, frontLeftIMU, fronRightIMU, rearLeftIMU, rearRightIMU;
double driveAngle, currentPositionTicks, targetPositionTicks;
boolean useNormCalc, holdAngle, moreForward;
if (cw_ccw == 0) {
holdAngle = true;
driveAngle = getImuYaw();
if (fwd_back >= right_left) {
moreForward = true;
} else {
moreForward = false;
}
} else {
holdAngle = false;
}
// Reset encoders
frontleft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
frontright.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
Expand Down Expand Up @@ -267,35 +272,44 @@ public void drive(double fwd_bck, double right_left, double cw_ccw, double power
frontright.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rearleft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rearright.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// Set motor power to the given power multiplied by the proportional power calculated above
//frontleft.setPower(Math.abs(frontLeftPower * power));
//frontright.setPower(Math.abs(frontRightPower * power));
//rearleft.setPower(Math.abs(rearLeftPower * power));
//rearright.setPower(Math.abs(rearRightPower * power));
// Sleep until motor position is reached

targetDistanceTicks = frontleft.getTargetPosition(); // Define variable before, instead of calling function each time
double firstQuarter = frontleft.getTargetPosition() / 4;
double thirdQuarter = 3 * frontleft.getTargetPosition() / 4;
while (frontleft.isBusy() || frontright.isBusy() || rearleft.isBusy() || rearright.isBusy()) {
if (useNormCalc) {
if (frontleft.getCurrentPosition() < 3540) {
double motorPower = frontleft.getCurrentPosition() / 3540.0 * 0.2 + 0.04;
//1152.0 * frontleft.getCurrentPosition() + 288;
frontleft.setPower(frontLeftPower * motorPower);
frontright.setPower(frontRightPower * motorPower);
rearleft.setPower(rearLeftPower * motorPower);
rearright.setPower(rearRightPower * motorPower);
} else if (frontleft.getTargetPosition() - frontleft.getCurrentPosition() < 1440) {
//double motorPower = -1152 * (frontleft.getTargetPosition() - frontleft.getCurrentPosition()) + 1440;
double motorPower = (frontleft.getTargetPosition() - frontleft.getCurrentPosition()) / 1440.0 * 0.8 + 0.2;
frontleft.setPower(frontLeftPower * motorPower);
frontright.setPower(frontRightPower * motorPower);
rearleft.setPower(rearLeftPower * motorPower);
rearright.setPower(rearRightPower * motorPower);
currentPositionTicks = frontleft.getCurrentPosition(); // Only call .getCurrentPosition() once per cycle, instead of five
if (holdAngle && getImuYaw() != 0.0) {
if (moreForward) {
frontLeftIMU = 1 + (getImuYaw() - driveAngle) * 0.05;
frontRightIMU = 1 - (getImuYaw() - driveAngle) * 0.05;
rearLeftIMU = 1 + (getImuYaw() - driveAngle) * 0.05;
rearRightIMU = 1 - (getImuYaw() - driveAngle) * 0.05;
} else {
frontLeftIMU = 1 + (getImuYaw() - driveAngle) * 0.05;
frontRightIMU = 1 - (getImuYaw() - driveAngle) * 0.05;
rearLeftIMU = 1 - (getImuYaw() - driveAngle) * 0.05;
rearRightIMU = 1 + (getImuYaw() - driveAngle) * 0.05;
}
if (useNormCalc) { // Drive is long enough to use full acceleration calculation
if (currentPositionTicks < firstQuarter) { // In first quarter of drive, use acceleration
double motorPower = currentPositionTicks / firstQuarter * 0.8 + 0.2;
frontleft.setPower(frontLeftPower * motorPower * frontLeftIMU);
frontright.setPower(frontRightPower * motorPower * frontRightIMU);
rearleft.setPower(rearLeftPower * motorPower * rearLeftIMU);
rearright.setPower(rearRightPower * motorPower * rearRightIMU);
} else if (currentPositionTicks > thirdQuarter) { // In third quarter of drive, use decceleration
double motorPower = (targetPositionTicks - currentPositionTicks) / firstQuarter * 0.8 + 0.2;
frontleft.setPower(frontLeftPower * motorPower * frontLeftIMU);
frontright.setPower(frontRightPower * motorPower * frontRightIMU);
rearleft.setPower(rearLeftPower * motorPower * rearLeftIMU);
rearright.setPower(rearRightPower * motorPower * rearRightIMU);
}
} else {
frontleft.setPower(frontLeftPower * power);
frontright.setPower(frontRightPower * power);
rearleft.setPower(rearLeftPower * power);
rearright.setPower(rearRightPower * power);
} else { // Use single equation instead for acceleration
double position = frontleft.getCurrentPosition() / frontleft.getTargetPosition();
double acceleration = -8 * Math.pow((position - .5), 4) + 1;
frontleft.setPower(frontLeftPower * acceleration * frontLeftIMU);
frontright.setPower(frontRightPower * acceleration * frontRightIMU);
rearleft.setPower(rearLeftPower * acceleration * rearLeftIMU);
rearright.setPower(rearRightPower * acceleration * rearRightIMU);
}
sleep(1);
}
Expand Down