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Subclass HeadingToTargetCommand in ProfiledPointToPointCommand to DRY heading maintain code #67

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merged 1 commit into from
Feb 11, 2022
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Subclass HeadingToTargetCommand in ProfiledPointToPointCommand to DRY heading maintain code #67

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28 changes: 15 additions & 13 deletions src/main/java/frc/robot/commands/auto/ProfiledPointToPointCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,11 @@
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Utilities;
import frc.robot.commands.HeadingToTargetCommand;
import frc.robot.commands.interfaces.AutoDrivableCommand;
import frc.robot.coordinates.PolarCoordinate;
import frc.robot.subsystems.AutoDrive;
Expand All @@ -20,7 +19,7 @@
* Drive a certain distance from a point - regardless of angle - and maintain that
* distance away from the point.
*/
public class ProfiledPointToPointCommand extends CommandBase implements AutoDrivableCommand {
public class ProfiledPointToPointCommand extends HeadingToTargetCommand implements AutoDrivableCommand {

private PolarCoordinate target;
private Supplier<Pose2d> poseSupplier;
Expand All @@ -34,6 +33,12 @@ public class ProfiledPointToPointCommand extends CommandBase implements AutoDriv
private double strafeOutput = 0.0;

public ProfiledPointToPointCommand(PolarCoordinate target, Supplier<Pose2d> poseSupplier, Heading heading, AutoDrive autoDrive, double driveP, double strafeP, double forwardAcceleration, double strafeAcceleration) {
super(
target.toFieldCoordinate(),
() -> poseSupplier.get().getTranslation(),
heading
);

this.target = target;
this.poseSupplier = poseSupplier;
this.heading = heading;
Expand All @@ -51,11 +56,13 @@ public ProfiledPointToPointCommand(PolarCoordinate target, Supplier<Pose2d> pose
SmartDashboard.putNumber("ProfiledP2P/Target Distance (inches)", Units.metersToInches(target.getRadiusMeters()));
SmartDashboard.putNumber("ProfiledP2P/Target Theta (Degrees)", target.getTheta().getDegrees());

addRequirements(heading, autoDrive);
addRequirements(autoDrive);
}

@Override
public void initialize() {
super.initialize();

heading.enableMaintainHeading();
autoDrive.setDelegate(this);

Expand All @@ -79,6 +86,8 @@ private PolarCoordinate getRobotCoordinate() {

@Override
public void execute() {
super.execute();

PolarCoordinate robotCoordinate = getRobotCoordinate();
forwardOutput = distanceController.calculate(
robotCoordinate.getRadiusMeters(),
Expand Down Expand Up @@ -108,18 +117,9 @@ public void execute() {
);

log(robotCoordinate);

// TODO: DRY this, since we use this elsewhere...
Pose2d pose = poseSupplier.get();
double x = pose.getX() - target.getReferencePoint().getX();
double y = pose.getY() - target.getReferencePoint().getY();
double towardsCenterDegrees = Math.atan2(y, x);
Rotation2d desiredRotation = Rotation2d.fromDegrees(Units.radiansToDegrees(towardsCenterDegrees) - 180);
heading.setMaintainHeading(desiredRotation);
}

public AutoDrive.State calculate(double forward, double strafe, boolean isFieldOriented) {
// Note that this command assumes we're facing the target (use with Heading)
return new AutoDrive.State(
-forwardOutput,
strafeOutput,
Expand All @@ -129,6 +129,8 @@ public AutoDrive.State calculate(double forward, double strafe, boolean isFieldO

@Override
public void end(boolean interrupted) {
super.end(interrupted);

autoDrive.clearDelegate();
}

Expand Down