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| #include "subsystems/abstract/gpd.h" | ||
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| #include <frc/DriverStation.h> | ||
| #include <units/math.h> | ||
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| #include <vector> | ||
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| #include "field.h" | ||
| #include "frc846/ntinf/pref.h" | ||
| #include "frc846/util/share_tables.h" | ||
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| GPDSubsystem::GPDSubsystem(bool init) | ||
| : frc846::robot::GenericSubsystem<GPDReadings, GPDTarget>("gpd", init) { | ||
| if (init) { | ||
| #ifndef _WIN32 | ||
| for (int i = 0; i < 20; i++) { | ||
| g_field.GetObject(std::to_string(i)); | ||
| } | ||
| frc::SmartDashboard::PutData("NoteField", &g_field); | ||
| #endif | ||
| } | ||
| } | ||
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| GPDTarget GPDSubsystem::ZeroTarget() const { | ||
| GPDTarget target; | ||
| return target; | ||
| } | ||
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| bool GPDSubsystem::VerifyHardware() { return true; } | ||
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| frc846::math::Vector2D GPDSubsystem::findDistance(units::degree_t theta_h, | ||
| units::degree_t theta_v) { | ||
| units::foot_t height = mount_height_.value() - note_height_.value(); | ||
| auto dist = units::math::abs(height * units::math::tan(theta_v)); | ||
| auto yDist = dist * units::math::cos(theta_h); | ||
| auto xDist = dist * units::math::sin(theta_h); | ||
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| return {xDist, yDist}; | ||
| } | ||
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| GPDReadings GPDSubsystem::ReadFromHardware() { | ||
| GPDReadings readings{}; | ||
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| units::degree_t bearing_ = | ||
| units::degree_t(frc846::util::ShareTables::GetDouble("robot_bearing_")); | ||
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| units::inch_t robot_x = | ||
| units::foot_t(frc846::util::ShareTables::GetDouble("odometry_x_")); | ||
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| units::inch_t robot_y = | ||
| units::foot_t(frc846::util::ShareTables::GetDouble("odometry_y_")); | ||
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| units::feet_per_second_t velocity_x = units::feet_per_second_t( | ||
| frc846::util::ShareTables::GetDouble("velocity_x_")); | ||
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| units::feet_per_second_t velocity_y = units::feet_per_second_t( | ||
| frc846::util::ShareTables::GetDouble("velocity_y_")); | ||
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| std::vector<double> theta_hs = gpdTable->GetNumberArray("theta_h", {}); | ||
| std::vector<double> theta_vs = gpdTable->GetNumberArray("theta_v", {}); | ||
| auto latency = gpdTable->GetNumber("latency", 0.1) * 1_s; | ||
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| for (size_t i = 0; i < theta_hs.size(); i++) { | ||
| auto distance = findDistance(units::degree_t(theta_hs[i]), | ||
| units::degree_t(theta_vs[i])); | ||
| auto pos = | ||
| distance.rotate(bearing_) + frc846::math::Vector2D{robot_x, robot_y} + | ||
| frc846::math::Vector2D{velocity_x * latency, velocity_y * latency}; | ||
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| readings.notes.push_back(pos); | ||
| } | ||
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| int num_notes = readings.notes.size(); | ||
| Graph("notes_detected", num_notes); | ||
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| #ifndef _WIN32 | ||
| for (int i = 0; i < std::min(20, num_notes); i++) { | ||
| auto pos = readings.notes[i]; | ||
| g_field.GetObject(std::to_string(i)) | ||
| ->SetPose(pos[0], pos[1], frc::Rotation2d(0_deg)); | ||
| } | ||
| for (int i = std::min(20, num_notes); i < 20; i++) { | ||
| g_field.GetObject(std::to_string(i)) | ||
| ->SetPose(5000_ft, 5000_ft, frc::Rotation2d(0_deg)); | ||
| } | ||
| #endif | ||
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| return readings; | ||
| } | ||
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| void GPDSubsystem::WriteToHardware(GPDTarget target) {} |
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