Turret Oscillation Prevention - #20
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Added some code to possible fix turret oscillation when it is very cose to the max and min degrees and its moving forward or back
DanPeled
requested changes
Jun 1, 2026
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| public void setRobotToTurret(Transform2d transform) { | ||
| this.robotToTurret = transform; | ||
| } | ||
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| public LaunchCalculator withRobotToTurretOffset(Transform2d transform) { | ||
| this.setRobotToTurret(transform); | ||
| return this; | ||
| } | ||
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| public void setTurretAngleFormat(AngleFormat format) { | ||
| m_turretAngleFormat = format; | ||
| } | ||
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| public LaunchCalculator withTurretAngleFormat(AngleFormat format) { | ||
| setTurretAngleFormat(format); | ||
| return this; | ||
| } | ||
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| private final MeasuredInterpolatingTreeMap<AngleUnit, Angle> launchHoodAngleMap = | ||
| new MeasuredInterpolatingTreeMap<>(Degrees); | ||
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| private final MeasuredInterpolatingTreeMap<AngularVelocityUnit, AngularVelocity> | ||
| launchFlywheelSpeedMap = new MeasuredInterpolatingTreeMap<>(RPM); | ||
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| private final MeasuredInterpolatingTreeMap<TimeUnit, Time> timeOfFlightMap = | ||
| new MeasuredInterpolatingTreeMap<>(Seconds); | ||
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| { | ||
| /* | ||
| // Dan's testing | ||
| launchHoodAngleMap.put(1, Degrees.of(0)); | ||
| launchHoodAngleMap.put(1.5, Degrees.of(4)); | ||
| launchHoodAngleMap.put(3.208, Degrees.of(20)); | ||
| launchHoodAngleMap.put(2.679, Degrees.of(20.0)); | ||
| launchHoodAngleMap.put(2.464, Degrees.of(20.0)); | ||
| launchHoodAngleMap.put(1.887, Degrees.of(10.0)); | ||
| launchHoodAngleMap.put(1.967, Degrees.of(10.0)); | ||
| launchHoodAngleMap.put(3.677, Degrees.of(25.0)); | ||
| launchHoodAngleMap.put(3.0, Degrees.of(22)); | ||
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| launchFlywheelSpeedMap.put(1, RPM.of(4500)); | ||
| launchFlywheelSpeedMap.put(3.0, RPM.of(4300.0)); | ||
| launchFlywheelSpeedMap.put(3.208, RPM.of(4700.0)); | ||
| launchFlywheelSpeedMap.put(2.679, RPM.of(4400.0)); | ||
| launchFlywheelSpeedMap.put(2.464, RPM.of(4000.0)); | ||
| launchFlywheelSpeedMap.put(1.887, RPM.of(4000.0)); | ||
| launchFlywheelSpeedMap.put(1.967, RPM.of(4200.0)); | ||
| launchFlywheelSpeedMap.put(3.677, RPM.of(4500.0)); | ||
| launchFlywheelSpeedMap.put(1.5, RPM.of(4500)); | ||
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| // Daniel's testing | ||
| launchHoodAngleMap.put(3.11, Degrees.of(21.0)); | ||
| launchHoodAngleMap.put(4.04, Degrees.of(24.0)); | ||
| launchHoodAngleMap.put(4.44, Degrees.of(27.0)); | ||
| launchHoodAngleMap.put(5.16, Degrees.of(29.0)); | ||
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| launchFlywheelSpeedMap.put(3.11, RPM.of(4500.0)); | ||
| launchFlywheelSpeedMap.put(4.04, RPM.of(4700.0)); | ||
| launchFlywheelSpeedMap.put(4.44, RPM.of(5000.0)); | ||
| launchFlywheelSpeedMap.put(5.16, RPM.of(5400.0)); | ||
| */ | ||
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| double framesPerSecondGali = 30; | ||
| double framesPerSecondHadar = | ||
| 30; // both are supposed to have 30 fps according to google but not for sure | ||
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| // timeOfFlightMap.put(2.039, Seconds.of()) | ||
| timeOfFlightMap.put(1, Seconds.of(1.07)); | ||
| timeOfFlightMap.put(1.5, Seconds.of(1.06)); | ||
| timeOfFlightMap.put(2, Seconds.of(1.04)); | ||
| timeOfFlightMap.put(3.01, Seconds.of(1.03)); | ||
| timeOfFlightMap.put(3.11, Seconds.of((93 - 62) / framesPerSecondGali)); | ||
| // timeOfFlightMap.put(3.11, (42 - 9) / framesPerSecondGali); | ||
| timeOfFlightMap.put(4.04, Seconds.of((146 - 115) / framesPerSecondGali)); | ||
| // timeOfFlightMap.put(4.04, (69 - 35) / framesPerSecondGali); | ||
| // timeOfFlightMap.put(4.44, (243 - 275) / framesPerSecondHadar); | ||
| // timeOfFlightMap.put(4.44, (484 - 518) / framesPerSecondHadar); | ||
| // timeOfFlightMap.put(4.44, (609 - 643) / framesPerSecondHadar); | ||
| timeOfFlightMap.put(4.44, Seconds.of((757 - 722) / framesPerSecondHadar)); | ||
| // timeOfFlightMap.put(5.16, (69 - 36) / framesPerSecondHadar); | ||
| // timeOfFlightMap.put(5.16, (189 - 155) / framesPerSecondHadar); | ||
| // timeOfFlightMap.put(5.16, (309 - 274) / framesPerSecondHadar); | ||
| timeOfFlightMap.put(5.16, Seconds.of((421 - 388) / framesPerSecondHadar)); | ||
| // incase I made any mistakes while looking at the videos, | ||
| // (ballBelowTopOfHubHoopFrame-ballOutsideOrTouchingOrangeWheel)/cameraFPS | ||
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| launchHoodAngleMap.put(2.1681, Degrees.of(8.0)); | ||
| launchHoodAngleMap.put(1.119, Degrees.of(4.0)); | ||
| launchHoodAngleMap.put(2.8877, Degrees.of(17.0)); | ||
| launchHoodAngleMap.put(3.718, Degrees.of(19.0)); | ||
| launchHoodAngleMap.put(4.226, Degrees.of(21.0)); | ||
| launchHoodAngleMap.put(4.8338, Degrees.of(23.0)); | ||
| launchHoodAngleMap.put(5.215, Degrees.of(23.0)); | ||
| launchHoodAngleMap.put(6.52, Degrees.of(30.0)); | ||
| launchHoodAngleMap.put(2.62, Degrees.of(13.0)); | ||
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| launchFlywheelSpeedMap.put(0.0, RPM.of(4000.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(3500.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(4400.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(4500.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(4200.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(4700.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(4700.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(5300.0)); | ||
| launchFlywheelSpeedMap.put(0.0, RPM.of(3900.0)); | ||
| } | ||
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| public record ShotParams( | ||
| boolean valid, Angle turretAngle, Angle hoodAngle, AngularVelocity flywheelAngularVelocity) {} | ||
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| public ShotParams calculate( | ||
| Pose2d robotPose, | ||
| ChassisSpeeds robotVelocityRobotRelative, | ||
| ChassisSpeeds robotVelocityFieldRelative, | ||
| Translation2d target) { | ||
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| if (robotToTurret == null) { | ||
| throw new IllegalStateException("robotToTurret must be set before calling calculate()"); | ||
| } | ||
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| Pose2d estimatedPose = | ||
| robotPose.exp( | ||
| new Twist2d( | ||
| robotVelocityRobotRelative.vxMetersPerSecond * phaseDelay, | ||
| robotVelocityRobotRelative.vyMetersPerSecond * phaseDelay, | ||
| robotVelocityRobotRelative.omegaRadiansPerSecond * phaseDelay)); | ||
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| Transform2d turretOffset = new Transform2d(robotToTurret.getTranslation(), new Rotation2d()); | ||
| Pose2d turretPose = robotPose.transformBy(turretOffset); | ||
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| double distance = target.getDistance(turretPose.getTranslation()); | ||
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| double robotAngle = estimatedPose.getRotation().getRadians(); | ||
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| double turretVelX = | ||
| robotVelocityFieldRelative.vxMetersPerSecond | ||
| + robotVelocityFieldRelative.omegaRadiansPerSecond | ||
| * (robotToTurret.getY() * Math.cos(robotAngle) | ||
| - robotToTurret.getX() * Math.sin(robotAngle)); | ||
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| double turretVelY = | ||
| robotVelocityFieldRelative.vyMetersPerSecond | ||
| + robotVelocityFieldRelative.omegaRadiansPerSecond | ||
| * (robotToTurret.getX() * Math.cos(robotAngle) | ||
| - robotToTurret.getY() * Math.sin(robotAngle)); | ||
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| Pose2d lookaheadPose = turretPose; | ||
| double lookaheadDistance = distance; | ||
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| for (int i = 0; i < 20; i++) { | ||
| double tof = timeOfFlightMap.get(lookaheadDistance).in(Seconds); | ||
| double offsetX = turretVelX * tof; | ||
| double offsetY = turretVelY * tof; | ||
| lookaheadPose = | ||
| new Pose2d( | ||
| turretPose.getTranslation().plus(new Translation2d(offsetX, offsetY)), | ||
| turretPose.getRotation()); | ||
| lookaheadDistance = target.getDistance(lookaheadPose.getTranslation()); | ||
| } | ||
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| Logger.recordOutput("LaunchCalculator/LookaheadDistance", lookaheadDistance); | ||
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| Translation2d toTarget = target.minus(lookaheadPose.getTranslation()); | ||
| Rotation2d fieldTurretAngle = new Rotation2d(toTarget.getX(), toTarget.getY()); | ||
| Rotation2d turretAngle = fieldTurretAngle.minus(robotPose.getRotation()); | ||
| double deg = turretAngle.getDegrees(); | ||
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| if (Math.abs(robotVelocityRobotRelative.vxMetersPerSecond) < turretYRobotHighSpeedCap) { | ||
| if ((deg < turretCloseToEdgeDegrees | ||
| && robotVelocityRobotRelative.vyMetersPerSecond | ||
| < 0) // at left side of hub and moving to the right | ||
| || (360 - deg < turretCloseToEdgeDegrees | ||
| && robotVelocityRobotRelative.vyMetersPerSecond | ||
| > 0)) { // at right side of hub and moving to the left | ||
| turretChangingTolerance = | ||
| turretMaxTolerance | ||
| * (Math.abs(robotVelocityRobotRelative.vxMetersPerSecond) | ||
| / turretYRobotHighSpeedCap); | ||
| } | ||
| } else { | ||
| turretChangingTolerance = 0; | ||
| } | ||
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| if (m_turretAngleFormat.isCWPositive()) { | ||
| deg *= -1; // CCW → CW | ||
| } | ||
| if (m_turretAngleFormat.is0To360()) { | ||
| if (deg < 0) { | ||
| deg += 360; | ||
| if (turretChangingTolerance < 0) { | ||
| if (deg < 0) { | ||
| deg += 360; | ||
| } | ||
| deg %= 360; | ||
| } else { | ||
| if (deg < 360 + turretChangingTolerance && deg > 360) { // only if the tolerance is needed | ||
| deg = 360; // set setpoint to max angle | ||
| } else { | ||
| deg %= 360; | ||
| } | ||
| if (deg > 0 - turretChangingTolerance && deg < 0) { // only if the tolerance is needed | ||
| deg = 0; // set setpoint to min angle | ||
| } else { | ||
| deg += 360; | ||
| } | ||
| } |
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Shouldnt be done inside LaunchCalculator, instead inside of ShootToTargetCmd and should affect whether or not the runAngleDirect method is run on the turret
DanPeled
requested changes
Jun 9, 2026
DanPeled
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DanPeled
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I did it myself already, too slow too bad
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Added some code to possible fix turret oscillation when it is very cose to the max and min degrees and its moving forward or back