Swerve simple trajectory update (#485)

* FRCRobotTemplate SCL update

* End of day 10/19

* End of day 10/26

* Node map approach

Hopefully this covers all the possibilities...

* Checkstyle fix

* End of day 11/02/2024

MM/DD/YY

* Removing constant velocity

* Remove constant velocity

* Revert "Merge branch 'SwerveSimpleTrajectory-update' of https://github.com/Team488/SeriouslyCommonLib into SwerveSimpleTrajectory-update"

This reverts commit ea9d1a0, reversing
changes made to 574d595.

* Revert "Remove constant velocity"

This reverts commit 574d595.

* Working swerve with acceleration values

* Duration fix

* Deleted unnecessary comments

* Added kinematics mode to SwerveSimpleTrajectoryCommand

* Temporary checkstyle fix

* Simplified kinematic values into a class

* Swerve global kinematics mode

* Tests for SwerveKinematicsCalculator

* Minimize deceleration time

Changed so that instead of cruising in deceleration, will accelerate to minimize time as well.

* End of day 12/07

GlobalKinematics not working, look into it!

* Kinematics bug fix

* Clean up

More concise variables names and cleaned comments

* Resolving PR comments part 1

* Fixed overshooting bug

* Checkstyle fix

* RobotAssertionManager and clean up

* Uncommented calculator test

* More edge case checks

---------

Co-authored-by: JohnGilb <[email protected]>

src/main/java/xbot/common/subsystems/drive/SwerveCalculatorNode.java

@@ -0,0 +1,12 @@
+package xbot.common.subsystems.drive;
+
+
+/**
+ * @param operationEndingVelocity m/s, velocity we end at
+ * @param operationAcceleration   mls^2, acceleration to go at
+ * @param operationTime           Time in seconds
+ */ // SwerveCalculatorNode are small little steps to be interpreted and formed together
+//to create a path to be used for the SwerveKinematicsCalculator
+public record SwerveCalculatorNode(double operationTime, double operationAcceleration, double operationEndingVelocity) {
+
+}

src/main/java/xbot/common/subsystems/drive/SwerveKinematicsCalculator.java

@@ -0,0 +1,288 @@
+package xbot.common.subsystems.drive;
+
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+import xbot.common.logging.RobotAssertionManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class SwerveKinematicsCalculator {
+
+    /*
+    The SwerveKinematicsCalculator is designed to compute the motion of a swerve drive system from a starting position
+     and velocity to a goal position and velocity. It takes into account parameters like maximum acceleration,
+     goal velocity, and maximum velocity to generate a sequence of motion stages, ensuring precise path planning
+     and execution.
+
+    (Breaks an XbotSwervePoint down into smaller nodes containing time, velocity, and acceleration)
+    Note: goal velocity may not always be reached, but in such case will be as close as possible.
+
+    Code involving the quadratic formula IS NOT ROBUST (since only this script uses them as of currently)
+    */
+
+    final double startPosition;
+    final double endPosition;
+    final double acceleration;
+    final double initialVelocity;
+    final double goalVelocity;
+    final double maxVelocity;
+    final List<SwerveCalculatorNode> nodeMap;
+    RobotAssertionManager assertionManager;
+
+    // Returns the x-intercepts of a quadratic equation
+    private static List<Double> quadraticFormula(double a, double b, double c) {
+        double squareRootResult = Math.sqrt(Math.pow(b, 2) - (4 * a * c));
+        double result1 = (-b + squareRootResult) / (2 * a);
+        double result2 = (-b - squareRootResult) / (2 * a);
+
+        List<Double> results = new ArrayList<>();
+        results.add(result1);
+        results.add(result2);
+        return results;
+    }
+
+    public static double calculateTimeToGoalPosition(double acceleration, double initialVelocity,
+                                                     double initialPosition, double goalPosition) {
+        double a = 0.5 * acceleration;
+        double b = initialVelocity;
+        double c = initialPosition - goalPosition;
+        if (acceleration == 0) {
+            return (-c/b);
+
+        } else if (acceleration > 0) {
+            List<Double> result = quadraticFormula(a, b, c);
+            return Math.max(result.get(0), result.get(1));
+
+        } else {
+            List<Double> result = quadraticFormula(-a, -b, -c);
+            return Math.min(result.get(0), result.get(1));
+
+        }
+    }
+
+    public SwerveKinematicsCalculator(RobotAssertionManager assertionManager, double startPosition, double endPosition,
+                                      SwervePointKinematics kinematics) {
+        this.assertionManager = assertionManager;
+        // Gimmicky way to avoid division by zero and to deal with human code-error
+        if (endPosition - startPosition == 0) {
+            assertionManager.throwException("Calculator instantiated for same start and end position", new Exception());
+            endPosition += 0.01;
+        }
+
+        this.startPosition = startPosition;
+        this.endPosition = endPosition;
+        this.acceleration = kinematics.acceleration;
+        this.initialVelocity = kinematics.initialVelocity;
+        this.goalVelocity = kinematics.goalVelocity;
+        this.maxVelocity = kinematics.maxVelocity;
+
+        // Likely need to validate the above values to prevent bad stuff
+        nodeMap = generateNodeMap();
+    }
+
+    // Based off of given value, initialize the proper path, store notes in a list, and be prepared to output values
+    // (If velocity gets to negative we are *KINDA* cooked)
+    public List<SwerveCalculatorNode> generateNodeMap() {
+        List<SwerveCalculatorNode> nodeMap = new ArrayList<>();
+        double leftoverDistance = endPosition - startPosition;
+
+        double currentVelocity = initialVelocity;
+
+        // Deceleration
+        if (currentVelocity > goalVelocity) {
+            // Cruise as much as possible, then decelerate
+            double decelerateToGoalVelocityTime = (goalVelocity - currentVelocity) / -acceleration;
+            double distanceNeededToDecelerate = 0.5 * (currentVelocity + goalVelocity) * decelerateToGoalVelocityTime;
+
+            double distanceExcludingDeceleration = leftoverDistance - distanceNeededToDecelerate;
+
+            if (distanceExcludingDeceleration > 0) {
+                double halfDistance = distanceExcludingDeceleration / 2;
+                double timeForHalf = calculateTimeToGoalPosition(acceleration, currentVelocity, 0, halfDistance);
+                double peakVelocity = currentVelocity + acceleration * timeForHalf;
+
+                if (peakVelocity <= maxVelocity) {
+                    // Add two nodes, accelerate to peak, decelerate to goal
+                    nodeMap.add(new SwerveCalculatorNode(timeForHalf, acceleration, peakVelocity));
+                    nodeMap.add(new SwerveCalculatorNode(timeForHalf, -acceleration, currentVelocity));
+                } else {
+                    // Going to peak will not work as it will exceed our maximumVelocity limit
+                    // Go to max, then cruise, then decelerate
+                    double timeFromCurrentToMaxV = (maxVelocity - currentVelocity) / acceleration; // Rename
+                    double initialPosition = (endPosition - startPosition) - leftoverDistance;
+                    double finalPositionAfterAcceleration = 0.5 * (currentVelocity + maxVelocity) * timeFromCurrentToMaxV + initialPosition;
+                    double positionDelta = finalPositionAfterAcceleration - initialPosition;
+                    double cruiseDistance = distanceExcludingDeceleration - (positionDelta * 2);
+                    double cruiseTime = cruiseDistance / maxVelocity;
+
+                    nodeMap.add(new SwerveCalculatorNode(timeFromCurrentToMaxV, acceleration, maxVelocity));
+                    nodeMap.add(new SwerveCalculatorNode(cruiseTime, 0, maxVelocity));
+                    nodeMap.add(new SwerveCalculatorNode(timeFromCurrentToMaxV, -acceleration, currentVelocity));
+                }
+
+                nodeMap.add(new SwerveCalculatorNode(decelerateToGoalVelocityTime, -acceleration, goalVelocity));
+
+            } else {
+                // Decelerate as much as possible
+                double decelerationTime = calculateTimeToGoalPosition(-acceleration, currentVelocity, 0, leftoverDistance);
+                nodeMap.add(new SwerveCalculatorNode(
+                        decelerationTime,
+                        -acceleration,
+                        currentVelocity - acceleration * decelerationTime
+                ));
+            }
+            return nodeMap;
+        }
+
+        // Acceleration
+        if (currentVelocity < goalVelocity) {
+            double initialToGoalVelocityTime = (goalVelocity - currentVelocity) / acceleration;
+            double operationDistance = currentVelocity * initialToGoalVelocityTime
+                    + 0.5 * acceleration * Math.pow(initialToGoalVelocityTime, 2);
+
+            if (operationDistance >= leftoverDistance) {
+                // No matter how much you accelerate you won't reach goal velocity before distance...
+                // ...so we accelerate til the end!
+                double time = calculateTimeToGoalPosition(acceleration, currentVelocity, 0, leftoverDistance);
+                nodeMap.add(new SwerveCalculatorNode(
+                        time,
+                        acceleration,
+                        currentVelocity + acceleration * time
+                ));
+                return nodeMap;
+            } else {
+                // Accelerate to goal velocity
+                nodeMap.add(new SwerveCalculatorNode(initialToGoalVelocityTime, acceleration, goalVelocity));
+                leftoverDistance -= operationDistance;
+                currentVelocity = goalVelocity;
+            }
+        }
+
+        // STEP 2: If not at max velocity, build an accelerate->cruise>decelerate nodeMap
+        if (currentVelocity < maxVelocity) {
+            // Check /\ (vortex) does the job (or maybe its peak exceeds maxVelocity)
+            // if not then we need to add a cruising part: /---\ (looks like this)
+            double halfDistance = leftoverDistance / 2;
+            double timeForHalf = calculateTimeToGoalPosition(acceleration, currentVelocity, 0, halfDistance);
+
+            // Figure out end velocity
+            double peakVelocity = currentVelocity + acceleration * timeForHalf;
+            if (peakVelocity <= maxVelocity) {
+                // Add two nodes, accelerate to peak, decelerate to goal
+                nodeMap.add(new SwerveCalculatorNode(timeForHalf, acceleration, peakVelocity));
+                nodeMap.add(new SwerveCalculatorNode(timeForHalf, -acceleration, goalVelocity));
+            } else {
+                // Going to peak will not work as it will exceed our maximumVelocity limit
+                // Go to max, then cruise, then decelerate
+                double timeFromGoalToMaxVelocity = (maxVelocity - currentVelocity) / acceleration;
+                double initialPosition = (endPosition - startPosition) - leftoverDistance;
+                double finalPositionAfterAcceleration = 0.5 * (currentVelocity + maxVelocity)
+                        * timeFromGoalToMaxVelocity + initialPosition;
+                double positionDelta = finalPositionAfterAcceleration - initialPosition;
+                double cruiseDistance = leftoverDistance - (positionDelta * 2);
+                double cruiseTime = cruiseDistance / maxVelocity;
+
+                nodeMap.add(new SwerveCalculatorNode(timeFromGoalToMaxVelocity, acceleration, maxVelocity));
+                nodeMap.add(new SwerveCalculatorNode(cruiseTime, 0, maxVelocity));
+                nodeMap.add(new SwerveCalculatorNode(timeFromGoalToMaxVelocity, -acceleration, goalVelocity));
+            }
+            return nodeMap;
+
+        } else {
+            // Cruise til the end if we are at both goal & max velocity!
+            double cruiseTime = leftoverDistance / currentVelocity;
+            nodeMap.add(new SwerveCalculatorNode(
+                    cruiseTime,
+                    0,
+                    currentVelocity
+            ));
+            return nodeMap;
+        }
+    }
+
+    public List<SwerveCalculatorNode> getNodeMap() {
+        return nodeMap;
+    }
+
+    public double getVelocityAtFinish() {
+        SwerveCalculatorNode finalNode = nodeMap.get(nodeMap.size() - 1);
+        return finalNode.operationEndingVelocity();
+    }
+
+    public double getTotalOperationTime() {
+        double time = 0;
+        for (SwerveCalculatorNode node : this.nodeMap) {
+            time += node.operationTime();
+        }
+        return time;
+    }
+
+    public double getDistanceTravelledInMetersAtTime(double time) {
+        if (time < 0) {
+            assertionManager.throwException("Invalid time to getDistanceTravelledInMetersAtTime", new Exception());
+            return 0;
+        }
+        double elapsedTime = 0;
+        double totalDistance = 0;
+        double velocity = initialVelocity;
+        for (SwerveCalculatorNode node : this.nodeMap) {
+            // Get amount of time elapsed (no exceed time)
+            // Add distance with node
+            double operationTime = node.operationTime();
+            if ((time - (operationTime + elapsedTime)) >= 0) {
+                double distanceTravelled = velocity * operationTime
+                        + 0.5 * node.operationAcceleration() * Math.pow(operationTime, 2);
+
+                totalDistance += distanceTravelled;
+                velocity = node.operationEndingVelocity();
+                elapsedTime += node.operationTime();
+            } else {
+                // Find the amount of time we'll be using the node
+                operationTime = time - elapsedTime;
+                double distanceTravelled = velocity * operationTime
+                        + 0.5 * node.operationAcceleration() * Math.pow(operationTime, 2);
+                totalDistance += distanceTravelled;
+                break;
+            }
+        }
+        return totalDistance;
+    }
+
+    // Range: 0 - 1 (not in actual percentages!!!)
+    public double geDistanceTravelledAtCompletionPercentage(double percentage) {
+        double time = getTotalOperationTime() * percentage;
+        return getDistanceTravelledInMetersAtTime(time);
+    }
+
+    public double getTotalDistanceInMeters() {
+        return Math.abs(endPosition - startPosition);
+    }
+
+    public double getVelocityAtDistanceTravelled(double distanceTravelled) {
+        double totalDistanceTravelled = 0;
+        double currentVelocity = initialVelocity;
+        for (SwerveCalculatorNode node : this.nodeMap) {
+
+            // Find amount of distance current node travels
+            double operationDistance = (currentVelocity * node.operationTime()) + (0.5
+                    * node.operationAcceleration()) * Math.pow(node.operationTime(), 2);
+
+            // Continue until we land on the node we stop in
+            if (distanceTravelled - (totalDistanceTravelled + operationDistance) >= 0) {
+                totalDistanceTravelled += operationDistance;
+                currentVelocity += (node.operationAcceleration() * node.operationTime());
+            } else {
+                // Accelerate the remaining distance
+                double operationTime = calculateTimeToGoalPosition(
+                        node.operationAcceleration(),
+                        currentVelocity,
+                        totalDistanceTravelled,
+                        distanceTravelled);
+                currentVelocity += (node.operationAcceleration() * operationTime);
+                break;
+            }
+        }
+        return currentVelocity;
+    }
+}

src/main/java/xbot/common/subsystems/drive/SwervePointKinematics.java

@@ -0,0 +1,28 @@
+package xbot.common.subsystems.drive;
+
+// Contains a set of kinematics values
+public class SwervePointKinematics {
+    final double acceleration; //  Units: m/s^2
+    final double initialVelocity; // Units: m/s
+    final double goalVelocity; // m/s, velocity you want to be when you reach your goal, may not always be fulfilled.
+    final double maxVelocity; // m/s
+
+    public SwervePointKinematics(double a, double initialVelocity, double goalVelocity, double maxVelocity) {
+        this.acceleration = a;
+        this.initialVelocity = initialVelocity;
+        this.goalVelocity = Math.max(Math.min(maxVelocity, goalVelocity), -maxVelocity);
+        this.maxVelocity = maxVelocity;
+    }
+
+    public SwervePointKinematics kinematicsWithNewVi(double newVi) {
+        return new SwervePointKinematics(acceleration, newVi, goalVelocity, maxVelocity);
+    }
+
+    public double getAcceleration() {
+        return this.acceleration;
+    }
+
+    public double getMaxVelocity() {
+        return this.maxVelocity;
+    }
+}

src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryCommand.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.math.geometry.Twist2d;
 import xbot.common.command.BaseCommand;
+import xbot.common.logging.RobotAssertionManager;
 import xbot.common.math.XYPair;
 import xbot.common.properties.PropertyFactory;
 import xbot.common.subsystems.drive.control_logic.HeadingModule;
@@ -24,14 +25,14 @@ public class SwerveSimpleTrajectoryCommand extends BaseCommand {
 
     @Inject
     public SwerveSimpleTrajectoryCommand(BaseSwerveDriveSubsystem drive, BasePoseSubsystem pose, PropertyFactory pf,
-                                         HeadingModuleFactory headingModuleFactory) {
+                                         HeadingModuleFactory headingModuleFactory, RobotAssertionManager assertionManager) {
         this.drive = drive;
         this.pose = pose;
         headingModule = headingModuleFactory.create(drive.getRotateToHeadingPid());
 
         pf.setPrefix(this);
         this.addRequirements(drive);
-        logic = new SwerveSimpleTrajectoryLogic();
+        logic = new SwerveSimpleTrajectoryLogic(assertionManager);
         alternativeIsFinishedSupplier = () -> false;
     }
 

src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryMode.java

@@ -0,0 +1,9 @@
+package xbot.common.subsystems.drive;
+
+/* Different ways to render the SwerveSimpleTrajectoryCommand's path */
+public enum SwerveSimpleTrajectoryMode {
+    ConstantVelocity, // We'll use a constant velocity throughout the course of our travel
+    DurationInSeconds, // Each point will be given a "duration"
+    KinematicsForIndividualPoints, // Each individual point will have its own kinematics values it'll go at
+    KinematicsForPointsList // One kinematics values for the entire route
+}

src/main/java/xbot/common/subsystems/pose/BasePoseSubsystem.java

@@ -333,6 +333,7 @@ public void periodic() {
             isNavXReady = true;
         }   
         updatePose();
+        aKitLog.record("Heading", currentHeading.getDegrees());
     }
 
     @Override

src/main/java/xbot/common/trajectory/ProvidesInterpolationData.java

@@ -2,11 +2,14 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import xbot.common.subsystems.drive.SwervePointKinematics;
 
 public interface ProvidesInterpolationData {
     public Translation2d getTranslation2d();
 
     public double getSecondsForSegment();
 
     public Rotation2d getRotation2d();
+
+    public SwervePointKinematics getKinematics();
 }