Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
turtle4831 wants to merge 3 commits into
base:main
Choose a base branch
from
Open

Diffy revamp #63

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
e63278a
redid DifferentialSwerveModule.java
turtle4831 Aug 30, 2024
88d8538
finished diffy swerve module
turtle4831 Aug 30, 2024
7989708
fixed funnies
turtle4831 Aug 30, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
129 changes: 121 additions & 8 deletions quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
Vec2d position;
double steeringRatio;
double driveRatio;
double ticksPerRev;
boolean optimized;
MiniPID pid;

private double degrees = ticksPerRev / 360;
private double motor1Pos;
private double motor2Pos;

public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
super(position, steeringRatio, driveRatio);
this.position = position;
this.steeringRatio = steeringRatio;
this.driveRatio = driveRatio;
this.ticksPerRev = ticksPerRev;
this.pid = pid;

}

public DifferentialSwerveModuleBase(
Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
super(position, steeringRatio, driveRatio, optimized);
this.position = position;
this.steeringRatio = steeringRatio;
this.driveRatio = driveRatio;
this.ticksPerRev = ticksPerRev;
this.pid = pid;
this.optimized = optimized;
}

@Deprecated
/**
* Calculates the motor speeds for a differential swerve module.
*
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

return motorSpeeds;
}
/**
* Calculates the motor speeds for a differential swerve module.
*
* @param speed the speed for the pod
* @param angle the angle the pod needs to point to
* @param motor1pos the encoder pose for motor1
* @param motor2pos the encoder pose for motor2
* @return motor speeds (array of length 2)
*/
public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
double[] motorSpeeds = new double[2];
double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
double oppAngle = angleWrap(currentAngle + 180);

double angleFromTarget = angleWrap(angle - currentAngle);
double oppAngleFromTarget = angleWrap(angle - oppAngle);

if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
angle = oppAngleFromTarget;
}else{
angle = angleFromTarget;
}

if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
speed = -speed;
}else if (Math.abs(angleFromTarget) > 0.3){
speed = 0;
}
//motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
//motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
motorSpeeds[0] = speed;
motorSpeeds[1] = angle;
return motorSpeeds;
}

/** Calculates the module angle based on the positions of the two motors. */
public double calculateModuleAngle(double motor1pos, double motor2pos) {
double averageRotation = (motor1pos + motor2pos) / 2;
return averageRotation / steeringRatio;
public double calculateModuleAngle(double motor1pos, double motor2pos){
double angleTicks = (motor1pos + motor2pos) / 2;
double angle = ticksToDegrees(angleTicks);
angle = angleWrap(currentAngle);
return angle;
}

/**
* Sets the raw speed of the module.
*
* <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
*
* @param speed the speed to set the module to
*/
public void setMotor1Power(double power){
return;
}
/**
* Sets the raw speed of the module.
*
* <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
*
* @param speed the speed to set the module to
*/
public void setMotor2Power(double power){
return;
}




public void setMotorPoses(double motor1Pos, double motor2Pos){
this.motor1Pos = motor1Pos;
this.motor2Pos = motor2Pos;
}
/**
* Sets the module's motion to the specified vector;
*
* @param vec the vector to set the module to
*/
@Override
public void set(Vec2d vec){
double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
setMotor1Power(powers[0]);
setMotor2Power(powers[1]);

}



private static double angleWrap(double angle) {
if (angle > 0)
return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
else
return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
private double ticksToDegrees(double ticks){
return ticks * degrees;
}

}
, 'i'); if (__m === '*' || __re.test(location.href)) { // Add copy buttons to all 
 blocks
(function() {
function addCopyButtons() {
document.querySelectorAll('pre code').forEach(function(codeBlock) {
if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;
codeBlock.parentElement.setAttribute('data-copy-added', 'true');
var btn = document.createElement('button');
btn.textContent = 'Copy';
btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';
btn.onmouseover = function() { this.style.opacity = '1'; };
btn.onmouseout = function() { this.style.opacity = '0.7'; };
btn.onclick = function() {
navigator.clipboard.writeText(codeBlock.textContent).then(function() {
btn.textContent = 'Copied!';
setTimeout(function() { btn.textContent = 'Copy'; }, 1500);
});
};
codeBlock.parentElement.style.position = 'relative';
codeBlock.parentElement.appendChild(btn);
});
}
addCopyButtons();
// Re-run on dynamic content
var observer = new MutationObserver(addCopyButtons);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Force GitHub README to respect dark mode
(function() {
var style = document.createElement('style');
style.textContent = '
.markdown-body {
color-scheme: dark light;
}
.markdown-body pre { background: #161b22 !important; }
.markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }
.markdown-body table th, .markdown-body table td { border-color: #30363d !important; }
.markdown-body img { background: #0d1117; }
.markdown-body blockquote { border-left-color: #8b949e; }
.markdown-body hr { border-color: #30363d; }
';
document.head.appendChild(style);
})();
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Highlight search terms from Google/DuckDuckGo/Bing referrer
(function() {
var ref = document.referrer;
var terms = [];
if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
}
}
if (terms.length === 0) return;
var style = document.createElement('style');
style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
document.head.appendChild(style);
function highlight(node) {
if (node.nodeType === 3) { // text node
var text = node.textContent;
var found = false;
terms.forEach(function(term) {
var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\]\\]/g, '\\') + ')', 'gi');
if (regex.test(text)) {
found = true;
var frag = document.createDocumentFragment();
var parts = text.split(regex);
parts.forEach(function(part, i) {
if (i % 2 === 0) {
frag.appendChild(document.createTextNode(part));
} else {
var span = document.createElement('span');
span.className = 'userscript-highlight';
span.textContent = part;
frag.appendChild(span);
}
});
node.parentNode.replaceChild(frag, node);
}
});
} else if (node.nodeType === 1 && node.childNodes) { // element
var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
}
highlight(document.body);
// Re-highlight on dynamic content
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
Diffy revamp#63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

 Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and
privacy statement. We’ll occasionally send you account related emails.

Already on GitHub?
Sign in
to your account

 Open

turtle4831
wants to merge
3
commits into

base:main
Choose a base branch

from

 Open


Diffy revamp
#63
 Changes from all commits
Commits

Show all changes


3 commits


Select commit
Hold shift + click to select a range
e63278a

redid DifferentialSwerveModule.java


turtle4831 Aug 30, 2024
88d8538

finished diffy swerve module


turtle4831 Aug 30, 2024
7989708

fixed funnies


turtle4831 Aug 30, 2024

File filter

Filter by extension
Filter by extension
Conversations

Failed to load comments. 
Loading
Jump to

Jump to file


Failed to load files. 
Loading
 Diff view

 Diff view


129 changes: 121 additions & 8 deletions
quail/src/main/java/com/mineinjava/quail/DifferentialSwerveModuleBase.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -20,20 +20,44 @@

package com.mineinjava.quail;


import com.mineinjava.quail.util.MiniPID;
import com.mineinjava.quail.util.geometry.Vec2d;

/** A base class for differential swerve modules. */
public class DifferentialSwerveModuleBase extends SwerveModuleBase {

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio) {
 Vec2d position;
 double steeringRatio;
 double driveRatio;
 double ticksPerRev;
 boolean optimized;
 MiniPID pid;

 private double degrees = ticksPerRev / 360;
 private double motor1Pos;
 private double motor2Pos;

 public DifferentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, double ticksPerRev, MiniPID pid) {
 super(position, steeringRatio, driveRatio);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;

 }

 public DifferentialSwerveModuleBase(
 Vec2d position, double steeringRatio, double driveRatio, boolean optimized) {
 Vec2d position, double steeringRatio, double driveRatio,double ticksPerRev,MiniPID pid, boolean optimized) {
 super(position, steeringRatio, driveRatio, optimized);
 this.position = position;
 this.steeringRatio = steeringRatio;
 this.driveRatio = driveRatio;
 this.ticksPerRev = ticksPerRev;
 this.pid = pid;
 this.optimized = optimized;
 }

 @Deprecated
 /**
 * Calculates the motor speeds for a differential swerve module.
 *
Expand All@@ -53,10 +77,99 @@ public double[] calculateMotorSpeeds(double rotationSpeed, double wheelSpeed) {

 return motorSpeeds;
 }
 /**
 * Calculates the motor speeds for a differential swerve module. 
 * 
 * @param speed the speed for the pod
 * @param angle the angle the pod needs to point to
 * @param motor1pos the encoder pose for motor1
 * @param motor2pos the encoder pose for motor2
 * @return motor speeds (array of length 2)
 */
 public double[] calculateMotorSpeeds(double speed, double angle, double motor1pos, double motor2pos){
 double[] motorSpeeds = new double[2];
 double currentAngle = calculateModuleAngle(motor1pos,motor2pos);
 double oppAngle = angleWrap(currentAngle + 180);

 double angleFromTarget = angleWrap(angle - currentAngle);
 double oppAngleFromTarget = angleWrap(angle - oppAngle);

 if(Math.abs(angleFromTarget) > Math.abs(oppAngleFromTarget)){
 angle = oppAngleFromTarget;
 }else{
 angle = angleFromTarget;
 }

 if (Math.abs(oppAngleFromTarget) < 0.3){//margin of allowed error
 speed = -speed;
 }else if (Math.abs(angleFromTarget) > 0.3){
 speed = 0;
 }
 //motorSpeeds[0] = (-speed * 1) + pid.getOutput(currentAngle, angle);
 //motorSpeeds[1] = (speed * 1) + pid.getOutput(currentAngle, angle);
 motorSpeeds[0] = speed;
 motorSpeeds[1] = angle;
 return motorSpeeds;
 }

 /** Calculates the module angle based on the positions of the two motors. */
 public double calculateModuleAngle(double motor1pos, double motor2pos) {
 double averageRotation = (motor1pos + motor2pos) / 2;
 return averageRotation / steeringRatio;
 public double calculateModuleAngle(double motor1pos, double motor2pos){
 double angleTicks = (motor1pos + motor2pos) / 2;
 double angle = ticksToDegrees(angleTicks);
 angle = angleWrap(currentAngle);
 return angle;
 }

/**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor1Power(double power){
 return;
 }
 /**
 * Sets the raw speed of the module.
 *
 * <p>OVERRIDE ME!!! This is where you call your motor / pid controllers
 *
 * @param speed the speed to set the module to
 */
 public void setMotor2Power(double power){
 return;
 }




 public void setMotorPoses(double motor1Pos, double motor2Pos){
 this.motor1Pos = motor1Pos;
 this.motor2Pos = motor2Pos;
 }
 /**
 * Sets the module's motion to the specified vector;
 *
 * @param vec the vector to set the module to
 */
 @Override
 public void set(Vec2d vec){
 double[] powers = calculateMotorSpeeds(vec.getLength(),vec.getAngle(),motor1Pos,motor2Pos);
 setMotor1Power(powers[0]);
 setMotor2Power(powers[1]);

 }



 private static double angleWrap(double angle) {
 if (angle > 0)
 return ((angle + Math.PI) % (Math.PI * 2)) - Math.PI;
 else
 return ((angle - Math.PI) % (Math.PI * 2)) + Math.PI;
}
 private double ticksToDegrees(double ticks){
 return ticks * degrees;
 }

}