Merge branch 'april_tags' of https://github.com/Team846/monkey_menace …

…into april_tags
Team846 · Jan 25, 2025 · 44c8886 · 44c8886
2 parents 1e3996e + d7f1fd0
commit 44c8886
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Showing 17 changed files with 43 additions and 25 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "FMS": {
+    "window": {
+      "visible": false
+    }
+  },
   "Keyboard 0 Settings": {
     "window": {
       "visible": true

diff --git a/simgui.json b/simgui.json
@@ -32,12 +32,15 @@
     "Connections": {
       "open": true
     },
-    "Server": {
-      "Subscribers": {
+    "Elastic@1": {
+      "Publishers": {
         "open": true
       },
       "open": true
     },
+    "Server": {
+      "open": true
+    },
     "visible": true
   }
 }
diff --git a/src/frc846/cpp/frc846/base/Loggable.cc b/src/frc846/cpp/frc846/base/Loggable.cc
@@ -4,13 +4,15 @@
 
 namespace frc846::base {
 
-std::string Loggable::Join(std::string p, std::string n) { return p + "/" + n; }
+std::string_view Loggable::Join(std::string p, std::string n) {
+  return p + "/" + n;
+}
 
 unsigned int Loggable::GetWarnCount() { return warn_count_; }
 
 unsigned int Loggable::GetErrorCount() { return error_count_; }
 
-std::unordered_set<std::string> Loggable::used_preferences_{};
+std::unordered_set<std::string_view> Loggable::used_preferences_{};
 
 unsigned int Loggable::warn_count_ = 0;
 unsigned int Loggable::error_count_ = 0;

diff --git a/src/frc846/cpp/frc846/control/MotorMonkey.cc b/src/frc846/cpp/frc846/control/MotorMonkey.cc
@@ -6,7 +6,7 @@
 #include <rev/SparkMax.h>
 
 #include <iostream>
-#include <string>
+#include <string_view>
 
 #include "frc846/control/hardware/SparkMXFX_interm.h"
 #include "frc846/control/hardware/TalonFX_interm.h"
@@ -473,7 +473,7 @@ void MotorMonkey::SetSoftLimits(size_t slot_id, units::radian_t forward_limit,
   LOG_IF_ERROR("SetSoftLimits");
 }
 
-std::string MotorMonkey::parseError(
+std::string_view MotorMonkey::parseError(
     frc846::control::hardware::ControllerErrorCodes err) {
   switch (err) {
   case frc846::control::hardware::ControllerErrorCodes::kAllOK: return "All OK";

diff --git a/src/frc846/cpp/frc846/control/hardware/TalonFX_interm.cc b/src/frc846/cpp/frc846/control/hardware/TalonFX_interm.cc
@@ -5,7 +5,7 @@ namespace frc846::control::hardware {
 bool TalonFX_interm::VerifyConnected() { return talon_.IsAlive(); }
 
 TalonFX_interm::TalonFX_interm(
-    int can_id, std::string bus, units::millisecond_t max_wait_time)
+    int can_id, std::string_view bus, units::millisecond_t max_wait_time)
     : talon_(can_id, bus), max_wait_time_(max_wait_time) {}
 
 void TalonFX_interm::Tick() {

diff --git a/src/frc846/cpp/frc846/control/hardware/simulation/MCSimulator.cc b/src/frc846/cpp/frc846/control/hardware/simulation/MCSimulator.cc
@@ -37,6 +37,10 @@ void MCSimulator::Tick() {
   units::newton_meter_t torque_output =
       frc846::control::calculators::CurrentTorqueCalculator::current_to_torque(
           pred_current_, specs);
+  units::newton_meter_t friction_torque =
+      specs.stall_torque * specs.friction_loss *
+      (velocity_ / units::math::abs(velocity_));
+  if (units::math::abs(velocity_) < 0.01_rad_per_s) { friction_torque = 0_Nm; }
   torque_output -= load_;
 
   std::chrono::microseconds current_time =
@@ -48,6 +52,9 @@ void MCSimulator::Tick() {
   units::radians_per_second_t new_velocity =
       frc846::control::calculators::VelocityPositionEstimator::predict_velocity(
           velocity_, torque_output, loop_time, rotational_inertia_);
+  new_velocity =
+      units::radians_per_second_t{std::clamp(new_velocity.to<double>(),
+          (-specs.free_speed).to<double>(), specs.free_speed.to<double>())};
   units::radians_per_second_t avg_velocity = (velocity_ + new_velocity) / 2.0;
 
   position_ =

diff --git a/src/frc846/cpp/frc846/robot/GenericRobot.cc b/src/frc846/cpp/frc846/robot/GenericRobot.cc
@@ -131,7 +131,7 @@ void GenericRobot::StartCompetition() {
         loop.Clear();
       } else if (mode == Mode::kAutonomous) {
         // Get and run selected auto command
-        std::string option_name = auto_chooser_.GetSelected();
+        std::string_view option_name = auto_chooser_.GetSelected();
         auto_command_ = autos_[option_name];
 
         if (auto_command_ != nullptr) {
@@ -222,7 +222,7 @@ void GenericRobot::VerifyHardware() {
   generic_robot_container_->VerifyHardware();
 }
 
-void GenericRobot::AddAuto(std::string name, frc2::Command* command) {
+void GenericRobot::AddAuto(std::string_view name, frc2::Command* command) {
   auto_chooser_.AddOption(name, name);
   autos_[name] = command;
   frc::SmartDashboard::PutData(&auto_chooser_);

diff --git a/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc b/src/frc846/cpp/frc846/robot/swerve/drivetrain.cc
@@ -212,9 +212,9 @@ DrivetrainReadings DrivetrainSubsystem::ReadFromHardware() {
 
   frc846::robot::swerve::odometry::SwervePose new_pose{
       .position = odometry_
-          .calculate({bearing, steer_positions, drive_positions,
-              GetPreferenceValue_double("odom_fudge_factor")})
-          .position,
+                      .calculate({bearing, steer_positions, drive_positions,
+                          GetPreferenceValue_double("odom_fudge_factor")})
+                      .position,
       .bearing = bearing,
       .velocity = velocity,
   };

diff --git a/src/frc846/include/frc846/base/FunkyLogSystem.h b/src/frc846/include/frc846/base/FunkyLogSystem.h
@@ -121,7 +121,7 @@ class FunkyLogger {
   }
 
 public:
-  FunkyLogger(std::string pname) : pname_{pname} {};
+  FunkyLogger(std::string_view pname) : pname_{pname} {};
 
   template <typename... T>
   void Log(fmt::format_string<T...> fmt, T&&... args) const {
@@ -139,4 +139,4 @@ class FunkyLogger {
   }
 };
 
-}  // namespace frc846::base
+}  // namespace frc846::base
diff --git a/src/frc846/include/frc846/base/Loggable.h b/src/frc846/include/frc846/base/Loggable.h
@@ -130,7 +130,7 @@ class Loggable {
   static unsigned int GetWarnCount();
   static unsigned int GetErrorCount();
 
-  static std::string Join(std::string p, std::string n);
+  static std::string_view Join(std::string p, std::string n);
 
   static std::vector<std::string> ListKeysToPrune();
 
@@ -141,12 +141,12 @@ class Loggable {
 
   const std::string name_;
 
-  static std::unordered_set<std::string> used_preferences_;
+  static std::unordered_set<std::string_view> used_preferences_;
 
   static unsigned int warn_count_;
   static unsigned int error_count_;
 
   frc846::base::FunkyLogger logger;
 };
 
-}  // namespace frc846::base
+}  // namespace frc846::base
diff --git a/src/frc846/include/frc846/control/MotorMonkey.h b/src/frc846/include/frc846/control/MotorMonkey.h
@@ -122,7 +122,7 @@ class MotorMonkey {
   static void SetSoftLimits(size_t slot_id, units::radian_t forward_limit,
       units::radian_t reverse_limit);
 
-  static std::string parseError(
+  static std::string_view parseError(
       frc846::control::hardware::ControllerErrorCodes err);
 
   static bool VerifyConnected();

diff --git a/src/frc846/include/frc846/control/base/motor_specs.h b/src/frc846/include/frc846/control/base/motor_specs.h
@@ -25,6 +25,7 @@ struct MotorSpecs {
   units::ampere_t stall_current;
   units::ampere_t free_current;
   units::newton_meter_t stall_torque;
+  double friction_loss = 0.01;
 };
 
 /*

diff --git a/src/frc846/include/frc846/control/config/construction_params.h b/src/frc846/include/frc846/control/config/construction_params.h
@@ -44,7 +44,7 @@ struct MotorConstructionParameters {
 
   frc846::wpilib::unit_kg_m_sq rotational_inertia;
 
-  std::string bus = "";
+  std::string_view bus = "";
 
   units::millisecond_t max_wait_time = 20_ms;
 };

diff --git a/src/frc846/include/frc846/control/hardware/TalonFX_interm.h b/src/frc846/include/frc846/control/hardware/TalonFX_interm.h
@@ -15,7 +15,7 @@ TalonFX hardware.
 */
 class TalonFX_interm : public IntermediateController {
 public:
-  TalonFX_interm(int can_id, std::string bus = "",
+  TalonFX_interm(int can_id, std::string_view bus = "",
       units::millisecond_t max_wait_time = 20_ms);
   /*
   Tick()

diff --git a/src/frc846/include/frc846/robot/GenericRobot.h b/src/frc846/include/frc846/robot/GenericRobot.h
@@ -35,7 +35,7 @@ class GenericRobot : public frc::RobotBase, public frc846::base::Loggable {
 
   void VerifyHardware();
 
-  void AddAuto(std::string name, frc2::Command* command);
+  void AddAuto(std::string_view name, frc2::Command* command);
 
 private:
   hal::Handle<HAL_NotifierHandle> notifier_;
@@ -47,8 +47,8 @@ class GenericRobot : public frc::RobotBase, public frc846::base::Loggable {
   GenericRobotContainer* generic_robot_container_;
 
   frc2::Command* auto_command_ = nullptr;
-  frc::SendableChooser<std::string> auto_chooser_;
-  std::unordered_map<std::string, frc2::Command*> autos_;
+  frc::SendableChooser<std::string_view> auto_chooser_;
+  std::unordered_map<std::string_view, frc2::Command*> autos_;
 };
 
 }  // namespace frc846::robot
diff --git a/src/frc846/include/frc846/robot/swerve/swerve_module.h b/src/frc846/include/frc846/robot/swerve/swerve_module.h
@@ -50,7 +50,7 @@ struct SwerveModuleCommonConfig {
   steer_conv_unit steer_reduction;
   drive_conv_unit drive_reduction;
 
-  std::string bus = "";
+  std::string_view bus = "";
 };
 
 /*

diff --git a/src/y2025/include/rsighandler.h b/src/y2025/include/rsighandler.h
@@ -14,7 +14,7 @@
 #include <map>
 
 void handler(int sig) {
-  std::map<int, std::string> sigErrors;
+  std::map<int, std::string_view> sigErrors;
 
   sigErrors[SIGFPE] = "FATAL ERROR >> Arithmetic Error, SIGFPE";
   sigErrors[SIGILL] = "FATAL ERROR >> Illegal Instruction, SIGILL";