Add a PID to Limelight tracking bringing in track function from Abyss. Simplify spindexer due to errors with advanced code. Start adding Interpolation to Targeting (commented out for now).

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java

@@ -305,33 +305,32 @@ public class Spindexer {
                 // Find Next Open Position and start movement
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
-                    commandedIntakePosition = bestFitMotif();
+                    //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java

@@ -14,6 +14,8 @@ public class Targeting {
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
+    public final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
 
     public double robotInchesX, robotInchesY = 0.0;
 
@@ -100,6 +102,60 @@ public class Targeting {
         int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
         int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
+        int remX = Math.floorMod((int)robotInchesX, tileSize);
+        int remY = Math.floorMod((int)robotInchesX, tileSize);
+
+        // Determine if we need to interpolate based on tile position.
+        // if near upper or lower quarter or tile interpolate with next tile.
+        int x1 = 0;
+        int y1 = 0;
+//        interpolate = false;
+//        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY <5)) {
+//            // +X, +Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY > 0)) {
+//            // -X, -Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY > 0)) {
+//            // +X, -Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY < 5)) {
+//            // -X, +Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+//            // -X, Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY;
+//        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+//            // X, -Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+//            // +X, Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY;
+//        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+//            // X, +Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY + 1;
+//        }
+
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
         robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
@@ -115,9 +171,9 @@ public class Targeting {
 
             // bilinear interpolation
             int x0 = robotGridX;
-            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
-            int y0 = gridY;
+            int y0 = robotGridY;
-            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
 
             double x = (robotInchesX - (x0 * tileSize)) / tileSize;
             double y = (robotInchesY - (y0 * tileSize)) / tileSize;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java

@@ -2,9 +2,12 @@ package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
+import static java.lang.Math.abs;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
@@ -43,9 +46,17 @@ public class Turret {
     private int obeliskID = 0;
 
     private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
 
     private double permanentOffset = 0.0;
 
+    LLResult result;
+
+    private PIDController bearingPID;
+    public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
+    boolean bearingAligned = false;
+
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
@@ -56,6 +67,7 @@ public class Turret {
         } else {
             webcam.pipelineSwitch(2);
         }
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
     public void zeroTurretEncoder() {
@@ -79,12 +91,12 @@ public class Turret {
 
     private void limelightRead() { // only for tracking purposes, not general reads
         if (redAlliance) {
-            webcam.pipelineSwitch(3);
+            webcam.pipelineSwitch(4);
         } else {
             webcam.pipelineSwitch(2);
         }
 
-        LLResult result = webcam.getLatestResult();
+        result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
                 tx = result.getTx();
@@ -149,6 +161,47 @@ public class Turret {
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
 
+
+    private double bearingAlign (LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned)
+        {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+
     public void trackGoal(Pose2d deltaPos) {
 
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
@@ -171,41 +224,53 @@ public class Turret {
 
 
         /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
-        double tagBearingDeg = getBearing();  // + = target is to the left
+        // Update local limelight results
-        boolean hasValidTarget = (tagBearingDeg != 1000.0);
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
 
         turretAngleDeg += permanentOffset;
 
+        limelightRead();
         // Active correction if we see the target
-        if (hasValidTarget && !lockOffset) {
+        if (result.isValid() && !lockOffset) {
-            double bearingError = Math.abs(tagBearingDeg);
+            currentTrackOffset += bearingAlign(result);
-
+            currentTrackCount++;
-            if (bearingError > cameraBearingEqual) {
+//            double bearingError = Math.abs(tagBearingDeg);
-                // Apply sqrt scaling to reduce aggressive corrections at large errors
+//
-                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+//            if (bearingError > cameraBearingEqual) {
-
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
-                // Calculate correction
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
-                double offsetChange = visionCorrectionGain * filteredBearing;
+//
-
+//                // Calculate correction
-                // Limit rate of change to prevent jumps
+//                double offsetChange = visionCorrectionGain * filteredBearing;
-                offsetChange = Math.max(-maxOffsetChangePerCycle,
+//
-                        Math.min(maxOffsetChangePerCycle, offsetChange));
+//                // Limit rate of change to prevent jumps
-
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
-                // Accumulate the correction
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
-                offset += offsetChange;
+//
-
+//                // Accumulate the correction
-                TELE.addData("Bearing Error", tagBearingDeg);
+//                offset += offsetChange;
-                TELE.addData("Offset Change", offsetChange);
+//
-                TELE.addData("Total Offset", offset);
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
         } else {
-                // When centered, lock in the learned offset
+            // only store perma update after 20+ successful tracks
-                permanentOffset = offset;
+            // this did not work good in testing; only current works best so far.
-                offset = 0.0;
+//            if (currentTrackCount > 20) {
-            }
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
         }
 
-// Apply accumulated offset
+        // Apply accumulated offset
-        turretAngleDeg += offset;
+        turretAngleDeg += offset + currentTrackOffset;
 
 
         /* ---------------- ANGLE → SERVO POSITION ---------------- */
@@ -236,7 +301,10 @@ public class Turret {
         TELE.addData("Target Pos", "%.3f", targetTurretPos);
         TELE.addData("Current Pos", "%.3f", currentPos);
         TELE.addData("Commanded Pos", "%.3f", turretPos);
-        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("LL Valid", result.isValid());
+        TELE.addData("LL getTx", result.getTx());
+        TELE.addData("LL Offset", offset);
+        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
         TELE.addData("Learned Offset", "%.2f", offset);
     }