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Clean up selection of deadwheel vs swerve poses #372

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Clean up selection of deadwheel vs swerve poses #372

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649eea4
Clean up selection of deadwheel vs swerve poses
stephenjust Apr 4, 2025
9775586
Merge branch 'main' into no-deadwheel-with-vision
stephenjust Apr 4, 2025
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79 changes: 42 additions & 37 deletions src/main/java/competition/subsystems/pose/PoseSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,9 @@ public class PoseSubsystem extends BasePoseSubsystem {
private final DriveSubsystem drive;
private final AprilTagVisionSubsystemExtended aprilTagVisionSubsystem;
private final BooleanProperty useVisionAssistedPose;
private final BooleanProperty useDeadwheelAssistedPose;
private final BooleanProperty continueUpdatingSwerveTelemetry;
private final BooleanProperty useDeadwheelsForNonVisionPose;
private final BooleanProperty useDeadwheelsForVisionPose;
private final BooleanProperty updateSecondaryPoseEstimatorWithVisionData;
private final BooleanProperty reportCameraPoses;
private final CoprocessorCommunicationSubsystem coprocessorComms;

Expand Down Expand Up @@ -99,8 +100,9 @@ public PoseSubsystem(XGyroFactory gyroFactory,
propManager.setPrefix(this);
propManager.setDefaultLevel(Property.PropertyLevel.Important);
useVisionAssistedPose = propManager.createPersistentProperty("UseVisionAssistedPose", true);
useDeadwheelAssistedPose = propManager.createPersistentProperty("useDeadwheelAssistedPose", false);
continueUpdatingSwerveTelemetry = propManager.createPersistentProperty("continueUpdatingSwerveTelemetry", true);
useDeadwheelsForVisionPose = propManager.createPersistentProperty("useDeadwheelsForVisionPose", false);
useDeadwheelsForNonVisionPose = propManager.createPersistentProperty("useDeadwheelsForNonVisionPose", false);
updateSecondaryPoseEstimatorWithVisionData = propManager.createPersistentProperty("updateSecondaryPoseEstimatorWithVision", true);
reportCameraPoses = propManager.createPersistentProperty("ReportCameraPoses", false);
}

Expand All @@ -126,34 +128,43 @@ private SwerveDrivePoseEstimator initializeSwerveOdometry() {
getSwerveModulePositions(),
new Pose2d());
}

@SuppressWarnings("unchecked")
private <T> PoseEstimator<T> getPrimaryPoseEstimator() {
return (PoseEstimator<T>) (this.useDeadwheelAssistedPose.get()
return (PoseEstimator<T>) (this.useDeadwheelsForVisionPose.get()
? this.fullDeadwheelOdometry
: this.fullSwerveOdometry);
}

@SuppressWarnings("unchecked")
private <T> PoseEstimator<T> getPrimaryOdometryOnlyPoseEstimator() {
return (PoseEstimator<T>) (this.useDeadwheelAssistedPose.get()
return (PoseEstimator<T>) (this.useDeadwheelsForNonVisionPose.get()
? this.onlyWheelsGyroSwerveOdometry
: this.onlyDeadwheelOdometry);
}

private boolean shouldAlsoUpdateFullSwerve() {
return this.useDeadwheelAssistedPose.get() && this.continueUpdatingSwerveTelemetry.get();
@SuppressWarnings("unchecked")
private <T> PoseEstimator<T> getSecondaryPoseEstimator() {
return (PoseEstimator<T>) (!this.useDeadwheelsForVisionPose.get()
? this.fullDeadwheelOdometry
: this.fullSwerveOdometry);
}

@SuppressWarnings("unchecked")
private <T> PoseEstimator<T> getSecondaryOdometryOnlyPoseEstimator() {
return (PoseEstimator<T>) (!this.useDeadwheelsForNonVisionPose.get()
? this.onlyWheelsGyroSwerveOdometry
: this.onlyDeadwheelOdometry);
}

private void updateOdometryWithVision() {
// Also update full swerve if we should add swerve and it's not already being
// updated.
this.aprilTagVisionSubsystem.getAllPoseObservations().forEach(observation -> {
this.getPrimaryPoseEstimator().addVisionMeasurement(
observation.visionRobotPoseMeters(),
observation.timestampSeconds(),
observation.visionMeasurementStdDevs());

if (this.shouldAlsoUpdateFullSwerve()) {
this.fullSwerveOdometry.addVisionMeasurement(
if (updateSecondaryPoseEstimatorWithVisionData.get()) {
this.getSecondaryPoseEstimator().addVisionMeasurement(
observation.visionRobotPoseMeters(),
observation.timestampSeconds(),
observation.visionMeasurementStdDevs());
Expand All @@ -169,36 +180,34 @@ protected void updateOdometry() {
BatchedPushRequests batchedPushRequests = new BatchedPushRequests();

// Update pose estimators
onlyWheelsGyroSwerveOdometry.update(
this.getCurrentHeadingGyroOnly(),
getSwerveModulePositions());
aKitLog.record("WheelsOnlyEstimate", onlyWheelsGyroSwerveOdometry.getEstimatedPosition());

// DeadWheel pose estimator
deadWheelSubsystem.update();

batchedPushRequests.putPose2d(xtablesPrefix + ".WheelsOnlyEstimate",
onlyWheelsGyroSwerveOdometry.getEstimatedPosition());
if (this.useDeadwheelAssistedPose.get()) {
fullDeadwheelOdometry.update(
this.getCurrentHeadingGyroOnly(),
this.deadWheelSubsystem.getLeftAdjustedDistance().in(Meters),
this.deadWheelSubsystem.getRightAdjustedDistance().in(Meters),
this.deadWheelSubsystem.getFrontAdjustedDistance().in(Meters),
this.deadWheelSubsystem.getRearAdjustedDistance().in(Meters));
this.onlyWheelsGyroSwerveOdometry.update(
this.getCurrentHeadingGyroOnly(),
getSwerveModulePositions());

}
if (!this.useDeadwheelAssistedPose.get() || this.shouldAlsoUpdateFullSwerve()) {
this.fullSwerveOdometry.update(
this.getCurrentHeadingGyroOnly(),
getSwerveModulePositions());
}
this.fullSwerveOdometry.update(
this.getCurrentHeadingGyroOnly(),
getSwerveModulePositions());

this.onlyDeadwheelOdometry.update(
this.getCurrentHeading(),
getDeadwheelPositions());

this.fullDeadwheelOdometry.update(
this.getCurrentHeadingGyroOnly(),
getDeadwheelPositions());

this.updateOdometryWithVision();

var wheelsOnlyPose = onlyWheelsGyroSwerveOdometry.getEstimatedPosition();
aKitLog.record("WheelsOnlyEstimate", wheelsOnlyPose);
batchedPushRequests.putPose2d(xtablesPrefix + ".WheelsOnlyEstimate",
wheelsOnlyPose);

aKitLog.record("SwerveVisionEnhancedPose", fullSwerveOdometry.getEstimatedPosition());

aKitLog.record("DeadwheelOnlyEstimate", onlyDeadwheelOdometry.getEstimatedPosition());
aKitLog.record("FullVisionDeadwheelEstimate", fullDeadwheelOdometry.getEstimatedPosition());

Expand All @@ -209,10 +218,6 @@ protected void updateOdometry() {
aKitLog.record("OdometryOnlyRobotPose", swerveOnlyPosition);
batchedPushRequests.putPose2d(xtablesPrefix + ".OdometryOnlyRobotPose", swerveOnlyPosition);

Pose2d fullSwervePosiiton = new Pose2d(
fullSwerveOdometry.getEstimatedPosition().getTranslation(),
fullSwerveOdometry.getEstimatedPosition().getRotation());
aKitLog.record("SwerveVisionEnhancedPose", fullSwervePosiiton);

Pose2d visionEnhancedPosition = new Pose2d(
this.getPrimaryPoseEstimator().getEstimatedPosition().getTranslation(),
Expand Down