Refactor robot config to use individual module positions

Writerside/topics/Robot-Config.md

@@ -5,6 +5,8 @@ are accurately limited for the performance of your robot. All of these values ha
 robot, determining its maximum velocity, acceleration, etc. Therefore, you should take care to ensure that these options
 are configured as accurately as possible.
 
+<img src="robot_config_settings.png" alt="robot config" border-effect="rounded"/>
+
 ## Robot Config Options
 
 Robot Mass
@@ -41,11 +43,26 @@ $$
 
 However, this will likely lead to an inaccurate estimate as it assumes a uniform distribution of mass.
 
-Wheelbase
-: The distance between the front and back of the drivebase, in meters. Only relevant in holonomic mode.
-
 Trackwidth
-: The distance between the left and right sides of the drivebase, in meters.
+: The distance between the left and right sides of the drivebase, in meters. Only available for non-holonomic robots.
+
+## Bumper Config Options
+
+The following options are only for visualization purposes in the PathPlanner GUI and are not used in PathPlannerLib.
+
+Bumper Width
+: The width of the robot's bumpers, in meters.
+
+Bumper Length
+: The length of the robot's bumpers, in meters.
+
+Bumper Offset X
+: How far the center of the bumpers are offset from the center of the robot along its X axis, in meters. Positive values
+indicate the center of the bumpers is forward of the robot's center.
+
+Bumper Offset Y
+: How far the center of the bumpers are offset from the center of the robot along its Y axis, in meters. Positive values
+indicate the center of the bumpers is left of the robot's center.
 
 ## Module Config Options
 
@@ -63,7 +80,8 @@ True Max Drive Speed
 > **Note**
 >
 > It is very important that the True Max Drive Speed is measured for your actual robot. This value is not simply a "max
-> velocity" limit on the robot. It encodes information about how much motor torque can actually be used to accelerate the
+> velocity" limit on the robot. It encodes information about how much motor torque can actually be used to accelerate
+> the
 > robot.
 >
 > This can be easily measured by driving the robot in a straight line as fast as possible on a charged battery, and
@@ -84,4 +102,9 @@ Drive Motor
 : The type of motor used to drive the wheels of the robot.
 
 Drive Current Limit
-: The supply current limit applied to the drive motor controllers, in Amps.
+: The supply current limit applied to the drive motor controllers, in Amps.
+
+## Module Offsets
+
+The locations of each swerve module relative to the center of the robot, in meters. These should be the same offsets
+used to create your kinematics in code. Only available for swerve drive robots.

Writerside/topics/gui-Settings.md

@@ -1,20 +1,18 @@
 # Settings
 
-The settings menu can be accessed via the [Navigation Menu](gui-Navigation-Menu.md)
+The settings menu can be accessed via the [](gui-Navigation-Menu.md)
 
-<img src="settings.png" alt="settings" border-effect="rounded"/>
+## Robot Config
 
-## Robot Config & Module Config
+<img src="robot_config_settings.png" alt="robot config" border-effect="rounded"/>
 
-Bumper Width
-: The width of the robot, including bumpers, in meters. Used for visualization.
+See [](Robot-Config.md) for Robot/Module Configuration options and how to find them.
 
-Bumper Length
-: The length of the robot, including bumpers, in meters. Used for visualization.
+## App Settings
 
-See [](Robot-Config.md) for Robot/Module Configuration options and how to find them.
+<img src="app_settings.png" alt="robot config" border-effect="rounded"/>
 
-## Default Constraints
+### Default Constraints
 
 These values will be used as the default global constraints when creating new paths. Updating these values will also
 update the constraints of any paths set to use the defaults.
@@ -35,6 +33,10 @@ Max Angular Velocity
 Max Angular Accel
 : Max rotational acceleration in degrees per second squared.
 
+Nominal Voltage
+: Nominal voltage in Volts. This is what you expect the voltage to be during auto, which may be lower than 12V due to
+other systems running, such as an intake or shooter.
+
 ## Field Image
 
 Select the field image used as the background of the editor. This contains options for official field images and the
@@ -46,16 +48,14 @@ Change the UI theme color.
 
 ## PPLib Telemetry
 
-Host
-: The host address of the robot for use in telemetry and hot reload. If running simulation, this should be `localhost`.
-If connected to a robot, this should be the IP address of the roboRIO: `10.TE.AM.2` where TEAM is replaced by your team
-number, i.e. `10.30.15.2`.
+roboRIO IP
+: The IP address of the roboRIO, this should be `10.TE.AM.2` where TEAM is replaced by your team number, i.e.
+`10.30.15.2`.
 
 ## Additional Options
 
 Holonomic Mode
-: Enable or disable holonomic mode. This is on by default. This must be enabled to access special features for holonomic
-drive trains.
+: Enable or disable holonomic mode.
 
 Hot Reload
 : Enable or disable hot reload for paths and autos. This is off by default. When connected to the robot, hot reload will

lib/pages/home_page.dart

@@ -512,7 +512,7 @@
   Future<void> _loadProjectSettingsFromFile(Directory projectDir) async {
     File settingsFile = fs.file(join(_pathplannerDir.path, _settingsDir));
 
-    var json = {};
+    var json = <String, dynamic>{};
 
     if (await settingsFile.exists()) {
       try {
@@ -524,10 +524,8 @@
       }
     }
 
-    widget.prefs.setDouble(PrefsKeys.robotWidth,
-        json[PrefsKeys.robotWidth]?.toDouble() ?? Defaults.robotWidth);
-    widget.prefs.setDouble(PrefsKeys.robotLength,
-        json[PrefsKeys.robotLength]?.toDouble() ?? Defaults.robotLength);
+    _setPrefDoubleFromJSON(json, PrefsKeys.robotWidth, Defaults.robotWidth);
+    _setPrefDoubleFromJSON(json, PrefsKeys.robotLength, Defaults.robotLength);
     widget.prefs.setBool(PrefsKeys.holonomicMode,
         json[PrefsKeys.holonomicMode] ?? Defaults.holonomicMode);
     widget.prefs.setStringList(
@@ -542,46 +540,46 @@
                 ?.map((e) => e as String)
                 .toList() ??
             Defaults.autoFolders);
-    widget.prefs.setDouble(PrefsKeys.defaultMaxVel,
-        json[PrefsKeys.defaultMaxVel]?.toDouble() ?? Defaults.defaultMaxVel);
-    widget.prefs.setDouble(
-        PrefsKeys.defaultMaxAccel,
-        json[PrefsKeys.defaultMaxAccel]?.toDouble() ??
-            Defaults.defaultMaxAccel);
-    widget.prefs.setDouble(
-        PrefsKeys.defaultMaxAngVel,
-        json[PrefsKeys.defaultMaxAngVel]?.toDouble() ??
-            Defaults.defaultMaxAngVel);
-    widget.prefs.setDouble(
-        PrefsKeys.defaultMaxAngAccel,
-        json[PrefsKeys.defaultMaxAngAccel]?.toDouble() ??
-            Defaults.defaultMaxAngAccel);
-    widget.prefs.setDouble(PrefsKeys.robotMass,
-        json[PrefsKeys.robotMass]?.toDouble() ?? Defaults.robotMass);
-    widget.prefs.setDouble(PrefsKeys.robotMOI,
-        json[PrefsKeys.robotMOI]?.toDouble() ?? Defaults.robotMOI);
-    widget.prefs.setDouble(PrefsKeys.robotWheelbase,
-        json[PrefsKeys.robotWheelbase]?.toDouble() ?? Defaults.robotWheelbase);
-    widget.prefs.setDouble(
-        PrefsKeys.robotTrackwidth,
-        json[PrefsKeys.robotTrackwidth]?.toDouble() ??
-            Defaults.robotTrackwidth);
-    widget.prefs.setDouble(
-        PrefsKeys.driveWheelRadius,
-        json[PrefsKeys.driveWheelRadius]?.toDouble() ??
-            Defaults.driveWheelRadius);
-    widget.prefs.setDouble(PrefsKeys.driveGearing,
-        json[PrefsKeys.driveGearing]?.toDouble() ?? Defaults.driveGearing);
-    widget.prefs.setDouble(PrefsKeys.maxDriveSpeed,
-        json[PrefsKeys.maxDriveSpeed]?.toDouble() ?? Defaults.maxDriveSpeed);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.defaultMaxVel, Defaults.defaultMaxVel);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.defaultMaxAccel, Defaults.defaultMaxAccel);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.defaultMaxAngVel, Defaults.defaultMaxAngVel);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.defaultMaxAngAccel, Defaults.defaultMaxAngAccel);
+    _setPrefDoubleFromJSON(json, PrefsKeys.robotMass, Defaults.robotMass);
+    _setPrefDoubleFromJSON(json, PrefsKeys.robotMOI, Defaults.robotMOI);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.robotTrackwidth, Defaults.robotTrackwidth);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.driveWheelRadius, Defaults.driveWheelRadius);
+    _setPrefDoubleFromJSON(json, PrefsKeys.driveGearing, Defaults.driveGearing);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.maxDriveSpeed, Defaults.maxDriveSpeed);
     widget.prefs.setString(PrefsKeys.driveMotor,
         json[PrefsKeys.driveMotor] ?? Defaults.driveMotor);
-    widget.prefs.setDouble(
-        PrefsKeys.driveCurrentLimit,
-        json[PrefsKeys.driveCurrentLimit]?.toDouble() ??
-            Defaults.driveCurrentLimit);
-    widget.prefs.setDouble(PrefsKeys.wheelCOF,
-        json[PrefsKeys.wheelCOF]?.toDouble() ?? Defaults.wheelCOF);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.driveCurrentLimit, Defaults.driveCurrentLimit);
+    _setPrefDoubleFromJSON(json, PrefsKeys.wheelCOF, Defaults.wheelCOF);
+    _setPrefDoubleFromJSON(json, PrefsKeys.flModuleX, Defaults.flModuleX);
+    _setPrefDoubleFromJSON(json, PrefsKeys.flModuleY, Defaults.flModuleY);
+    _setPrefDoubleFromJSON(json, PrefsKeys.frModuleX, Defaults.frModuleX);
+    _setPrefDoubleFromJSON(json, PrefsKeys.frModuleY, Defaults.frModuleY);
+    _setPrefDoubleFromJSON(json, PrefsKeys.blModuleX, Defaults.blModuleX);
+    _setPrefDoubleFromJSON(json, PrefsKeys.blModuleY, Defaults.blModuleY);
+    _setPrefDoubleFromJSON(json, PrefsKeys.brModuleX, Defaults.brModuleX);
+    _setPrefDoubleFromJSON(json, PrefsKeys.brModuleY, Defaults.brModuleY);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.bumperOffsetX, Defaults.bumperOffsetX);
+    _setPrefDoubleFromJSON(
+        json, PrefsKeys.bumperOffsetY, Defaults.bumperOffsetY);
+  }
+
+  void _setPrefDoubleFromJSON(
+      Map<String, dynamic> json, String prefsKey, double defaultValue) {
+    widget.prefs
+        .setDouble(prefsKey, json[prefsKey]?.toDouble() ?? defaultValue);
   }
 
   void _saveProjectSettingsToFile(Directory projectDir) {
@@ -622,9 +620,6 @@
           widget.prefs.getDouble(PrefsKeys.robotMass) ?? Defaults.robotMass,
       PrefsKeys.robotMOI:
           widget.prefs.getDouble(PrefsKeys.robotMOI) ?? Defaults.robotMOI,
-      PrefsKeys.robotWheelbase:
-          widget.prefs.getDouble(PrefsKeys.robotWheelbase) ??
-              Defaults.robotWheelbase,
       PrefsKeys.robotTrackwidth:
           widget.prefs.getDouble(PrefsKeys.robotTrackwidth) ??
               Defaults.robotTrackwidth,
@@ -643,6 +638,28 @@
               Defaults.driveCurrentLimit,
       PrefsKeys.wheelCOF:
           widget.prefs.getDouble(PrefsKeys.wheelCOF) ?? Defaults.wheelCOF,
+      PrefsKeys.flModuleX:
+          widget.prefs.getDouble(PrefsKeys.flModuleX) ?? Defaults.flModuleX,
+      PrefsKeys.flModuleY:
+          widget.prefs.getDouble(PrefsKeys.flModuleY) ?? Defaults.flModuleY,
+      PrefsKeys.frModuleX:
+          widget.prefs.getDouble(PrefsKeys.frModuleX) ?? Defaults.frModuleX,
+      PrefsKeys.frModuleY:
+          widget.prefs.getDouble(PrefsKeys.frModuleY) ?? Defaults.frModuleY,
+      PrefsKeys.blModuleX:
+          widget.prefs.getDouble(PrefsKeys.blModuleX) ?? Defaults.blModuleX,
+      PrefsKeys.blModuleY:
+          widget.prefs.getDouble(PrefsKeys.blModuleY) ?? Defaults.blModuleY,
+      PrefsKeys.brModuleX:
+          widget.prefs.getDouble(PrefsKeys.brModuleX) ?? Defaults.brModuleX,
+      PrefsKeys.brModuleY:
+          widget.prefs.getDouble(PrefsKeys.brModuleY) ?? Defaults.brModuleY,
+      PrefsKeys.bumperOffsetX:
+          widget.prefs.getDouble(PrefsKeys.bumperOffsetX) ??
+              Defaults.bumperOffsetX,
+      PrefsKeys.bumperOffsetY:
+          widget.prefs.getDouble(PrefsKeys.bumperOffsetY) ??
+              Defaults.bumperOffsetY,
     };
 
     settingsFile.writeAsString(encoder.convert(settings)).then((_) {

lib/pages/telemetry_page.dart

@@ -37,6 +37,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
   Pose2d? _currentPose;
   Pose2d? _targetPose;
   late final Size _robotSize;
+  late final Translation2d _bumperOffset;
   late bool _useSim;
 
   bool _gotCurrentPose = false;
@@ -52,6 +53,12 @@ class _TelemetryPageState extends State<TelemetryPage> {
         widget.prefs.getDouble(PrefsKeys.robotLength) ?? Defaults.robotLength;
     _robotSize = Size(width, length);
 
+    _bumperOffset = Translation2d(
+        widget.prefs.getDouble(PrefsKeys.bumperOffsetX) ??
+            Defaults.bumperOffsetX,
+        widget.prefs.getDouble(PrefsKeys.bumperOffsetY) ??
+            Defaults.bumperOffsetY);
+
     _useSim = widget.prefs.getBool(PrefsKeys.telemetryUseSim) ??
         Defaults.telemetryUseSim;
 
@@ -220,6 +227,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
                               painter: TelemetryPainter(
                                 fieldImage: widget.fieldImage,
                                 robotSize: _robotSize,
+                                bumperOffset: _bumperOffset,
                                 currentPose: _currentPose,
                                 targetPose: _targetPose,
                                 currentPath: _currentPath,
@@ -564,6 +572,7 @@ class _TelemetryPageState extends State<TelemetryPage> {
 class TelemetryPainter extends CustomPainter {
   final FieldImage fieldImage;
   final Size robotSize;
+  final Translation2d bumperOffset;
   final Pose2d? currentPose;
   final Pose2d? targetPose;
   final List<Pose2d>? currentPath;
@@ -574,6 +583,7 @@ class TelemetryPainter extends CustomPainter {
   const TelemetryPainter({
     required this.fieldImage,
     required this.robotSize,
+    required this.bumperOffset,
     this.currentPose,
     this.targetPose,
     this.currentPath,
@@ -609,15 +619,23 @@ class TelemetryPainter extends CustomPainter {
           targetPose!,
           fieldImage,
           robotSize,
+          bumperOffset,
           scale,
           canvas,
           Colors.grey[600]!.withOpacity(0.75),
           colorScheme.surfaceContainer);
     }
 
     if (currentPose != null) {
-      PathPainterUtil.paintRobotOutline(currentPose!, fieldImage, robotSize,
-          scale, canvas, colorScheme.primary, colorScheme.surfaceContainer);
+      PathPainterUtil.paintRobotOutline(
+          currentPose!,
+          fieldImage,
+          robotSize,
+          bumperOffset,
+          scale,
+          canvas,
+          colorScheme.primary,
+          colorScheme.surfaceContainer);
     }
   }