@horizon36596/zenith-core 0.1.1

package/dist/sim/curves.js

@@ -0,0 +1,187 @@
+/**
+ * Pedro Pathing v3's two curve kinds, as the follower sees them: `paths/curves/Line.java` and
+ * `paths/curves/bezier/BezierCurve.java` in core-3.0.0-20260828.185437-17. The closest-point search
+ * is Pedro's own (a coarse grid, then Newton on the squared distance), because where the follower
+ * thinks it is on the path decides everything it does next, and a better search would be a
+ * different follower.
+ *
+ * Written for speed, since the follower calls these several times a tick: the Bezier is kept in
+ * power-basis coefficients (Pedro caches the same product of its characteristic matrix and control
+ * points) and evaluated by Horner's rule.
+ */
+/** The chords the arc-length table is built from. Pedro subdivides adaptively to 1e-5 in. */
+const LENGTH_TABLE_STEPS = 256;
+/** `PathBuilder.SAMPLES_PER_SEGMENT`: the runtime's own segment lengths, which markers use. */
+export const RUNTIME_LENGTH_SAMPLES = 64;
+/** Newton iterations in `BezierCurve.closestT` (`SEARCH_LIMIT`). */
+const SEARCH_LIMIT = 10;
+/** The grid `BezierCurve.closestT` starts from, before its initial guess is added. */
+const SEARCH_GRID = [0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1];
+const clamp01 = (t) => (t < 0 ? 0 : t > 1 ? 1 : t);
+/** Binomial coefficient, as `Utils.binomial`. */
+function binomial(n, k) {
+    if (k < 0 || k > n)
+        return 0;
+    if (k === 0 || k === n)
+        return 1;
+    const kk = Math.min(k, n - k);
+    let result = 1;
+    for (let i = 1; i <= kk; i += 1)
+        result = (result * (n - (kk - i))) / i;
+    return result;
+}
+function unit(dx, dy, fallback) {
+    const length = Math.hypot(dx, dy);
+    if (length * length < 1e-9)
+        return fallback;
+    return { x: dx / length, y: dy / length };
+}
+export function makeLine(start, end) {
+    const dx = end.x - start.x;
+    const dy = end.y - start.y;
+    const lengthIn = Math.hypot(dx, dy);
+    const lengthSquared = dx * dx + dy * dy;
+    const tangentVector = lengthIn === 0 ? { x: 1, y: 0 } : { x: dx / lengthIn, y: dy / lengthIn };
+    return {
+        start,
+        end,
+        lengthIn,
+        runtimeLengthIn: lengthIn,
+        get: (t) => ({ x: start.x + dx * t, y: start.y + dy * t }),
+        derivative: () => ({ x: dx, y: dy }),
+        tangent: () => tangentVector,
+        closestT: (x, y) => lengthSquared === 0 ? 0 : clamp01((dx * (x - start.x) + dy * (y - start.y)) / lengthSquared),
+        remainingDistance: (t) => (1 - t) * lengthIn,
+    };
+}
+/** A Bezier of any degree from its control polygon, start and end included. */
+export function makeBezier(points) {
+    const n = points.length - 1;
+    // Power-basis coefficients: B(u) = sum_j c_j u^j with
+    // c_j = C(n, j) * sum_{i <= j} (-1)^(j - i) C(j, i) P_i.
+    const cx = new Float64Array(n + 1);
+    const cy = new Float64Array(n + 1);
+    for (let j = 0; j <= n; j += 1) {
+        let sx = 0;
+        let sy = 0;
+        for (let i = 0; i <= j; i += 1) {
+            const sign = (j - i) % 2 === 0 ? 1 : -1;
+            const weight = sign * binomial(j, i);
+            const point = points[i];
+            sx += weight * point.x;
+            sy += weight * point.y;
+        }
+        const scale = binomial(n, j);
+        cx[j] = scale * sx;
+        cy[j] = scale * sy;
+    }
+    const dcx = new Float64Array(Math.max(n, 1));
+    const dcy = new Float64Array(Math.max(n, 1));
+    for (let j = 1; j <= n; j += 1) {
+        dcx[j - 1] = j * cx[j];
+        dcy[j - 1] = j * cy[j];
+    }
+    const ddcx = new Float64Array(Math.max(n - 1, 1));
+    const ddcy = new Float64Array(Math.max(n - 1, 1));
+    for (let j = 2; j <= n; j += 1) {
+        ddcx[j - 2] = j * (j - 1) * cx[j];
+        ddcy[j - 2] = j * (j - 1) * cy[j];
+    }
+    const horner = (c, degree, u) => {
+        let value = c[degree];
+        for (let j = degree - 1; j >= 0; j -= 1)
+            value = value * u + c[j];
+        return value;
+    };
+    const px = (u) => horner(cx, n, u);
+    const py = (u) => horner(cy, n, u);
+    const dx = (u) => horner(dcx, n - 1, u);
+    const dy = (u) => horner(dcy, n - 1, u);
+    const ddx = (u) => (n < 2 ? 0 : horner(ddcx, n - 2, u));
+    const ddy = (u) => (n < 2 ? 0 : horner(ddcy, n - 2, u));
+    const start = points[0];
+    const end = points[n];
+    const chord = unit(end.x - start.x, end.y - start.y, { x: 1, y: 0 });
+    // Cumulative chord length at LENGTH_TABLE_STEPS + 1 values of t, the stand-in for Pedro's
+    // adaptive completion map.
+    const table = new Float64Array(LENGTH_TABLE_STEPS + 1);
+    let previousX = start.x;
+    let previousY = start.y;
+    for (let i = 1; i <= LENGTH_TABLE_STEPS; i += 1) {
+        const u = i / LENGTH_TABLE_STEPS;
+        const x = px(u);
+        const y = py(u);
+        table[i] = table[i - 1] + Math.hypot(x - previousX, y - previousY);
+        previousX = x;
+        previousY = y;
+    }
+    const lengthIn = table[LENGTH_TABLE_STEPS];
+    let runtimeLengthIn = 0;
+    previousX = start.x;
+    previousY = start.y;
+    for (let i = 1; i <= RUNTIME_LENGTH_SAMPLES; i += 1) {
+        const u = i / RUNTIME_LENGTH_SAMPLES;
+        const x = px(u);
+        const y = py(u);
+        runtimeLengthIn += Math.hypot(x - previousX, y - previousY);
+        previousX = x;
+        previousY = y;
+    }
+    const lengthAt = (t) => {
+        const scaled = clamp01(t) * LENGTH_TABLE_STEPS;
+        const index = Math.min(Math.floor(scaled), LENGTH_TABLE_STEPS - 1);
+        const a = table[index];
+        const b = table[index + 1];
+        return a + (b - a) * (scaled - index);
+    };
+    const closestT = (x, y, initialGuess) => {
+        let best = 1e18;
+        let guess = 0;
+        for (let i = 0; i <= SEARCH_GRID.length; i += 1) {
+            const t = i < SEARCH_GRID.length ? SEARCH_GRID[i] : initialGuess;
+            const ex = px(t) - x;
+            const ey = py(t) - y;
+            const d = ex * ex + ey * ey;
+            if (d < best) {
+                best = d;
+                guess = t;
+            }
+        }
+        for (let i = 0; i < SEARCH_LIMIT; i += 1) {
+            const lastX = px(guess);
+            const lastY = py(guess);
+            const d1x = dx(guess);
+            const d1y = dy(guess);
+            const d2x = ddx(guess);
+            const d2y = ddy(guess);
+            const deltaX = lastX - x;
+            const deltaY = lastY - y;
+            const first = 2 * (deltaX * d1x + deltaY * d1y);
+            const second = 2 * (deltaX * d2x + deltaY * d2y + d1x * d1x + d1y * d1y);
+            guess = clamp01(guess - first / (second + 1e-9));
+            if (Math.hypot(px(guess) - lastX, py(guess) - lastY) < 0.1)
+                break;
+        }
+        return guess;
+    };
+    return {
+        start,
+        end,
+        lengthIn,
+        runtimeLengthIn,
+        get: (t) => ({ x: px(t), y: py(t) }),
+        derivative: (t) => ({ x: dx(t), y: dy(t) }),
+        tangent: (t) => unit(dx(t), dy(t), chord),
+        closestT,
+        remainingDistance: (t) => (lengthIn === 0 ? 0 : (1 - lengthAt(t) / lengthIn) * lengthIn),
+    };
+}
+/** A line for two points, a Bezier for three or more, the way `PathBuilder.geometry` chooses. */
+export function makeSimCurve(points) {
+    if (points.length < 2)
+        throw new Error("A segment needs at least two points.");
+    if (points.length === 2)
+        return makeLine(points[0], points[1]);
+    return makeBezier(points);
+}
+//# sourceMappingURL=curves.js.map

package/dist/sim/curves.js.map

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package/dist/sim/follower.d.ts

@@ -0,0 +1,124 @@
+import { type SimPath } from "./pedroPath.js";
+import type { FollowerParams } from "./types.js";
+/**
+ * Pedro Pathing v3's follower as biobuzz runs it: `follower/Follower.java`,
+ * `algorithm/ForesightV3.java` and `algorithm/ForesightPowerAllocator.java` from
+ * core-3.0.0-20260828.185437-17, and the power maths of `revhub/drivetrains/Mecanum.java` and
+ * `CachedMotor.java` from the matching revhub jar. Ported line for line where it decides anything;
+ * the ADR lists the few places it is not.
+ *
+ * ForesightV3 is not the drive/translational/heading/centripetal PIDF follower of Pedro v1 and v2.
+ * It projects where the robot would stop if it braked now (a per-axis brake model, linear plus
+ * quadratic in speed), finds the closest point on the path to that projected pose, and drives along
+ * the tangent there at full feedforward until the projected stop passes the end, then brakes. The
+ * translational and heading terms are P controllers on the projected pose. V3 passes a zero vector
+ * where Foresight v1 put its centripetal term, so there is none.
+ */
+/** Robot-frame drive powers: forward, strafe left, turn counter-clockwise. */
+export interface DrivePowers {
+    forward: number;
+    strafe: number;
+    turn: number;
+}
+/**
+ * What the localizer hands the follower: `MotionState`. The pose heading is in [0, 2pi) as Pedro's
+ * `Pose` keeps it; the velocity is field-frame and the twist is the same velocity in the robot frame.
+ */
+export interface MotionState {
+    x: number;
+    y: number;
+    heading: number;
+    vx: number;
+    vy: number;
+    omega: number;
+    twistX: number;
+    twistY: number;
+}
+export type FollowerMode = "FOLLOW" | "HOLD" | "IDLE";
+/** `DiamondDrivetrainModel.interpolateVelocity`. */
+export declare const diamondVelocity: (xRadius: number, yRadius: number, thetaRad: number) => number;
+/** `Utils.solveQuadratic`: the two roots of a x^2 + b x + c, in the numerically stable form. */
+export declare function solveQuadratic(a: number, b: number, c: number): [number, number];
+/** `Control.clampBrakingPower`: cap power that opposes the motion at `maxBrakingPower`. */
+export declare function clampBrakingPower(power: number, directionOfMotion: number, max: number): number;
+/** `Mecanum.computeWheelPowersUnnormalized`, in [FL, FR, BL, BR] order. */
+export declare function wheelPowers(p: DrivePowers, out?: number[]): number[];
+/** `Mecanum.maxScaling`: the largest share of `delta` that keeps every wheel inside [-1, 1]. */
+export declare function mecanumMaxScaling(current: DrivePowers, delta: DrivePowers): number;
+/** Everything the follower carries between ticks, so a checkpoint can copy it. */
+export interface FollowerState {
+    mode: FollowerMode;
+    path: SimPath | null;
+    segmentIndex: number;
+    /** `maxVelocityConstraint` while the path's `setPathSpeed` modifier is applied. */
+    maxVelocityInPerS: number;
+    holdPose: {
+        x: number;
+        y: number;
+        heading: number;
+    } | null;
+    closestT: number;
+    projectedClosestT: number;
+    curveCompletion: number;
+    remainingDistance: number;
+    tangentialSpeed: number;
+    closestTangentX: number;
+    closestTangentY: number;
+    translationalError: number;
+    headingError: number;
+    busy: boolean;
+    /** Pedro's hold `Timer`, as the time the hold's timer started, or null before its first tick. */
+    holdTimerStartS: number | null;
+}
+export declare const initialFollowerState: () => FollowerState;
+export declare const copyFollowerState: (state: FollowerState) => FollowerState;
+export declare class PedroFollower {
+    readonly params: FollowerParams;
+    readonly forwardVel: number;
+    readonly strafeVel: number;
+    /** `Follower.holdEnd`: hold the end pose when a path finishes, rather than stop. */
+    readonly holdEnd: boolean;
+    state: FollowerState;
+    constructor(params: FollowerParams, forwardVel: number, strafeVel: number, holdEnd: boolean);
+    follow(path: SimPath, speedFraction: number): void;
+    hold(pose: {
+        x: number;
+        y: number;
+        heading: number;
+    }): void;
+    stop(): void;
+    private clear;
+    /** `ForesightV3.reset`. */
+    private reset;
+    get following(): boolean;
+    /** `PathTracker.remainingPaths`. */
+    private remaining;
+    /**
+     * `Follower.update(deltaTime)`: the powers to write this tick, or null when Pedro writes none and
+     * the motors keep what they were last given (the tick a finished path hands over to the hold).
+     */
+    update(motion: MotionState, nowS: number): DrivePowers | null;
+    /** How far along the current path the follower says it is, as `PathMarkers.Runner` reads it. */
+    distanceAlongIn(): number;
+    /** Pedro's hold end constraints, which `settledS` reports. */
+    endConstraintsMet(): boolean;
+    /** `ForesightV3.getBrakeDisplacement`: where braking now would leave the robot, relative to it. */
+    private brakeDisplacement;
+    /** `ForesightV3.getVelocityToBrakeInTime`. */
+    private velocityToBrakeInTime;
+    /** `ForesightV3.translationalCorrection`: [error, field-frame power vector]. */
+    private translationalCorrection;
+    /** `ForesightPowerAllocator.getDrivePowers`. */
+    private drivePowers;
+    /** `ForesightPowerAllocator.allocatePowers` and `clampPowers`. */
+    private allocate;
+    /** `ForesightV3.calculatePath`, with Pedro's recursion on advancing a segment as a loop. */
+    private calculatePath;
+    /** `ForesightPowerAllocator.getDriveScalar`. */
+    private driveScalar;
+    /** `ForesightV3.drive` and `coast`, with no acceleration or deceleration constraint set. */
+    private drivePower;
+    /** `ForesightV3.calculateHold`, without the optional hold scaling (`hold(pose)` passes false). */
+    private calculateHold;
+}
+//# sourceMappingURL=follower.d.ts.map

package/dist/sim/follower.d.ts.map

@@ -0,0 +1 @@
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