commit 093535c2c3b82fefdc45e143e981a99442d35b19
author Austin Schuh <austin.linux@gmail.com> Sat Mar 05 23:21:00 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:13:21 2016 -0800
tree 5f04496c73452dbbb8d520f863ed04d50c511d42
parent 5b1a4cd5817927e9f7c17e0f39c406427755669f

Added position control and profiling to drivetrain.

Change-Id: I09ad01c46b23f1c7b6e8530bc10b03a733245b95

y2014/actors/drivetrain_actor.cc

diff --git a/y2014/actors/drivetrain_actor.cc b/y2014/actors/drivetrain_actor.cc
index 6c7427b..037fab9 100644
--- a/y2014/actors/drivetrain_actor.cc
+++ b/y2014/actors/drivetrain_actor.cc
@@ -60,7 +60,7 @@
         // They're more than 24V apart, so stop moving forwards and let it deal
         // with spinning first.
         profile.SetGoal(
-            (status.filtered_left_position + status.filtered_right_position -
+            (status.estimated_left_position + status.estimated_right_position -
              params.left_initial_position - params.right_initial_position) /
             2.0);
       } else {
@@ -143,11 +143,11 @@
 
     const double left_error =
         ::std::abs(::frc971::control_loops::drivetrain_queue.status
-                       ->filtered_left_position -
+                       ->estimated_left_position -
                    (left_goal_state(0, 0) + params.left_initial_position));
     const double right_error =
         ::std::abs(::frc971::control_loops::drivetrain_queue.status
-                       ->filtered_right_position -
+                       ->estimated_right_position -
                    (right_goal_state(0, 0) + params.right_initial_position));
     const double velocity_error = ::std::abs(
         ::frc971::control_loops::drivetrain_queue.status->robot_speed);

y2014/autonomous/auto.cc

diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index 9c39f27..5860407 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -163,10 +163,10 @@
     ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
     double left_error = ::std::abs(
         left_initial_position -
-        ::frc971::control_loops::drivetrain_queue.status->filtered_left_position);
+        ::frc971::control_loops::drivetrain_queue.status->estimated_left_position);
     double right_error = ::std::abs(
         right_initial_position -
-        ::frc971::control_loops::drivetrain_queue.status->filtered_right_position);
+        ::frc971::control_loops::drivetrain_queue.status->estimated_right_position);
     const double kPositionThreshold = 0.05 + distance;
     if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
       LOG(INFO, "At the goal\n");
@@ -214,9 +214,9 @@
 void InitializeEncoders() {
   ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
   left_initial_position =
-      ::frc971::control_loops::drivetrain_queue.status->filtered_left_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_left_position;
   right_initial_position =
-      ::frc971::control_loops::drivetrain_queue.status->filtered_right_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_right_position;
 }
 
 void WaitUntilClawDone() {

y2014/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 2c6d477..4894a51 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -30,7 +30,9 @@
       constants::GetValues().low_gear_ratio,
       constants::GetValues().left_drive,
       constants::GetValues().right_drive,
-      true};
+      true,
+      // TODO(austin): Switch over to using the profle.
+      false};
 
   return kDrivetrainConfig;
 };