Claw, shooter and drivetrain are now generated.
Change-Id: I0aaa42a77cfef8362dcd39ea660fdf9e484279ea
diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 6536f93..21406e3 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -10,7 +10,7 @@
],
)
-py_library(
+py_binary(
name = 'polydrivetrain',
srcs = [
'polydrivetrain.py',
@@ -21,13 +21,24 @@
],
)
+py_library(
+ name = 'polydrivetrain_lib',
+ srcs = [
+ 'polydrivetrain.py',
+ 'drivetrain.py',
+ ],
+ deps = [
+ '//frc971/control_loops/python:controls',
+ ],
+)
+
py_binary(
name = 'claw',
srcs = [
'claw.py',
],
deps = [
- ':polydrivetrain',
+ ':polydrivetrain_lib',
'//frc971/control_loops/python:controls',
]
)
diff --git a/y2014/control_loops/python/claw.py b/y2014/control_loops/python/claw.py
index f1fcae3..6808ce6 100755
--- a/y2014/control_loops/python/claw.py
+++ b/y2014/control_loops/python/claw.py
@@ -484,6 +484,8 @@
namespaces=namespaces)
loop_writer.AddConstant(control_loop.Constant("kClawMomentOfInertiaRatio",
"%f", claw.J_top / claw.J_bottom))
+ loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
+ claw.dt))
if argv[1][-3:] == '.cc':
loop_writer.Write(argv[2], argv[1])
else:
diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 1372c25..b94a501 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -295,6 +295,8 @@
"Drivetrain", [drivetrain_low_low, drivetrain_low_high,
drivetrain_high_low, drivetrain_high_high],
namespaces = namespaces)
+ dog_loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
+ drivetrain_low_low.dt))
if argv[1][-3:] == '.cc':
dog_loop_writer.Write(argv[2], argv[1])
else:
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index b066c75..3dafd21 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -397,14 +397,16 @@
def main(argv):
vdrivetrain = VelocityDrivetrain()
- if len(argv) != 7:
+ if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
+ namespaces = ['y2014', 'control_loops', 'drivetrain']
dog_loop_writer = control_loop.ControlLoopWriter(
"VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
vdrivetrain.drivetrain_low_high,
vdrivetrain.drivetrain_high_low,
- vdrivetrain.drivetrain_high_high])
+ vdrivetrain.drivetrain_high_high],
+ namespaces=namespaces)
if argv[1][-3:] == '.cc':
dog_loop_writer.Write(argv[2], argv[1])
@@ -414,10 +416,10 @@
cim_writer = control_loop.ControlLoopWriter(
"CIM", [drivetrain.CIM()])
- if argv[5][-3:] == '.cc':
- cim_writer.Write(argv[6], argv[5])
+ if argv[3][-3:] == '.cc':
+ cim_writer.Write(argv[4], argv[3])
else:
- cim_writer.Write(argv[5], argv[6])
+ cim_writer.Write(argv[3], argv[4])
return
vl_plot = []
diff --git a/y2014/control_loops/python/shooter.py b/y2014/control_loops/python/shooter.py
index cfb7e35..7324b18 100755
--- a/y2014/control_loops/python/shooter.py
+++ b/y2014/control_loops/python/shooter.py
@@ -7,7 +7,7 @@
from matplotlib import pylab
class SprungShooter(control_loop.ControlLoop):
- def __init__(self, name="RawSprungShooter"):
+ def __init__(self, name="RawSprungShooter", verbose=False):
super(SprungShooter, self).__init__(name)
# Stall Torque in N m
self.stall_torque = .4982
@@ -68,7 +68,7 @@
class Shooter(SprungShooter):
- def __init__(self, name="RawShooter"):
+ def __init__(self, name="RawShooter", verbose=False):
super(Shooter, self).__init__(name)
# State feedback matrices
@@ -96,7 +96,7 @@
class SprungShooterDeltaU(SprungShooter):
- def __init__(self, name="SprungShooter"):
+ def __init__(self, name="SprungShooter", verbose=False):
super(SprungShooterDeltaU, self).__init__(name)
A_unaugmented = self.A
B_unaugmented = self.B
@@ -116,17 +116,19 @@
self.PlaceControllerPoles([0.50, 0.35, 0.80])
- print "K"
- print self.K
- print "Placed controller poles are"
- print numpy.linalg.eig(self.A - self.B * self.K)[0]
+ if verbose:
+ print "K"
+ print self.K
+ print "Placed controller poles are"
+ print numpy.linalg.eig(self.A - self.B * self.K)[0]
self.rpl = .05
self.ipl = 0.008
self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
self.rpl - 1j * self.ipl, 0.90])
- print "Placed observer poles are"
- print numpy.linalg.eig(self.A - self.L * self.C)[0]
+ if verbose:
+ print "Placed observer poles are"
+ print numpy.linalg.eig(self.A - self.L * self.C)[0]
self.U_max = numpy.matrix([[12.0]])
self.U_min = numpy.matrix([[-12.0]])
@@ -135,7 +137,7 @@
class ShooterDeltaU(Shooter):
- def __init__(self, name="Shooter"):
+ def __init__(self, name="Shooter", verbose=False):
super(ShooterDeltaU, self).__init__(name)
A_unaugmented = self.A
B_unaugmented = self.B
@@ -155,17 +157,19 @@
self.PlaceControllerPoles([0.55, 0.45, 0.80])
- print "K"
- print self.K
- print "Placed controller poles are"
- print numpy.linalg.eig(self.A - self.B * self.K)[0]
+ if verbose:
+ print "K"
+ print self.K
+ print "Placed controller poles are"
+ print numpy.linalg.eig(self.A - self.B * self.K)[0]
self.rpl = .05
self.ipl = 0.008
self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
self.rpl - 1j * self.ipl, 0.90])
- print "Placed observer poles are"
- print numpy.linalg.eig(self.A - self.L * self.C)[0]
+ if verbose:
+ print "Placed observer poles are"
+ print numpy.linalg.eig(self.A - self.L * self.C)[0]
self.U_max = numpy.matrix([[12.0]])
self.U_min = numpy.matrix([[-12.0]])
@@ -189,8 +193,8 @@
args = parser.parse_args(argv[1:])
# Simulate the response of the system to a goal.
- sprung_shooter = SprungShooterDeltaU()
- raw_sprung_shooter = SprungShooter()
+ sprung_shooter = SprungShooterDeltaU(verbose=args.plot)
+ raw_sprung_shooter = SprungShooter(verbose=args.plot)
close_loop_x = []
close_loop_u = []
goal_position = -0.3
@@ -214,8 +218,8 @@
pylab.plot(range(500), close_loop_u)
pylab.show()
- shooter = ShooterDeltaU()
- raw_shooter = Shooter()
+ shooter = ShooterDeltaU(verbose=args.plot)
+ raw_shooter = Shooter(verbose=args.plot)
close_loop_x = []
close_loop_u = []
goal_position = -0.3
@@ -237,8 +241,8 @@
pylab.show()
# Write the generated constants out to a file.
- unaug_sprung_shooter = SprungShooter("RawSprungShooter")
- unaug_shooter = Shooter("RawShooter")
+ unaug_sprung_shooter = SprungShooter("RawSprungShooter", verbose=args.plot)
+ unaug_shooter = Shooter("RawShooter", verbose=args.plot)
namespaces = ['y2014', 'control_loops', 'shooter']
unaug_loop_writer = control_loop.ControlLoopWriter("RawShooter",
[unaug_sprung_shooter,
@@ -247,8 +251,8 @@
unaug_loop_writer.Write(args.unaugmented_shooterh,
args.unaugmented_shootercc)
- sprung_shooter = SprungShooterDeltaU()
- shooter = ShooterDeltaU()
+ sprung_shooter = SprungShooterDeltaU(verbose=args.plot)
+ shooter = ShooterDeltaU(verbose=args.plot)
loop_writer = control_loop.ControlLoopWriter("Shooter",
[sprung_shooter, shooter],
namespaces=namespaces)
@@ -257,6 +261,8 @@
sprung_shooter.max_extension))
loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
sprung_shooter.Ks))
+ loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
+ sprung_shooter.dt))
loop_writer.Write(args.shooterh, args.shootercc)
if __name__ == '__main__':