Add drivetrain to y2017
Change-Id: I7494fd6c4b242ceb4aba26c9b5ddee064f29f382
diff --git a/y2017/control_loops/drivetrain/BUILD b/y2017/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..c44da31
--- /dev/null
+++ b/y2017/control_loops/drivetrain/BUILD
@@ -0,0 +1,78 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+genrule(
+ name = 'genrule_drivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2017/control_loops/python:drivetrain) $(OUTS)',
+ tools = [
+ '//y2017/control_loops/python:drivetrain',
+ ],
+ outs = [
+ 'drivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2017/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2017/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain_plants',
+ srcs = [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_base',
+ srcs = [
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
+ '//y2017:constants',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ ':drivetrain_base',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
+ ],
+)
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..03e180b
--- /dev/null
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,49 @@
+#include "y2017/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2017/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2017/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2017/constants.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2017 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+
+ ::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2017::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2017::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kHighGearRatio,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true,
+ constants::GetValues().down_error,
+ 0.25,
+ 1.0};
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2017
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.h b/y2017/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..6ef519b
--- /dev/null
+++ b/y2017/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2017_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2017_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2017 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2017
+
+#endif // Y2017_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..aab4ea0
--- /dev/null
+++ b/y2017/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2017/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+ ::aos::Init();
+ DrivetrainLoop drivetrain(
+ ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}