frc971/control_loops/drivetrain/drivetrain_config.fbs

include "frc971/control_loops/state_feedback_loop.fbs";
include "frc971/math/matrix.fbs";

namespace frc971.control_loops.drivetrain;

// Contains the constants for mapping the analog voltages that the shifter
// sensors return to the shifter position.  The code which uses this is trying
// to sort out if we are in low gear, high gear, or neutral.
// The hall-effect messages are structs in order to enable an easier transition
// from existing code; we will deal with compatibility issues if we do end
// up needing to repurpose this in the future.
struct ShifterHallEffect {
  // low_gear_low is the voltage that the shifter position sensor reads when it
  // is all the way in low gear.  high_gear_high is the voltage that the shifter
  // position sensor reads when it is all the way in high gear.  These two
  // values are used to calculate a position from 0 to 1, where we get 0 when
  // the shifter is in low gear, and 1 when it is high gear.
  low_gear_low:double (id: 0);
  high_gear_high:double (id: 1);

  // The numbers for when the dog is clear of each gear.
  // We are in low gear when the position is less than clear_low, and in high
  // gear when the shifter position is greater than clear_high.
  clear_low:double (id: 2);
  clear_high:double (id: 3);
}

struct DualHallShifterHallEffect {
  shifter_hall_effect:ShifterHallEffect (id: 0);
  low_gear_middle:double (id: 1);
  high_gear_middle:double (id: 2);
}

// What to use the top two buttons for on the pistol grip.
enum PistolTopButtonUse : ubyte {
  // Normal shifting.
  kShift = 0,
  // Line following (currently just uses top button).
  kLineFollow = 1,
  // Don't use the top button
  kNone = 2,
}

enum PistolSecondButtonUse : ubyte {
  kTurn1 = 0,
  kShiftLow = 1,
  kNone = 2,
}

enum PistolBottomButtonUse : ubyte {
  kControlLoopDriving = 0,
  kSlowDown = 1,
  kNone = 2,
}

enum ShifterType : int32 {
  kHallEffectShifter = 0,  // Detect when inbetween gears.
  kSimpleShifter = 1,       // Switch gears without speedmatch logic.
  kNoShifter = 2,           // Only one gear ratio.
}

enum LoopType : int32 {
  kOpenLoop = 0,    // Only use open loop logic.
  kClosedLoop = 1,  // Add in closed loop calculation.
}

enum GyroType : int32 {
  kSpartanGyro = 0,          // Use the gyro on the spartan board.
  kImuXGyro = 1,            // Use the x-axis of the gyro on the IMU.
  kImuYGyro = 2,            // Use the y-axis of the gyro on the IMU.
  kImuZGyro = 3,            // Use the z-axis of the gyro on the IMU.
  kFlippedSpartanGyro = 4,  // Use the gyro on the spartan board.
  kFlippedImuZGyro = 5,    // Use the flipped z-axis of the gyro on the IMU.
}

enum ImuType : int32 {
  kImuX = 0,          // Use the x-axis of the IMU.
  kImuY = 1,          // Use the y-axis of the IMU.
  kImuFlippedX = 2,  // Use the flipped x-axis of the IMU.
  kImuZ = 3,          // Use the z-axis of the IMU.
}

table DownEstimatorConfig {
  gravity_threshold:double = 0.025 (id: 0);
  do_accel_corrections:int = 50 (id: 1);
}

// The below tables shadow C++ classes.
namespace frc971.control_loops.drivetrain.fbs;

table LineFollowConfig {
  // Q should be a 3x3 positive-definite matrix; it is used as the state cost
  // of the LQR controller for the line-following mode.
  q:frc971.fbs.Matrix (id: 0);
  // R should be a 2x2 positive-definite matrix; it is used as the input cost
  // of the LQR controller for the line-following mode.
  r:frc971.fbs.Matrix (id: 1);
  max_controllable_offset:double = 0.1 (id: 2);
}

table SplineFollowerConfig {
  // Q should be a 5x5 positive-definite matrix; it is used as the state cost
  // of the LQR controller for the spline-following mode.
  q:frc971.fbs.Matrix (id: 0);
  // R should be a 2x2 positive-definite matrix; it is used as the input cost
  // of the LQR controller for the spline-following mode.
  r:frc971.fbs.Matrix (id: 1);
}

// These constants are all specified by the drivetrain python code, and
// so are separated out for easy codegen.
table DrivetrainLoopConfig {
  drivetrain_loop:[frc971.control_loops.fbs.StateFeedbackLoopCoefficients] (id: 0);
  velocity_drivetrain_loop:[frc971.control_loops.fbs.StateFeedbackLoopCoefficients] (id: 1);
  kalman_drivetrain_loop:[frc971.control_loops.fbs.StateFeedbackLoopCoefficients] (id: 2);
  hybrid_velocity_drivetrain_loop:[frc971.control_loops.fbs.StateFeedbackHybridLoopCoefficients] (id: 3);
  // Nanoseconds
  dt:uint64 (id: 4);
  // meters
  robot_radius:double (id: 5);
  wheel_radius:double (id: 6);
  motor_kv:double (id: 7);
  high_gear_ratio:double (id: 8);
  low_gear_ratio:double (id: 9);
  moment_of_inertia:double (id: 10);
  mass:double (id: 11);
}

table DrivetrainConfig {
  shifter_type:ShifterType (id: 0);
  loop_type:LoopType (id: 1);
  gyro_type:GyroType (id: 2);
  imu_type:ImuType (id: 3);
  loop_config:DrivetrainLoopConfig (id: 4);
  left_drive:ShifterHallEffect (id: 5);
  right_drive:ShifterHallEffect (id: 6);
  default_high_gear:bool (id: 7);
  down_offset:double (id: 8);
  wheel_non_linearity:double (id: 9);
  quickturn_wheel_multiplier:double (id: 10);
  wheel_multiplier:double (id: 11);
  pistol_grip_shift_enables_line_follow:bool = false (id: 12);
  imu_transform:frc971.fbs.Matrix (id: 13);
  is_simulated:bool = false (id: 14);
  down_estimator_config:DownEstimatorConfig (id: 15);
  line_follow_config:LineFollowConfig (id: 16);
  spline_follower_config:SplineFollowerConfig (id: 20);
  top_button_use:PistolTopButtonUse = kShift (id: 17);
  second_button_use:PistolSecondButtonUse = kShiftLow (id: 18);
  bottom_button_use:PistolBottomButtonUse = kSlowDown (id: 19);
  require_imu_for_output:bool = true (id: 21);
}