Switch to python3 and scipy from slycot
Turns out we need python3 matplotlib to make scipy work well enough to
place the poles correctly for our systems. Rather than do it piecemeal,
do it all at once.
This includes a python opencv upgrade too to support the new python, and
a matplotlib upgrade.
Change-Id: Ic7517b5ebbfdca9cc90ae6a61d86b474f2f21b29
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index 1f29601..3c75b97 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -94,7 +94,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib_repo//:matplotlib2.7",
+ "@matplotlib_repo//:matplotlib3",
],
)
diff --git a/y2018/control_loops/python/arm_trajectory.py b/y2018/control_loops/python/arm_trajectory.py
index 3531dc7..bcfd9f0 100755
--- a/y2018/control_loops/python/arm_trajectory.py
+++ b/y2018/control_loops/python/arm_trajectory.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
import copy
import numpy
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index 177e9e7..675930a 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
from __future__ import print_function
from frc971.control_loops.python import drivetrain
diff --git a/y2018/control_loops/python/extended_lqr.py b/y2018/control_loops/python/extended_lqr.py
index 3c8d0e6..4eecee9 100755
--- a/y2018/control_loops/python/extended_lqr.py
+++ b/y2018/control_loops/python/extended_lqr.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
# This is an initial, hacky implementation of the extended LQR paper. It's just
# a proof of concept, so don't trust it too much.
diff --git a/y2018/control_loops/python/intake.py b/y2018/control_loops/python/intake.py
index 3802505..00f737b 100755
--- a/y2018/control_loops/python/intake.py
+++ b/y2018/control_loops/python/intake.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
from frc971.control_loops.python import control_loop
from frc971.control_loops.python import controls
diff --git a/y2018/control_loops/python/path_points.py b/y2018/control_loops/python/path_points.py
index 319853c..eed9804 100644
--- a/y2018/control_loops/python/path_points.py
+++ b/y2018/control_loops/python/path_points.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
# Path points from Parker.
# Points in (theta0, theta1) of the boundry of the safe region.
diff --git a/y2018/control_loops/python/polydrivetrain.py b/y2018/control_loops/python/polydrivetrain.py
index 1652b99..c92e432 100644
--- a/y2018/control_loops/python/polydrivetrain.py
+++ b/y2018/control_loops/python/polydrivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
import sys
from y2018.control_loops.python import drivetrain
diff --git a/y2018/control_loops/python/polydrivetrain_test.py b/y2018/control_loops/python/polydrivetrain_test.py
index 02018d3..ccc3b77 100644
--- a/y2018/control_loops/python/polydrivetrain_test.py
+++ b/y2018/control_loops/python/polydrivetrain_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
from frc971.control_loops.python import polydrivetrain
import numpy
diff --git a/y2018/control_loops/python/spline_generate.py b/y2018/control_loops/python/spline_generate.py
index 4376f37..cea3d7e 100644
--- a/y2018/control_loops/python/spline_generate.py
+++ b/y2018/control_loops/python/spline_generate.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
import numpy as np
import matplotlib.pyplot as plt
from frc971.control_loops.python import drivetrain