Create y2022 directory
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3a57026587204e084276c7e338c397467f776a70
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..cbc9c42
--- /dev/null
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,63 @@
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+#include <chrono>
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2022/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2022/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace chrono = ::std::chrono;
+
+namespace y2022 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ static DrivetrainConfig<double> kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
+
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
+
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
+ 0 /* down_offset if using constants use
+ constants::GetValues().down_error */
+ ,
+ 0.7 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
+ 1.2 /* wheel_multiplier */,
+ true /*pistol_grip_shift_enables_line_follow*/,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2022