Create y2022 directory
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3a57026587204e084276c7e338c397467f776a70
diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
new file mode 100644
index 0000000..e0b0daa
--- /dev/null
+++ b/y2022/control_loops/python/BUILD
@@ -0,0 +1,57 @@
+package(default_visibility = ["//y2022:__subpackages__"])
+
+py_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:drivetrain",
+ ],
+)
+
+py_binary(
+ name = "polydrivetrain",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "polydrivetrain_lib",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:drivetrain",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2020/control_loops:python_init"],
+)
diff --git a/y2022/control_loops/python/__init__.py b/y2022/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2022/control_loops/python/__init__.py
diff --git a/y2022/control_loops/python/drivetrain.py b/y2022/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..7b8dc49
--- /dev/null
+++ b/y2022/control_loops/python/drivetrain.py
@@ -0,0 +1,47 @@
+#!/usr/bin/python3
+
+from __future__ import print_function
+from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=6.0,
+ mass=58.0,
+ # TODO(austin): Measure radius a bit better.
+ robot_radius= 0.39,
+ wheel_radius= 3/39.37,
+ motor_type=control_loop.Falcon(),
+ num_motors = 3,
+ G=8.0 / 80.0,
+ q_pos=0.24,
+ q_vel=2.5,
+ efficiency=0.80,
+ has_imu=True,
+ force=True,
+ kf_q_voltage=1.0,
+ controller_poles=[0.82, 0.82])
+
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print("Expected .h file name and .cc file name")
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2022', kDrivetrain)
+
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2022/control_loops/python/polydrivetrain.py b/y2022/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..d749580
--- /dev/null
+++ b/y2022/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python3
+
+import sys
+from y2022.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+def main(argv):
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 7:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2022',
+ drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))