Merge "Update bot3 drivetrain and get defense bot working."
diff --git a/NO_BUILD_AMD64 b/NO_BUILD_AMD64
index 716368c..faa75a9 100644
--- a/NO_BUILD_AMD64
+++ b/NO_BUILD_AMD64
@@ -13,3 +13,4 @@
-//y2015_bot3:download
-//y2016/wpilib/...
-//y2016:download
+-//y2016:download_stripped
diff --git a/NO_BUILD_ROBORIO b/NO_BUILD_ROBORIO
index bd1907c..36ae012 100644
--- a/NO_BUILD_ROBORIO
+++ b/NO_BUILD_ROBORIO
@@ -3,6 +3,7 @@
-//y2012/control_loops/python/...
-//y2014_bot3/control_loops/python/...
-//y2014/control_loops/python/...
+-//y2014_bot3/control_loops/python/...
-//y2015/control_loops/python/...
-//y2015_bot3/control_loops/python/...
-//y2016/control_loops/python/...
diff --git a/WORKSPACE b/WORKSPACE
index 6d6f7e1..0d4eb2f 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -1,3 +1,5 @@
+workspace(name = 'org_frc971')
+
new_local_repository(
name = 'usr_repo',
path = '/usr',
diff --git a/aos/common/actions/actions.h b/aos/common/actions/actions.h
index b26f732..07e569e 100644
--- a/aos/common/actions/actions.h
+++ b/aos/common/actions/actions.h
@@ -123,7 +123,7 @@
run_value_(run_counter_.fetch_add(1, ::std::memory_order_relaxed) |
((getpid() & 0xFFFF) << 16)),
params_(params) {
- LOG(INFO, "Action %" PRIx32 " created on queue %s\n", run_value_,
+ LOG(DEBUG, "Action %" PRIx32 " created on queue %s\n", run_value_,
queue_group_->goal.name());
// Clear out any old status messages from before now.
queue_group_->status.FetchLatest();
@@ -211,10 +211,10 @@
run_value_, queue_group_->goal.name());
} else {
if (sent_cancel_) {
- LOG(INFO, "Action %" PRIx32 " on queue %s already cancelled\n",
+ LOG(DEBUG, "Action %" PRIx32 " on queue %s already cancelled\n",
run_value_, queue_group_->goal.name());
} else {
- LOG(INFO, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
+ LOG(DEBUG, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
queue_group_->goal.name());
queue_group_->goal.MakeWithBuilder().run(0).Send();
sent_cancel_ = true;
@@ -292,7 +292,7 @@
queue_group_->status->last_running == run_value_)) {
// It's currently running our instance.
has_started_ = true;
- LOG(INFO, "Action %" PRIx32 " on queue %s has been started\n",
+ LOG(DEBUG, "Action %" PRIx32 " on queue %s has been started\n",
run_value_, queue_group_->goal.name());
} else if (old_run_value_ != 0 &&
queue_group_->status->running == old_run_value_) {
@@ -324,7 +324,7 @@
template <typename T>
void TypedAction<T>::DoStart() {
if (goal_) {
- LOG(INFO, "Starting action %" PRIx32 "\n", run_value_);
+ LOG(DEBUG, "Starting action %" PRIx32 "\n", run_value_);
goal_->run = run_value_;
goal_->params = params_;
sent_started_ = true;
diff --git a/aos/common/logging/BUILD b/aos/common/logging/BUILD
index d4d3ca5..8b28482 100644
--- a/aos/common/logging/BUILD
+++ b/aos/common/logging/BUILD
@@ -176,6 +176,9 @@
hdrs = [
'implementations.h',
],
+ linkopts = [
+ '-pthread',
+ ],
deps = [
'//aos/common:die',
'//aos/common:time',
diff --git a/aos/common/time.cc b/aos/common/time.cc
index 87c991d..125b016 100644
--- a/aos/common/time.cc
+++ b/aos/common/time.cc
@@ -12,7 +12,45 @@
#include "aos/common/logging/logging.h"
#include "aos/common/mutex.h"
+namespace std {
+namespace this_thread {
+template <>
+void sleep_until(const ::aos::monotonic_clock::time_point &end_time) {
+ struct timespec end_time_timespec;
+ ::std::chrono::seconds sec =
+ ::std::chrono::duration_cast<::std::chrono::seconds>(
+ end_time.time_since_epoch());
+ ::std::chrono::nanoseconds nsec =
+ ::std::chrono::duration_cast<::std::chrono::nanoseconds>(
+ end_time.time_since_epoch() - sec);
+ end_time_timespec.tv_sec = sec.count();
+ end_time_timespec.tv_nsec = nsec.count();
+ int returnval;
+ do {
+ returnval = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
+ &end_time_timespec, nullptr);
+ if (returnval != EINTR && returnval != 0) {
+ PLOG(FATAL, "clock_nanosleep(%jd, TIMER_ABSTIME, %p, nullptr) failed",
+ static_cast<uintmax_t>(CLOCK_MONOTONIC), &end_time_timespec);
+ }
+ } while (returnval != 0);
+}
+
+} // namespace this_thread
+} // namespace std
+
+
namespace aos {
+monotonic_clock::time_point monotonic_clock::now() noexcept {
+ struct timespec current_time;
+ if (clock_gettime(CLOCK_MONOTONIC, ¤t_time) != 0) {
+ PLOG(FATAL, "clock_gettime(%jd, %p) failed",
+ static_cast<uintmax_t>(CLOCK_MONOTONIC), ¤t_time);
+ }
+ return time_point(::std::chrono::seconds(current_time.tv_sec) +
+ ::std::chrono::nanoseconds(current_time.tv_nsec));
+}
+
namespace time {
// State required to enable and use mock time.
diff --git a/aos/common/time.h b/aos/common/time.h
index a176ba0..40b72b0 100644
--- a/aos/common/time.h
+++ b/aos/common/time.h
@@ -7,12 +7,31 @@
#include <stdint.h>
#include <type_traits>
+#include <chrono>
+#include <thread>
#include <ostream>
#include "aos/common/type_traits.h"
#include "aos/common/macros.h"
namespace aos {
+
+class monotonic_clock {
+ public:
+ typedef ::std::chrono::nanoseconds::rep rep;
+ typedef ::std::chrono::nanoseconds::period period;
+ typedef ::std::chrono::nanoseconds duration;
+ typedef ::std::chrono::time_point<monotonic_clock> time_point;
+
+ static monotonic_clock::time_point now() noexcept;
+ static constexpr bool is_steady = true;
+
+ // Returns the epoch (0).
+ static constexpr monotonic_clock::time_point epoch() {
+ return time_point(duration(0));
+ }
+};
+
namespace time {
// A nice structure for representing times.
@@ -280,4 +299,15 @@
} // namespace time
} // namespace aos
+namespace std {
+namespace this_thread {
+// Template specialization for monotonic_clock, since we can use clock_nanosleep
+// with TIMER_ABSTIME and get very precise absolute time sleeps.
+template <>
+void sleep_until(const ::aos::monotonic_clock::time_point &end_time);
+
+} // namespace this_thread
+} // namespace std
+
+
#endif // AOS_COMMON_TIME_H_
diff --git a/aos/common/time_test.cc b/aos/common/time_test.cc
index 008b3cf..3ae82ab 100644
--- a/aos/common/time_test.cc
+++ b/aos/common/time_test.cc
@@ -1,5 +1,7 @@
#include "aos/common/time.h"
+#include <thread>
+
#include "gtest/gtest.h"
#include "aos/common/macros.h"
@@ -256,6 +258,16 @@
EXPECT_EQ(MACRO_DARG(Time(0, Time::kNSecInSec / 100)), Time::FromRate(100));
}
+// Test the monotonic_clock and sleep_until functions.
+TEST(TimeTest, MonotonicClockSleepAndNow) {
+ monotonic_clock::time_point start = monotonic_clock::now();
+ const auto kSleepTime = ::std::chrono::milliseconds(500);
+ ::std::this_thread::sleep_until(start + kSleepTime);
+ monotonic_clock::time_point end = monotonic_clock::now();
+ EXPECT_GE(end - start, kSleepTime);
+ EXPECT_LT(end - start, kSleepTime + ::std::chrono::milliseconds(200));
+}
+
} // namespace testing
} // namespace time
} // namespace aos
diff --git a/aos/downloader/downloader.bzl b/aos/downloader/downloader.bzl
index a98571a..e5179c9 100644
--- a/aos/downloader/downloader.bzl
+++ b/aos/downloader/downloader.bzl
@@ -5,7 +5,13 @@
executable = True,
content = '\n'.join([
'#!/bin/bash',
- 'cd "${BASH_SOURCE[@]}.runfiles"',
+ 'set -e',
+ 'cd "${BASH_SOURCE[@]}.runfiles/%s"' % ctx.workspace_name,
+ ] + ['%s %s --dirs %s -- %s "$@"' % (
+ ctx.executable._downloader.short_path,
+ ' '.join([src.short_path for src in d.downloader_srcs]),
+ d.downloader_dir,
+ ctx.attr.default_target) for d in ctx.attr.dirs] + [
'exec %s %s -- %s "$@"' % (ctx.executable._downloader.short_path,
' '.join([src.short_path for src in all_files]),
ctx.attr.default_target),
@@ -17,15 +23,26 @@
content = '\n'.join([f.basename for f in ctx.files.start_srcs]) + '\n',
)
+ to_download = [ctx.outputs._startlist]
+ to_download += all_files
+ for d in ctx.attr.dirs:
+ to_download += d.downloader_srcs
+
return struct(
runfiles = ctx.runfiles(
- files = all_files + ctx.files._downloader + [ctx.outputs._startlist],
+ files = to_download + ctx.files._downloader,
collect_data = True,
collect_default = True,
),
files = set([ctx.outputs.executable]),
)
+def _aos_downloader_dir_impl(ctx):
+ return struct(
+ downloader_dir = ctx.attr.dir,
+ downloader_srcs = ctx.files.srcs
+ )
+
'''Creates a binary which downloads code to a robot.
Running this with `bazel run` will actually download everything.
@@ -34,6 +51,7 @@
Attrs:
srcs: The files to download. They currently all get shoved into one folder.
+ dirs: A list of aos_downloader_dirs to download too.
start_srcs: Like srcs, except they also get put into start_list.txt.
default_target: The default host to download to. If not specified, defaults to
roboRIO-971.local.
@@ -54,6 +72,13 @@
mandatory = True,
allow_files = True,
),
+ 'dirs': attr.label_list(
+ mandatory = False,
+ providers = [
+ 'downloader_dir',
+ 'downloader_srcs',
+ ]
+ ),
'default_target': attr.string(
default = 'roboRIO-971-frc.local',
),
@@ -63,3 +88,26 @@
'_startlist': '%{name}.start_list.dir/start_list.txt',
},
)
+
+'''Downloads files to a specific directory.
+
+This rule does nothing by itself. Use it by adding to the dirs attribute of an
+aos_downloader rule.
+
+Attrs:
+ srcs: The files to download. They all go in the same directory.
+ dir: The directory (relative to the standard download directory) to put all
+ the files in.
+'''
+aos_downloader_dir = rule(
+ implementation = _aos_downloader_dir_impl,
+ attrs = {
+ 'srcs': attr.label_list(
+ mandatory = True,
+ allow_files = True,
+ ),
+ 'dir': attr.string(
+ mandatory = True,
+ ),
+ },
+)
diff --git a/aos/downloader/downloader.py b/aos/downloader/downloader.py
index 5cdd94e..9799b1f 100644
--- a/aos/downloader/downloader.py
+++ b/aos/downloader/downloader.py
@@ -23,9 +23,19 @@
def main(argv):
- srcs = argv[1:argv.index('--')]
args = argv[argv.index('--') + 1:]
+ relative_dir = ''
+ recursive = False
+
+ if '--dirs' in argv:
+ dirs_index = argv.index('--dirs')
+ srcs = argv[1:dirs_index]
+ relative_dir = argv[dirs_index + 1]
+ recursive = True
+ else:
+ srcs = argv[1:argv.index('--')]
+
ROBORIO_TARGET_DIR = '/home/admin/robot_code'
ROBORIO_USER = 'admin'
@@ -47,7 +57,7 @@
ssh_target = '%s@%s' % (user, hostname)
rsync_cmd = (['rsync', '-c', '-v', '-z', '--copy-links'] + srcs +
- ['%s:%s' % (ssh_target, target_dir)])
+ ['%s:%s/%s' % (ssh_target, target_dir, relative_dir)])
try:
subprocess.check_call(rsync_cmd)
except subprocess.CalledProcessError as e:
@@ -60,12 +70,13 @@
else:
raise e
- subprocess.check_call(
- ('ssh', ssh_target, '&&'.join([
- 'chmod u+s %s/starter_exe' % target_dir,
- 'echo \'Done moving new executables into place\'',
- 'bash -c \'sync && sync && sync\'',
- ])))
+ if not recursive:
+ subprocess.check_call(
+ ('ssh', ssh_target, '&&'.join([
+ 'chmod u+s %s/starter_exe' % target_dir,
+ 'echo \'Done moving new executables into place\'',
+ 'bash -c \'sync && sync && sync\'',
+ ])))
if __name__ == '__main__':
main(sys.argv)
diff --git a/aos/linux_code/ipc_lib/BUILD b/aos/linux_code/ipc_lib/BUILD
index 98aca55..95b30ce 100644
--- a/aos/linux_code/ipc_lib/BUILD
+++ b/aos/linux_code/ipc_lib/BUILD
@@ -8,6 +8,9 @@
hdrs = [
'aos_sync.h',
],
+ linkopts = [
+ '-pthread',
+ ],
deps = [
'//aos/common/logging',
'//aos/common:once',
diff --git a/aos/linux_code/ipc_lib/aos_sync.cc b/aos/linux_code/ipc_lib/aos_sync.cc
index b4b32ad..92eb1a1 100644
--- a/aos/linux_code/ipc_lib/aos_sync.cc
+++ b/aos/linux_code/ipc_lib/aos_sync.cc
@@ -33,7 +33,7 @@
using ::aos::linux_code::ipc_lib::FutexAccessorObserver;
-// This code was originally based on <http://www.akkadia.org/drepper/futex.pdf>,
+// This code was originally based on <https://www.akkadia.org/drepper/futex.pdf>,
// but is has since evolved a lot. However, that still has useful information.
//
// Finding information about actually using futexes is really REALLY hard, so
diff --git a/aos/testing/BUILD b/aos/testing/BUILD
index 8656d23..a8dce04 100644
--- a/aos/testing/BUILD
+++ b/aos/testing/BUILD
@@ -72,3 +72,15 @@
],
testonly = True,
)
+
+cc_library(
+ name = 'random_seed',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'random_seed.cc',
+ ],
+ hdrs = [
+ 'random_seed.h',
+ ],
+ testonly = True,
+)
diff --git a/aos/testing/random_seed.cc b/aos/testing/random_seed.cc
new file mode 100644
index 0000000..9e7136f
--- /dev/null
+++ b/aos/testing/random_seed.cc
@@ -0,0 +1,17 @@
+#include "aos/testing/random_seed.h"
+
+#include <stdlib.h>
+
+namespace aos {
+namespace testing {
+
+int RandomSeed() {
+ const char *from_environment = getenv("TEST_RANDOM_SEED");
+ if (from_environment != nullptr) {
+ return atoi(from_environment);
+ }
+ return 1;
+}
+
+} // namespace testing
+} // namespace aos
diff --git a/aos/testing/random_seed.h b/aos/testing/random_seed.h
new file mode 100644
index 0000000..825e7b1
--- /dev/null
+++ b/aos/testing/random_seed.h
@@ -0,0 +1,15 @@
+#ifndef AOS_TESTING_RANDOM_SEED_H_
+#define AOS_TESTING_RANDOM_SEED_H_
+
+namespace aos {
+namespace testing {
+
+// Returns the random seed to use for testing.
+//
+// This is ${TEST_RANDOM_SEED} if it is set or 1.
+int RandomSeed();
+
+} // namespace testing
+} // namespace aos
+
+#endif // AOS_TESTING_RANDOM_SEED_H_
diff --git a/debian/slycot.BUILD b/debian/slycot.BUILD
index 64eb358..55274b1 100644
--- a/debian/slycot.BUILD
+++ b/debian/slycot.BUILD
@@ -66,15 +66,15 @@
':slycot_c',
],
linkopts = ['-shared', '-lblas', '-llapack'],
- linkstatic=0,
+ linkstatic = False,
)
# Generate the _wrapper file which loads _fortranwrapper and pretends.
genrule(
name = '_wrapper',
outs = ['slycot/_wrapper.py'],
- cmd = 'echo "from _fortranwrapper import *" > $(OUTS)',
- output_to_bindir=1,
+ cmd = 'echo "from external.slycot_repo._fortranwrapper import *" > $(OUTS)',
+ output_to_bindir = True,
)
# Now present a python library for slycot
diff --git a/doc/make_bazel_package.sh b/doc/make_bazel_package.sh
index 1c10df0..a42acfa 100755
--- a/doc/make_bazel_package.sh
+++ b/doc/make_bazel_package.sh
@@ -10,12 +10,12 @@
BAZEL_SOURCE="$1"
VERSION="$(date +%Y%m%d%H%M)+$(GIT_DIR="${BAZEL_SOURCE}/.git" git rev-parse --short HEAD)"
-DEB="bazel_${VERSION}.deb"
+DEB="bazel_${VERSION}_amd64.deb"
"${BAZEL_SOURCE}/compile.sh" compile
(
cd "${BAZEL_SOURCE}"
-./output/bazel build //scripts/packages:bazel-debian --embed_label="${VERSION}"
+./output/bazel build -c opt //scripts/packages:bazel-debian --embed_label="${VERSION}"
)
cp "${BAZEL_SOURCE}/bazel-bin/scripts/packages/bazel-debian.deb" "${DEB}"
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 5eeed1d..9dee424 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -59,6 +59,7 @@
cc_library(
name = 'position_sensor_sim',
+ testonly = True,
srcs = [
'position_sensor_sim.cc',
],
@@ -69,6 +70,7 @@
':queues',
':gaussian_noise',
'//debian:libm',
+ '//aos/testing:random_seed',
],
)
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 72a32cc..05fc4a3 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -93,6 +93,32 @@
],
)
+genrule(
+ name = 'genrule_down_estimator',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //frc971/control_loops/python:down_estimator) $(OUTS)',
+ tools = [
+ '//frc971/control_loops/python:down_estimator',
+ ],
+ outs = [
+ 'down_estimator.h',
+ 'down_estimator.cc',
+ ],
+)
+
+cc_library(
+ name = 'down_estimator',
+ hdrs = [
+ 'down_estimator.h',
+ ],
+ srcs = [
+ 'down_estimator.cc',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
cc_library(
name = 'drivetrain_lib',
srcs = [
@@ -102,12 +128,14 @@
'drivetrain.h',
],
deps = [
+ ':down_estimator',
':drivetrain_queue',
':gear',
':polydrivetrain',
':ssdrivetrain',
'//aos/common/controls:control_loop',
'//frc971/queues:gyro',
+ '//frc971/wpilib:imu_queue',
'//aos/common/util:log_interval',
'//aos/common/logging:queue_logging',
'//aos/common/logging:matrix_logging',
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index b4c04a3..f2b14a9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -13,9 +13,11 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/polydrivetrain.h"
#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/drivetrain/down_estimator.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/queues/gyro.q.h"
#include "frc971/shifter_hall_effect.h"
+#include "frc971/wpilib/imu.q.h"
using frc971::sensors::gyro_reading;
@@ -32,11 +34,13 @@
kf_(dt_config_.make_kf_drivetrain_loop()),
dt_openloop_(dt_config_, &kf_),
dt_closedloop_(dt_config_, &kf_, &integrated_kf_heading_),
+ down_estimator_(MakeDownEstimatorLoop()),
left_gear_(dt_config_.default_high_gear ? Gear::HIGH : Gear::LOW),
right_gear_(dt_config_.default_high_gear ? Gear::HIGH : Gear::LOW),
left_high_requested_(dt_config_.default_high_gear),
right_high_requested_(dt_config_.default_high_gear) {
::aos::controls::HPolytope<0>::Init();
+ down_U_.setZero();
}
int DrivetrainLoop::ControllerIndexFromGears() {
@@ -76,6 +80,11 @@
const ::frc971::control_loops::DrivetrainQueue::Position *position,
::frc971::control_loops::DrivetrainQueue::Output *output,
::frc971::control_loops::DrivetrainQueue::Status *status) {
+ if (!has_been_enabled_ && output) {
+ has_been_enabled_ = true;
+ down_estimator_.mutable_X_hat(1, 0) = 0.0;
+ }
+
// TODO(austin): Put gear detection logic here.
switch (dt_config_.shifter_type) {
case ShifterType::SIMPLE_SHIFTER:
@@ -111,6 +120,36 @@
LOG_STRUCT(DEBUG, "state", gear_logging);
}
+ if (::frc971::imu_values.FetchLatest()) {
+ const double rate = -::frc971::imu_values->gyro_y;
+ const double accel_squared = ::frc971::imu_values->accelerometer_x *
+ ::frc971::imu_values->accelerometer_x +
+ ::frc971::imu_values->accelerometer_y *
+ ::frc971::imu_values->accelerometer_y +
+ ::frc971::imu_values->accelerometer_z *
+ ::frc971::imu_values->accelerometer_z;
+ const double angle = ::std::atan2(::frc971::imu_values->accelerometer_x,
+ ::frc971::imu_values->accelerometer_z) +
+ 0.008;
+ if (accel_squared > 1.03 || accel_squared < 0.97) {
+ LOG(DEBUG, "New IMU value, rejecting reading\n");
+ } else {
+ // -y is our gyro.
+ // z accel is down
+ // x accel is the front of the robot pointed down.
+ Eigen::Matrix<double, 1, 1> Y;
+ Y << angle;
+ down_estimator_.Correct(Y);
+ }
+
+ LOG(DEBUG,
+ "New IMU value from ADIS16448, rate is %f, angle %f, fused %f, bias "
+ "%f\n",
+ rate, angle, down_estimator_.X_hat(0, 0), down_estimator_.X_hat(1, 0));
+ down_U_ << rate;
+ }
+ down_estimator_.UpdateObserver(down_U_);
+
// TODO(austin): Signal the current gear to both loops.
if (gyro_reading.FetchLatest()) {
@@ -186,6 +225,7 @@
status->right_voltage_error = kf_.X_hat(5, 0);
status->estimated_angular_velocity_error = kf_.X_hat(6, 0);
status->estimated_heading = integrated_kf_heading_;
+ status->ground_angle = down_estimator_.X_hat(0, 0) + dt_config_.down_offset;
dt_openloop_.PopulateStatus(status);
dt_closedloop_.PopulateStatus(status);
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index a9541b7..1330708 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -48,6 +48,9 @@
PolyDrivetrain dt_openloop_;
DrivetrainMotorsSS dt_closedloop_;
+ StateFeedbackLoop<2, 1, 1> down_estimator_;
+ Eigen::Matrix<double, 1, 1> down_U_;
+
// Current gears for each drive side.
Gear left_gear_;
Gear right_gear_;
@@ -59,6 +62,8 @@
bool left_high_requested_;
bool right_high_requested_;
+
+ bool has_been_enabled_ = false;
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 4723aef..da4fadc 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -141,6 +141,9 @@
// True if the output voltage was capped last cycle.
bool output_was_capped;
+
+ // The angle of the robot relative to the ground.
+ double ground_angle;
};
queue Goal goal;
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index a0b6ac0..ea76ca9 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -48,6 +48,8 @@
// Variable that holds the default gear ratio. We use this in ZeroOutputs().
// (ie. true means high gear is default).
bool default_high_gear;
+
+ double down_offset;
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index f2c4638..aa18aec 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -49,7 +49,7 @@
::y2016::control_loops::drivetrain::kHighGearRatio,
::y2016::control_loops::drivetrain::kLowGearRatio,
- kThreeStateDriveShifter, kThreeStateDriveShifter, false};
+ kThreeStateDriveShifter, kThreeStateDriveShifter, false, 0};
return kDrivetrainConfig;
};
@@ -256,7 +256,7 @@
.left_goal(-1.0)
.right_goal(1.0)
.Send();
- RunForTime(Time::InSeconds(1.0));
+ RunForTime(Time::InSeconds(2.0));
VerifyNearGoal();
}
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 2383c83..121a231 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -112,7 +112,7 @@
const bool quickturn = goal.quickturn;
const bool highgear = goal.highgear;
- const double kWheelNonLinearity = 0.55;
+ const double kWheelNonLinearity = 0.25;
// Apply a sin function that's scaled to make it feel better.
const double angular_range = M_PI_2 * kWheelNonLinearity;
diff --git a/frc971/control_loops/position_sensor_sim.cc b/frc971/control_loops/position_sensor_sim.cc
index caa383e..6075155 100644
--- a/frc971/control_loops/position_sensor_sim.cc
+++ b/frc971/control_loops/position_sensor_sim.cc
@@ -70,6 +70,11 @@
index_count_++;
}
+ if (new_index_segment != cur_index_segment_) {
+ latched_pot_ = pot_noise_.AddNoiseToSample(cur_index_ * index_diff_ +
+ known_index_pos_);
+ }
+
cur_index_segment_ = new_index_segment;
cur_pos_ = new_pos;
}
@@ -86,7 +91,7 @@
double index_pulse_position = cur_index_ * index_diff_ + known_index_pos_;
// Populate the latched pot/encoder samples.
- values->latched_pot = pot_noise_.AddNoiseToSample(index_pulse_position);
+ values->latched_pot = latched_pot_;
values->latched_encoder = index_pulse_position - start_position_;
}
diff --git a/frc971/control_loops/position_sensor_sim.h b/frc971/control_loops/position_sensor_sim.h
index 6c1884d..3ce3056 100644
--- a/frc971/control_loops/position_sensor_sim.h
+++ b/frc971/control_loops/position_sensor_sim.h
@@ -1,6 +1,8 @@
#ifndef FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
#define FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
+#include "aos/testing/random_seed.h"
+
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/gaussian_noise.h"
@@ -18,7 +20,8 @@
// noise_seed: The seed to feed into the random number generator for the
// potentiometer values.
// TODO(danielp): Allow for starting with a non-zero encoder value.
- PositionSensorSimulator(double index_diff, unsigned int noise_seed = 0);
+ PositionSensorSimulator(double index_diff, unsigned int noise_seed =
+ ::aos::testing::RandomSeed());
// Set new parameters for the sensors. This is useful for unit tests to change
// the simulated sensors' behavior on the fly.
@@ -57,6 +60,8 @@
int cur_index_;
// How many index pulses we've seen.
int index_count_;
+ // The pot position at the most recent index pulse with noise added.
+ double latched_pot_;
// Distance between index pulses on the mechanism.
double index_diff_;
// Absolute position of a known index pulse.
diff --git a/frc971/control_loops/position_sensor_sim_test.cc b/frc971/control_loops/position_sensor_sim_test.cc
index 0c9d3a9..1ca5033 100644
--- a/frc971/control_loops/position_sensor_sim_test.cc
+++ b/frc971/control_loops/position_sensor_sim_test.cc
@@ -150,5 +150,50 @@
EXPECT_DOUBLE_EQ(index_diff * 1.25, position.latched_encoder);
}
+// Tests that the latched values update correctly.
+TEST_F(PositionSensorSimTest, LatchedValues) {
+ const double index_diff = 0.5;
+ PositionSensorSimulator sim(index_diff);
+ sim.Initialize(0, 0.25);
+ PotAndIndexPosition position;
+
+ sim.MoveTo(0.75 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(0u, position.index_pulses);
+
+ sim.MoveTo(1.75 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(1u, position.index_pulses);
+ EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+ EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+ const double first_latched_pot = position.latched_pot;
+
+ sim.MoveTo(1.95 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(1u, position.index_pulses);
+ EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+ EXPECT_DOUBLE_EQ(first_latched_pot, position.latched_pot);
+ EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+
+ sim.MoveTo(2.05 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(2u, position.index_pulses);
+ EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
+ EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+
+ sim.MoveTo(1.95 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(3u, position.index_pulses);
+ EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
+ EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+
+ sim.MoveTo(0.95 * index_diff);
+ sim.GetSensorValues(&position);
+ EXPECT_EQ(4u, position.index_pulses);
+ EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+ EXPECT_GT(::std::abs(first_latched_pot - position.latched_pot), 0.005);
+ EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+}
+
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index d172983..897738a 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -26,3 +26,13 @@
':controls',
],
)
+
+py_binary(
+ name = 'down_estimator',
+ srcs = [
+ 'down_estimator.py',
+ ],
+ deps = [
+ ':controls',
+ ],
+)
diff --git a/frc971/control_loops/python/down_estimator.py b/frc971/control_loops/python/down_estimator.py
new file mode 100644
index 0000000..6db8f34
--- /dev/null
+++ b/frc971/control_loops/python/down_estimator.py
@@ -0,0 +1,121 @@
+#!/usr/bin/python
+
+import math
+import sys
+import random
+
+import numpy
+import gflags
+import glog
+from matplotlib import pylab
+
+from frc971.control_loops.python import controls
+from frc971.control_loops.python import control_loop
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+class DownEstimator(control_loop.ControlLoop):
+ def __init__(self, name='DownEstimator'):
+ super(DownEstimator, self).__init__(name)
+ self.dt = 0.005
+
+ # State is [gyro_angle, bias].
+ # U is [gyro_x_velocity].
+
+ self.A_continuous = numpy.matrix([[0, 1],
+ [0, 0]])
+
+ self.B_continuous = numpy.matrix([[1],
+ [0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(
+ self.A_continuous, self.B_continuous, self.dt)
+
+ q_gyro_noise = 1e-6
+ q_gyro_bias_noise = 1e-3
+ self.Q = numpy.matrix([[1.0 / (q_gyro_noise ** 2.0), 0.0],
+ [0.0, 1.0 / (q_gyro_bias_noise ** 2.0)]])
+
+ r_accelerometer_angle_noise = 5e+7
+ self.R = numpy.matrix([[(r_accelerometer_angle_noise ** 2.0)]])
+
+ self.C = numpy.matrix([[1.0, 0.0]])
+ self.D = numpy.matrix([[0]])
+
+ self.U_max = numpy.matrix([[numpy.pi]])
+ self.U_min = numpy.matrix([[-numpy.pi]])
+ self.K = numpy.matrix(numpy.zeros((1, 2)))
+
+ self.KalmanGain, self.Q_steady = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+ self.L = self.A * self.KalmanGain
+
+ self.InitializeState()
+
+ def Update(self, accelerometer_x, accelerometer_y, accelerometer_z, gyro_x):
+ acceleration = math.sqrt(
+ accelerometer_x**2 + accelerometer_y**2 + accelerometer_z**2)
+ if acceleration < 0.9 or acceleration > 1.1:
+ glog.error('bad total acceleration %f' % acceleration)
+ # TODO(Brian): Tune this?
+ return
+ accelerometer_angle = math.atan2(accelerometer_x, accelerometer_z)
+ Z = numpy.matrix([[accelerometer_angle], [gyro_x]])
+
+ Y = Z - self.H * self.X_hat
+ S = self.H * self.P * self.H.transpose() + self.R
+ K = self.P * self.H.transpose() * numpy.linalg.inv(S)
+ self.X_hat += K * Y
+ self.P = (numpy.identity(K.shape[0]) - K * self.H) * self.P
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ estimator = DownEstimator()
+
+ if FLAGS.plot:
+ real_angles = [0]
+ real_velocities = [0]
+ estimated_angles = [0]
+ estimated_velocities = [0]
+ for _ in xrange(100):
+ estimator.Predict(0)
+ estimator.Update(numpy.sqrt(2) / 2.0, numpy.sqrt(2) / 2.0, 0, 0)
+ real_angles.append(math.pi / 2)
+ real_velocities.append(0)
+ estimated_angles.append(estimator.X_hat[0, 0])
+ estimated_velocities.append(estimator.X_hat[1, 0])
+ angle = math.pi / 2
+ velocity = 1
+ for i in xrange(100):
+ measured_velocity = velocity + (random.random() - 0.5) * 0.01 + 0.05
+ estimator.Predict(measured_velocity)
+ estimator.Update(math.sin(angle) + (random.random() - 0.5) * 0.02, 0,
+ math.cos(angle) + (random.random() - 0.5) * 0.02,
+ measured_velocity)
+ real_angles.append(angle)
+ real_velocities.append(velocity)
+ estimated_angles.append(estimator.X_hat[0, 0])
+ estimated_velocities.append(estimator.X_hat[1, 0])
+ angle += velocity * estimator.dt
+ pylab.plot(range(len(real_angles)), real_angles)
+ pylab.plot(range(len(real_velocities)), real_velocities)
+ pylab.plot(range(len(estimated_angles)), estimated_angles)
+ pylab.plot(range(len(estimated_velocities)), estimated_velocities)
+ pylab.show()
+
+ if len(argv) != 3:
+ print "Expected .h file name and .cc file name"
+ else:
+ namespaces = ['frc971', 'control_loops', 'drivetrain']
+ kf_loop_writer = control_loop.ControlLoopWriter(
+ "DownEstimator", [estimator],
+ namespaces = namespaces)
+ kf_loop_writer.Write(argv[1], argv[2])
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index d834f33..cf1a6f8 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -7,10 +7,12 @@
#include <math.h>
#include "aos/common/logging/queue_logging.h"
+#include "aos/common/messages/robot_state.q.h"
#include "aos/common/time.h"
#include "aos/linux_code/init.h"
#include "frc971/wpilib/imu.q.h"
+#include "frc971/zeroing/averager.h"
namespace frc971 {
namespace wpilib {
@@ -40,16 +42,17 @@
constexpr uint8_t kProdIdAddress = 0x56;
constexpr uint8_t kSerialNumberAddress = 0x58;
-// LSB/degree/second for the gyros.
-constexpr double kGyroLsbDegreeSecond = 25;
-// LSB/G for the accelerometers.
-constexpr double kAccelerometerLsbG = 1200;
-// LSB/gauss for the magnetometers.
-constexpr double kMagnetometerLsbGauss = 7.0 / 1000.0 /* mgauss to gauss */;
-// LSB/bar for the barometer.
-constexpr double kBarometerLsbPascal = 1.0 / (20.0 / 10 /* ubar to pascals */);
-// LSB/degree C for the temperature sensor.
-constexpr double kTemperatureLsbDegree = 1.0 / 0.07386;
+// degree/second/LSB for the gyros.
+constexpr double kGyroLsbDegreeSecond = 1.0 / 25.0;
+// G/LSB for the accelerometers.
+constexpr double kAccelerometerLsbG = 1.0 / 1200.0;
+// gauss/LSB for the magnetometers.
+constexpr double kMagnetometerLsbGauss =
+ 1.0 / (7.0 / 1000.0) /* mgauss to gauss */;
+// bar/LSB for the barometer.
+constexpr double kBarometerLsbPascal = 0.02 * 100;
+// degree/LSB C for the temperature sensor.
+constexpr double kTemperatureLsbDegree = 0.07386;
// Degrees C corresponding to 0 for the temperature sensor.
constexpr double kTemperatureZero = 31;
@@ -129,6 +132,13 @@
}
LOG(INFO, "IMU initialized successfully\n");
+ // Rounded to approximate the 204.8 Hz.
+ constexpr size_t kImuSendRate = 205;
+
+ zeroing::Averager<double, 6 * kImuSendRate> average_gyro_x;
+ zeroing::Averager<double, 6 * kImuSendRate> average_gyro_y;
+ zeroing::Averager<double, 6 * kImuSendRate> average_gyro_z;
+
bool got_an_interrupt = false;
while (run_) {
{
@@ -142,10 +152,10 @@
got_an_interrupt = true;
const ::aos::time::Time read_time = ::aos::time::Time::Now();
- uint8_t to_send[8 * 2 * 14], to_receive[8 * 2 * 14];
+ uint8_t to_send[2 * 14], to_receive[2 * 14];
+ memset(&to_send[0], 0, sizeof(to_send));
to_send[0] = kGlobalReadAddress;
- memset(&to_send[1], 0, sizeof(to_send) - 1);
- if (!DoTransaction<8 * 2 * 14>(to_send, to_receive)) continue;
+ if (!DoTransaction<2 * 14>(to_send, to_receive)) continue;
// If it's false now or another edge happened, then we're in trouble. This
// won't catch all instances of being a little bit slow (because of the
@@ -161,8 +171,8 @@
{
const uint16_t calculated_crc = CalculateCrc(&to_receive[4], 11);
- uint16_t received_crc;
- memcpy(&received_crc, &to_receive[13], 2);
+ uint16_t received_crc =
+ to_receive[13 * 2 + 1] | (to_receive[13 * 2] << 8);
if (received_crc != calculated_crc) {
LOG(WARNING, "received CRC %" PRIx16 " but calculated %" PRIx16 "\n",
received_crc, calculated_crc);
@@ -172,7 +182,7 @@
{
uint16_t diag_stat;
- memcpy(&diag_stat, &to_receive[1], 2);
+ memcpy(&diag_stat, &to_receive[2], 2);
if (!CheckDiagStatValue(diag_stat)) continue;
}
@@ -181,28 +191,57 @@
message->monotonic_timestamp_ns = read_time.ToNSec();
message->gyro_x =
- ConvertValue(&to_receive[2], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+ ConvertValue(&to_receive[4], kGyroLsbDegreeSecond * M_PI / 180.0);
message->gyro_y =
- ConvertValue(&to_receive[3], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+ ConvertValue(&to_receive[6], kGyroLsbDegreeSecond * M_PI / 180.0);
message->gyro_z =
- ConvertValue(&to_receive[4], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+ ConvertValue(&to_receive[8], kGyroLsbDegreeSecond * M_PI / 180.0);
- message->accelerometer_x = ConvertValue(&to_receive[5], kAccelerometerLsbG);
- message->accelerometer_y = ConvertValue(&to_receive[6], kAccelerometerLsbG);
- message->accelerometer_z = ConvertValue(&to_receive[7], kAccelerometerLsbG);
+ // The first few seconds of samples are averaged and subtracted from
+ // subsequent samples for zeroing purposes.
+ if (!gyros_are_zeroed_) {
+ average_gyro_x.AddData(message->gyro_x);
+ average_gyro_y.AddData(message->gyro_y);
+ average_gyro_z.AddData(message->gyro_z);
+
+ if (average_gyro_x.full() && average_gyro_y.full() &&
+ average_gyro_z.full()) {
+ ::aos::joystick_state.FetchLatest();
+ if (::aos::joystick_state.get() && ::aos::joystick_state->enabled) {
+ gyro_x_zeroed_offset_ = -average_gyro_x.GetAverage();
+ gyro_y_zeroed_offset_ = -average_gyro_y.GetAverage();
+ gyro_z_zeroed_offset_ = -average_gyro_z.GetAverage();
+ LOG(INFO, "total gyro zero offset X:%f, Y:%f, Z:%f\n",
+ gyro_x_zeroed_offset_, gyro_y_zeroed_offset_,
+ gyro_z_zeroed_offset_);
+ gyros_are_zeroed_ = true;
+ }
+ }
+ }
+
+ message->gyro_x += gyro_x_zeroed_offset_;
+ message->gyro_y += gyro_y_zeroed_offset_;
+ message->gyro_z += gyro_z_zeroed_offset_;
+
+ message->accelerometer_x =
+ ConvertValue(&to_receive[10], kAccelerometerLsbG);
+ message->accelerometer_y =
+ ConvertValue(&to_receive[12], kAccelerometerLsbG);
+ message->accelerometer_z =
+ ConvertValue(&to_receive[14], kAccelerometerLsbG);
message->magnetometer_x =
- ConvertValue(&to_receive[8], kMagnetometerLsbGauss);
+ ConvertValue(&to_receive[16], kMagnetometerLsbGauss);
message->magnetometer_y =
- ConvertValue(&to_receive[9], kMagnetometerLsbGauss);
+ ConvertValue(&to_receive[18], kMagnetometerLsbGauss);
message->magnetometer_z =
- ConvertValue(&to_receive[10], kMagnetometerLsbGauss);
+ ConvertValue(&to_receive[20], kMagnetometerLsbGauss);
message->barometer =
- ConvertValue(&to_receive[11], kBarometerLsbPascal, false);
+ ConvertValue(&to_receive[22], kBarometerLsbPascal, false);
message->temperature =
- ConvertValue(&to_receive[12], kTemperatureLsbDegree) + kTemperatureZero;
+ ConvertValue(&to_receive[24], kTemperatureLsbDegree) + kTemperatureZero;
LOG_STRUCT(DEBUG, "sending", *message);
if (!message.Send()) {
@@ -214,12 +253,12 @@
float ADIS16448::ConvertValue(uint8_t *data, double lsb_per_output, bool sign) {
double value;
if (sign) {
- int16_t raw_value;
- memcpy(&raw_value, data, 2);
+ int16_t raw_value = static_cast<int16_t>(
+ (static_cast<uint16_t>(data[0]) << 8) | static_cast<uint16_t>(data[1]));
value = raw_value;
} else {
- uint16_t raw_value;
- memcpy(&raw_value, data, 2);
+ uint16_t raw_value =
+ (static_cast<uint16_t>(data[0]) << 8) | static_cast<uint16_t>(data[1]);
value = raw_value;
}
return value * lsb_per_output;
@@ -232,7 +271,9 @@
if (!DoTransaction<2>(to_send, to_receive)) return false;
- if (value) memcpy(value, to_receive, 2);
+ if (value) {
+ memcpy(value, to_receive, 2);
+ }
return true;
}
@@ -248,12 +289,6 @@
bool ADIS16448::CheckDiagStatValue(uint16_t value) const {
bool r = true;
- if (value & (1 << 0)) {
- LOG(WARNING, "IMU gave magnetometer functional test failure\n");
- }
- if (value & (1 << 1)) {
- LOG(WARNING, "IMU gave barometer functional test failure\n");
- }
if (value & (1 << 2)) {
LOG(WARNING, "IMU gave flash update failure\n");
}
@@ -266,6 +301,31 @@
if (value & (1 << 5)) {
LOG(WARNING, "IMU gave self-test failure\n");
r = false;
+ if (value & (1 << 10)) {
+ LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
+ }
+ if (value & (1 << 11)) {
+ LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
+ }
+ if (value & (1 << 12)) {
+ LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
+ }
+ if (value & (1 << 13)) {
+ LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
+ }
+ if (value & (1 << 14)) {
+ LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
+ }
+ if (value & (1 << 15)) {
+ LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure, %x\n",
+ value);
+ }
+ if (value & (1 << 0)) {
+ LOG(WARNING, "IMU gave magnetometer functional test failure\n");
+ }
+ if (value & (1 << 1)) {
+ LOG(WARNING, "IMU gave barometer functional test failure\n");
+ }
}
if (value & (1 << 6)) {
LOG(WARNING, "IMU gave flash test checksum failure\n");
@@ -276,30 +336,6 @@
if (value & (1 << 9)) {
LOG(WARNING, "IMU says alarm 2 is active\n");
}
- if (value & (1 << 10)) {
- LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
- r = false;
- }
- if (value & (1 << 11)) {
- LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
- r = false;
- }
- if (value & (1 << 12)) {
- LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
- r = false;
- }
- if (value & (1 << 13)) {
- LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
- r = false;
- }
- if (value & (1 << 14)) {
- LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
- r = false;
- }
- if (value & (1 << 15)) {
- LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure\n");
- r = false;
- }
return r;
}
@@ -320,7 +356,7 @@
serial_number);
// Divide the sampling by 2^2 = 4 to get 819.2 / 4 = 204.8 Hz.
- if (!WriteRegister(kSmplPrdAddress, 2 << 8)) return false;
+ if (!WriteRegister(kSmplPrdAddress, (2 << 8) | 1)) return false;
// Start a self test.
if (!WriteRegister(kMscCtrlAddress, 1 << 10)) return false;
@@ -342,8 +378,8 @@
((0 << 0) | // DIO1
(1 << 1) | // DIO goes high when data is valid
(1 << 2) | // enable DIO changing when data is vald
- (1 << 4)) // enable CRC16 for burst mode
- )) {
+ (1 << 4) | // enable CRC16 for burst mode
+ (1 << 6)))) {
return false;
}
return true;
diff --git a/frc971/wpilib/ADIS16448.h b/frc971/wpilib/ADIS16448.h
index 778ab49..c8552bf 100644
--- a/frc971/wpilib/ADIS16448.h
+++ b/frc971/wpilib/ADIS16448.h
@@ -37,6 +37,10 @@
void Quit() { run_ = false; }
+ double gyro_x_zeroed_offset() const { return gyro_x_zeroed_offset_; }
+ double gyro_y_zeroed_offset() const { return gyro_y_zeroed_offset_; }
+ double gyro_z_zeroed_offset() const { return gyro_z_zeroed_offset_; }
+
private:
// Converts a 16-bit value at data to a scaled output value where a value of 1
// corresponds to lsb_per_output.
@@ -70,6 +74,12 @@
DigitalInput *const dio1_;
::std::atomic<bool> run_{true};
+
+ // The averaged values of the gyro over 6 seconds after power up.
+ bool gyros_are_zeroed_ = false;
+ double gyro_x_zeroed_offset_ = 0.0;
+ double gyro_y_zeroed_offset_ = 0.0;
+ double gyro_z_zeroed_offset_ = 0.0;
};
} // namespace wpilib
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 6ea778a..c01f7cc 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -99,8 +99,9 @@
'gyro_sender.h',
],
deps = [
- '//frc971/queues:gyro',
':gyro_interface',
+ '//frc971/queues:gyro',
+ '//frc971/zeroing:averager',
'//aos/common/logging',
'//aos/common/logging:queue_logging',
'//aos/common/util:phased_loop',
@@ -225,12 +226,14 @@
'ADIS16448.cc',
],
deps = [
- '//third_party/allwpilib_2016:wpilib',
+ ':imu_queue',
'//aos/common/logging',
'//aos/common/logging:queue_logging',
+ '//aos/common/messages:robot_state',
'//aos/common:time',
'//aos/linux_code:init',
- ':imu_queue',
+ '//frc971/zeroing:averager',
+ '//third_party/allwpilib_2016:wpilib',
],
)
diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index dd3b3e1..82e9775 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -10,6 +10,7 @@
#include "aos/linux_code/init.h"
#include "frc971/queues/gyro.q.h"
+#include "frc971/zeroing/averager.h"
namespace frc971 {
namespace wpilib {
@@ -35,10 +36,8 @@
int startup_cycles_left = 2 * kReadingRate;
- double zeroing_data[6 * kReadingRate];
- size_t zeroing_index = 0;
+ zeroing::Averager<double, 6 * kReadingRate> zeroing_data;
bool zeroed = false;
- bool have_zeroing_data = false;
double zero_offset = 0;
::aos::time::PhasedLoop phased_loop(
@@ -118,22 +117,12 @@
message->velocity = 0.0;
message.Send();
}
- zeroing_data[zeroing_index] = new_angle;
- ++zeroing_index;
- if (zeroing_index >= sizeof(zeroing_data) / sizeof(zeroing_data[0])) {
- zeroing_index = 0;
- have_zeroing_data = true;
- }
+ zeroing_data.AddData(new_angle);
::aos::joystick_state.FetchLatest();
if (::aos::joystick_state.get() && ::aos::joystick_state->enabled &&
- have_zeroing_data) {
- zero_offset = 0;
- for (size_t i = 0; i < sizeof(zeroing_data) / sizeof(zeroing_data[0]);
- ++i) {
- zero_offset -= zeroing_data[i];
- }
- zero_offset /= sizeof(zeroing_data) / sizeof(zeroing_data[0]);
+ zeroing_data.full()) {
+ zero_offset = -zeroing_data.GetAverage();
LOG(INFO, "total zero offset %f\n", zero_offset);
zeroed = true;
}
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index 8a8d82c..c63d97d 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -2,6 +2,24 @@
load('/aos/build/queues', 'queue_library')
+cc_library(
+ name = 'averager',
+ hdrs = [
+ 'averager.h',
+ ],
+)
+
+cc_test(
+ name = 'averager_test',
+ srcs = [
+ 'averager_test.cc',
+ ],
+ deps = [
+ ':averager',
+ '//aos/testing:googletest',
+ ],
+)
+
queue_library(
name = 'zeroing_queue',
srcs = [
diff --git a/frc971/zeroing/averager.h b/frc971/zeroing/averager.h
new file mode 100644
index 0000000..879c246
--- /dev/null
+++ b/frc971/zeroing/averager.h
@@ -0,0 +1,56 @@
+#ifndef FRC971_ZEROING_AVERAGER_H_
+#define FRC971_ZEROING_AVERAGER_H_
+
+#include <algorithm>
+#include <array>
+#include <stdint.h>
+
+namespace frc971 {
+namespace zeroing {
+
+// Averages a set of given numbers. Numbers are given one at a time. Once full
+// the average may be requested.
+template <typename data_type, size_t data_size>
+class Averager {
+ public:
+ // Adds one data point to the set of data points to be averaged.
+ // If more than "data_size" samples are added, they will start overwriting
+ // the oldest ones.
+ void AddData(data_type data) {
+ data_[data_point_index_] = data;
+ num_data_points_ = ::std::min(data_size, num_data_points_ + 1);
+ data_point_index_ = (data_point_index_ + 1) % data_size;
+ }
+
+ // Returns the average of the data points.
+ data_type GetAverage() const {
+ // TODO(phil): What do we want to do without any elements?
+ if (num_data_points_ == 0) {
+ return 0;
+ }
+
+ data_type average = 0;
+ for (data_type data : data_) {
+ average += data;
+ }
+ return average / num_data_points_;
+ }
+
+ // Returns true when we've gathered data_size data points.
+ bool full() const { return num_data_points_ >= data_size; };
+
+ size_t size() const { return data_size; }
+
+ private:
+ // Data points to be averaged.
+ ::std::array<data_type, data_size> data_;
+ // Which data point in "data_" will be filled in next.
+ size_t data_point_index_ = 0;
+ // Number of data points added via AddData().
+ size_t num_data_points_ = 0;
+};
+
+} // namespace zeroing
+} // namespace frc971
+
+#endif // FRC971_ZEROING_AVERAGER_H_
diff --git a/frc971/zeroing/averager_test.cc b/frc971/zeroing/averager_test.cc
new file mode 100644
index 0000000..930a3cb
--- /dev/null
+++ b/frc971/zeroing/averager_test.cc
@@ -0,0 +1,35 @@
+#include "gtest/gtest.h"
+#include "frc971/zeroing/averager.h"
+
+namespace frc971 {
+namespace zeroing {
+
+class AveragerTest : public ::testing::Test {
+ protected:
+ void SetUp() override {}
+};
+
+// Makes sure that we can compute the average of a bunch of integers.
+TEST_F(AveragerTest, ComputeIntegerAverage) {
+ Averager<int, 6> averager;
+ for (size_t i = 0; i < averager.size(); ++i) {
+ ASSERT_FALSE(averager.full());
+ averager.AddData(static_cast<int>(i));
+ }
+ ASSERT_TRUE(averager.full());
+ ASSERT_EQ(2, averager.GetAverage());
+}
+
+// Makes sure that we can compute the average of a bunch of floats.
+TEST_F(AveragerTest, ComputeFloatAverage) {
+ Averager<float, 100> averager;
+ for (size_t i = 0; i < averager.size(); ++i) {
+ ASSERT_FALSE(averager.full());
+ averager.AddData(static_cast<float>(i) / 3.0);
+ }
+ ASSERT_TRUE(averager.full());
+ ASSERT_NEAR(16.5, averager.GetAverage(), 0.001);
+}
+
+} // namespace zeroing
+} // namespace frc971
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index e8cac6f..4ff6391 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -108,15 +108,15 @@
// zeroed.
zeroed_ = true;
// Throw an error if first_start_pos is bigger/smaller than
- // allowable_encoder_error_ * index_diff +
- // start_pos.
+ // allowable_encoder_error_ * index_diff + start_pos.
if (::std::abs(first_start_pos_ - start_pos_) >
allowable_encoder_error_ * index_diff_) {
if (!error_) {
LOG(ERROR,
"Encoder ticks out of range since last index pulse. first start "
- "position: %f recent starting position: %f\n",
- first_start_pos_, start_pos_);
+ "position: %f recent starting position: %f, allowable error: %f\n",
+ first_start_pos_, start_pos_,
+ allowable_encoder_error_ * index_diff_);
error_ = true;
}
}
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 5216df0..b5e2c14 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -116,8 +116,8 @@
// Stores the position "start_pos" variable the first time the program
// is zeroed.
double first_start_pos_;
- // Value between 0 and 1 which determines a fraction of the index_diff
- // you want to use.
+ // The fraction of index_diff (possibly greater than 1) after which an error
+ // is reported.
double allowable_encoder_error_;
};
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index ada8712..4fa332f 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -137,6 +137,9 @@
'//third_party/empty_config_h',
],
copts = common_copts,
+ linkopts = [
+ '-pthread',
+ ],
alwayslink = True,
nocopts = '-std=gnu\+\+1y',
)
diff --git a/third_party/protobuf/protobuf.bzl b/third_party/protobuf/protobuf.bzl
index 0cc195b..d91cde4 100644
--- a/third_party/protobuf/protobuf.bzl
+++ b/third_party/protobuf/protobuf.bzl
@@ -1,13 +1,13 @@
# -*- mode: python; -*- PYTHON-PREPROCESSING-REQUIRED
def _GetPath(ctx, path):
- if str(ctx.label).startswith('@'):
+ if str(ctx.label).startswith('@') and not str(ctx.label).startswith('@//'):
fail('External labels not supported for now')
return path
def _GenDir(ctx):
if not ctx.attr.includes:
- if str(ctx.label).startswith('@'):
+ if str(ctx.label).startswith('@') and not str(ctx.label).startswith('@//'):
fail('External labels not supported for now')
return ''
if not ctx.attr.includes[0]:
diff --git a/tools/bazel b/tools/bazel
new file mode 100755
index 0000000..963a3e5
--- /dev/null
+++ b/tools/bazel
@@ -0,0 +1,107 @@
+#!/bin/bash
+
+# The bazel script calls this instead of the bazel-real binary which is
+# installed next to it. This script downloads a specific version of Bazel and
+# then calls that.
+
+# Alternatively, if the environment variable BAZEL_OVERRIDE is set, that will be
+# run directly (after printing a message). That is intended for testing only.
+
+# This script operates based on the assumption that any directory of the correct
+# name is a fully extracted, valid Bazel installation. It is careful to avoid
+# putting an invalid directory at that name at any point.
+
+set -e
+set -u
+set -o pipefail
+
+if [[ -n "${BAZEL_OVERRIDE+x}" ]]; then
+ tput setaf 1 >&2
+ echo -n "Actually calling " >&2
+ tput setaf 3 >&2
+ echo "${BAZEL_OVERRIDE}" >&2
+ tput sgr0 >&2
+ exec "${BAZEL_OVERRIDE}" "$@"
+fi
+
+readonly VERSION="201607070016+7a0d360"
+
+readonly DOWNLOAD_DIR="$(dirname "${BASH_SOURCE[0]}")/../bazel-downloads"
+# Directory to unpack bazel into. This must change whenever bazel changes.
+readonly VERSION_DIR="${DOWNLOAD_DIR}/${VERSION}-v1"
+readonly VERSION_BAZEL="${VERSION_DIR}/usr/bin/bazel"
+
+# Creating might fail if another invocation is racing us.
+if [[ ! -d "${DOWNLOAD_DIR}" ]]; then
+ mkdir "${DOWNLOAD_DIR}" || true
+fi
+if [[ ! -d "${DOWNLOAD_DIR}" ]]; then
+ echo "Failed to create ${DOWNLOAD_DIR}" >&2
+ exit 1
+fi
+
+readonly INSTALLER_NAME="bazel_${VERSION}_amd64.deb"
+readonly DOWNLOAD_URL="http://frc971.org/Build-Dependencies/${INSTALLER_NAME}"
+
+if [[ ! -d "${VERSION_DIR}" ]]; then
+ echo "Downloading Bazel version ${VERSION} from ${DOWNLOAD_URL}..." >&2
+
+ # A temporary directory which is definitely on the same filesystem as our final
+ # destination, which is important so we can atomically move it.
+ # If this move is non-atomic, then a concurrent Bazel command (like the verifier
+ # uses several of) could use a half-copied Bazel installation.
+ TEMP_DIR="$(mktemp --directory --tmpdir="${DOWNLOAD_DIR}")"
+ readonly TEMP_DIR
+
+ ( cd "${TEMP_DIR}"
+ wget "${DOWNLOAD_URL}" -O "${INSTALLER_NAME}" --no-verbose --show-progress
+ echo "Unpacking Bazel version ${VERSION}..." >&2
+ dpkg-deb -x "${INSTALLER_NAME}" extracted
+ )
+
+ touch "${TEMP_DIR}/extracted/usr/bin/bazel.bazelrc"
+
+ # Careful: somebody else might have already done it. If they manage to make
+ # the move between our check and our move, then we'll end up with a random
+ # extracted directory which won't do anybody any harm. If somebody else does
+ # that first, then our move will fail.
+ if [[ ! -d "${VERSION_DIR}" ]]; then
+ mv "${TEMP_DIR}/extracted" "${VERSION_DIR}" || true
+ fi
+ if [[ ! -d "${VERSION_DIR}" ]]; then
+ echo "Failed to create ${VERSION_DIR}" >&2
+ exit 1
+ fi
+ rm -rf "${TEMP_DIR}"
+ echo "Done downloading Bazel version ${VERSION}"
+fi
+
+if [[ -x "${VERSION_BAZEL}-real" ]]; then
+ exec -a "${VERSION_BAZEL}" env -i \
+ HOSTNAME="${HOSTNAME}" \
+ SHELL="${SHELL}" \
+ USER="${USER}" \
+ PATH="${PATH}" \
+ LANG="${LANG}" \
+ HOME="${HOME}" \
+ LOGNAME="${LOGNAME}" \
+ TERM="${TERM}" \
+ DISPLAY="${DISPLAY}" \
+ "${VERSION_BAZEL}-real" "$@"
+fi
+if [[ -x "${VERSION_BAZEL}" ]]; then
+ exec env -i \
+ HOSTNAME="${HOSTNAME}" \
+ SHELL="${SHELL}" \
+ USER="${USER}" \
+ PATH="${PATH}" \
+ LANG="${LANG}" \
+ HOME="${HOME}" \
+ LOGNAME="${LOGNAME}" \
+ TERM="${TERM}" \
+ DISPLAY="${DISPLAY}" \
+ "${VERSION_BAZEL}" "$@"
+fi
+
+echo "Can't find the real bazel!" >&2
+exit 1
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 4894a51..96b27a6 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -13,6 +13,7 @@
namespace control_loops {
const DrivetrainConfig &GetDrivetrainConfig() {
+ // TODO(austin): Switch over to using the profile.
static DrivetrainConfig kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -31,8 +32,7 @@
constants::GetValues().left_drive,
constants::GetValues().right_drive,
true,
- // TODO(austin): Switch over to using the profle.
- false};
+ 0};
return kDrivetrainConfig;
};
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..883bdd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -7,8 +7,7 @@
int main() {
::aos::Init();
- DrivetrainLoop drivetrain =
- DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+ DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;
diff --git a/y2015_bot3/actors/drivetrain_actor.cc b/y2015_bot3/actors/drivetrain_actor.cc
index 32ce93f..5a83626 100644
--- a/y2015_bot3/actors/drivetrain_actor.cc
+++ b/y2015_bot3/actors/drivetrain_actor.cc
@@ -26,7 +26,8 @@
: aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
bool DrivetrainActor::RunAction(const actors::DrivetrainActionParams ¶ms) {
- static const auto K = ::y2015_bot3::control_loops::MakeDrivetrainLoop().K();
+ static const auto K =
+ ::y2015_bot3::control_loops::drivetrain::MakeDrivetrainLoop().K();
const double yoffset = params.y_offset;
const double turn_offset =
diff --git a/y2016/BUILD b/y2016/BUILD
index 9bc5cd7..4a2e768 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -1,4 +1,5 @@
load('/aos/downloader/downloader', 'aos_downloader')
+load('/aos/downloader/downloader', 'aos_downloader_dir')
cc_library(
name = 'constants',
@@ -38,6 +39,7 @@
'//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/queues:gyro',
'//y2016/actors:autonomous_action_lib',
+ '//y2016/actors:superstructure_action_lib',
'//y2016/actors:vision_align_action_lib',
'//y2016/control_loops/shooter:shooter_queue',
'//y2016/control_loops/superstructure:superstructure_lib',
@@ -54,7 +56,9 @@
'//y2016/control_loops/drivetrain:drivetrain',
'//y2016/control_loops/superstructure:superstructure',
'//y2016/control_loops/shooter:shooter',
+ '//y2016/dashboard:dashboard',
'//y2016/actors:autonomous_action',
+ '//y2016/actors:superstructure_action',
'//y2016/actors:vision_align_action',
'//y2016/wpilib:wpilib_interface',
'//y2016/vision:target_receiver',
@@ -62,6 +66,9 @@
srcs = [
'//aos:prime_binaries',
],
+ dirs = [
+ '//y2016/dashboard:www_files',
+ ],
)
aos_downloader(
@@ -72,7 +79,9 @@
'//y2016/control_loops/drivetrain:drivetrain.stripped',
'//y2016/control_loops/superstructure:superstructure.stripped',
'//y2016/control_loops/shooter:shooter.stripped',
+ '//y2016/dashboard:dashboard.stripped',
'//y2016/actors:autonomous_action.stripped',
+ '//y2016/actors:superstructure_action.stripped',
'//y2016/actors:vision_align_action.stripped',
'//y2016/wpilib:wpilib_interface.stripped',
'//y2016/vision:target_receiver.stripped',
@@ -80,4 +89,7 @@
srcs = [
'//aos:prime_binaries_stripped',
],
+ dirs = [
+ '//y2016/dashboard:www_files',
+ ],
)
diff --git a/y2016/actors/BUILD b/y2016/actors/BUILD
index cee67c0..453d49e 100644
--- a/y2016/actors/BUILD
+++ b/y2016/actors/BUILD
@@ -122,6 +122,7 @@
'//aos/common/logging',
'//aos/common/actions:action_lib',
'//frc971/control_loops/drivetrain:drivetrain_queue',
+ '//y2016/queues:ball_detector',
'//y2016/control_loops/superstructure:superstructure_queue',
'//y2016/control_loops/shooter:shooter_queue',
'//y2016/control_loops/drivetrain:drivetrain_base',
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 9024335..199dda5 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -12,6 +12,7 @@
#include "y2016/control_loops/shooter/shooter.q.h"
#include "y2016/control_loops/superstructure/superstructure.q.h"
#include "y2016/actors/autonomous_action.q.h"
+#include "y2016/queues/ball_detector.q.h"
#include "y2016/vision/vision.q.h"
namespace y2016 {
@@ -28,8 +29,16 @@
const ProfileParameters kSlowTurn = {0.8, 3.0};
const ProfileParameters kFastTurn = {3.0, 10.0};
+const ProfileParameters kStealTurn = {4.0, 15.0};
+const ProfileParameters kSwerveTurn = {2.0, 7.0};
+const ProfileParameters kFinishTurn = {2.0, 5.0};
-const double kDistanceShort = 0.25;
+const ProfileParameters kTwoBallLowDrive = {1.7, 3.5};
+const ProfileParameters kTwoBallFastDrive = {3.0, 1.5};
+const ProfileParameters kTwoBallReturnDrive = {3.0, 1.9};
+const ProfileParameters kTwoBallReturnSlow = {3.0, 2.5};
+const ProfileParameters kTwoBallBallPickup = {2.0, 1.75};
+const ProfileParameters kTwoBallBallPickupAccel = {2.0, 2.5};
} // namespace
AutonomousActor::AutonomousActor(actors::AutonomousActionQueueGroup *s)
@@ -55,6 +64,7 @@
ProfileParameters linear,
ProfileParameters angular) {
{
+ LOG(INFO, "Driving distance %f, angle %f\n", distance, angle);
{
const double dangle = angle * dt_config_.robot_radius;
initial_drivetrain_.left += distance - dangle;
@@ -103,6 +113,8 @@
}
}
+constexpr double kDoNotTurnCare = 2.0;
+
bool AutonomousActor::WaitForDriveNear(double distance, double angle) {
::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
::aos::time::Time::InMS(5) / 2);
@@ -151,11 +163,9 @@
}
}
-bool AutonomousActor::WaitForDriveDone() {
+bool AutonomousActor::WaitForDriveProfileDone() {
::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
::aos::time::Time::InMS(5) / 2);
- constexpr double kPositionTolerance = 0.02;
- constexpr double kVelocityTolerance = 0.10;
constexpr double kProfileTolerance = 0.001;
while (true) {
@@ -168,15 +178,7 @@
if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
initial_drivetrain_.left) < kProfileTolerance &&
::std::abs(drivetrain_queue.status->profiled_right_position_goal -
- initial_drivetrain_.right) < kProfileTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_left_position -
- initial_drivetrain_.left) < kPositionTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_right_position -
- initial_drivetrain_.right) < kPositionTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_left_velocity) <
- kVelocityTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_right_velocity) <
- kVelocityTolerance) {
+ initial_drivetrain_.right) < kProfileTolerance) {
LOG(INFO, "Finished drive\n");
return true;
}
@@ -184,11 +186,117 @@
}
}
+bool AutonomousActor::WaitForMaxBy(double angle) {
+ ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+ ::aos::time::Time::InMS(5) / 2);
+ double max_angle = -M_PI;
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ drivetrain_queue.status.FetchLatest();
+ if (IsDriveDone()) {
+ return true;
+ }
+ if (drivetrain_queue.status.get()) {
+ if (drivetrain_queue.status->ground_angle > max_angle) {
+ max_angle = drivetrain_queue.status->ground_angle;
+ }
+ if (drivetrain_queue.status->ground_angle < max_angle - angle) {
+ return true;
+ }
+ }
+ }
+}
+
+bool AutonomousActor::WaitForAboveAngle(double angle) {
+ ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+ ::aos::time::Time::InMS(5) / 2);
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ drivetrain_queue.status.FetchLatest();
+ if (IsDriveDone()) {
+ return true;
+ }
+ if (drivetrain_queue.status.get()) {
+ if (drivetrain_queue.status->ground_angle > angle) {
+ return true;
+ }
+ }
+ }
+}
+
+bool AutonomousActor::WaitForBelowAngle(double angle) {
+ ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+ ::aos::time::Time::InMS(5) / 2);
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ drivetrain_queue.status.FetchLatest();
+ if (IsDriveDone()) {
+ return true;
+ }
+ if (drivetrain_queue.status.get()) {
+ if (drivetrain_queue.status->ground_angle < angle) {
+ return true;
+ }
+ }
+ }
+}
+
+bool AutonomousActor::IsDriveDone() {
+ constexpr double kPositionTolerance = 0.02;
+ constexpr double kVelocityTolerance = 0.10;
+ constexpr double kProfileTolerance = 0.001;
+
+ if (drivetrain_queue.status.get()) {
+ if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
+ initial_drivetrain_.left) < kProfileTolerance &&
+ ::std::abs(drivetrain_queue.status->profiled_right_position_goal -
+ initial_drivetrain_.right) < kProfileTolerance &&
+ ::std::abs(drivetrain_queue.status->estimated_left_position -
+ initial_drivetrain_.left) < kPositionTolerance &&
+ ::std::abs(drivetrain_queue.status->estimated_right_position -
+ initial_drivetrain_.right) < kPositionTolerance &&
+ ::std::abs(drivetrain_queue.status->estimated_left_velocity) <
+ kVelocityTolerance &&
+ ::std::abs(drivetrain_queue.status->estimated_right_velocity) <
+ kVelocityTolerance) {
+ LOG(INFO, "Finished drive\n");
+ return true;
+ }
+ }
+ return false;
+}
+
+bool AutonomousActor::WaitForDriveDone() {
+ ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+ ::aos::time::Time::InMS(5) / 2);
+
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ drivetrain_queue.status.FetchLatest();
+ if (IsDriveDone()) {
+ return true;
+ }
+ }
+}
+
void AutonomousActor::MoveSuperstructure(
double intake, double shoulder, double wrist,
const ProfileParameters intake_params,
const ProfileParameters shoulder_params,
- const ProfileParameters wrist_params, bool traverse_up) {
+ const ProfileParameters wrist_params, bool traverse_up,
+ double roller_power) {
superstructure_goal_ = {intake, shoulder, wrist};
auto new_superstructure_goal =
@@ -212,17 +320,45 @@
new_superstructure_goal->max_angular_acceleration_wrist =
wrist_params.max_acceleration;
- new_superstructure_goal->voltage_top_rollers = 0.0;
- new_superstructure_goal->voltage_bottom_rollers = 0.0;
+ new_superstructure_goal->voltage_top_rollers = roller_power;
+ new_superstructure_goal->voltage_bottom_rollers = roller_power;
new_superstructure_goal->traverse_unlatched = true;
new_superstructure_goal->traverse_down = !traverse_up;
+ new_superstructure_goal->voltage_climber = 0.0;
+ new_superstructure_goal->unfold_climber = false;
if (!new_superstructure_goal.Send()) {
LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
+void AutonomousActor::OpenShooter() {
+ shooter_speed_ = 0.0;
+
+ if (!control_loops::shooter::shooter_queue.goal.MakeWithBuilder()
+ .angular_velocity(shooter_speed_)
+ .clamp_open(true)
+ .push_to_shooter(false)
+ .force_lights_on(false)
+ .Send()) {
+ LOG(ERROR, "Sending shooter goal failed.\n");
+ }
+}
+
+void AutonomousActor::CloseShooter() {
+ shooter_speed_ = 0.0;
+
+ if (!control_loops::shooter::shooter_queue.goal.MakeWithBuilder()
+ .angular_velocity(shooter_speed_)
+ .clamp_open(false)
+ .push_to_shooter(false)
+ .force_lights_on(false)
+ .Send()) {
+ LOG(ERROR, "Sending shooter goal failed.\n");
+ }
+}
+
void AutonomousActor::SetShooterSpeed(double speed) {
shooter_speed_ = speed;
@@ -300,7 +436,8 @@
vision_action_->Start();
}
-void AutonomousActor::WaitForAlignedWithVision() {
+void AutonomousActor::WaitForAlignedWithVision(
+ ::aos::time::Time align_duration) {
bool vision_valid = false;
double last_angle = 0.0;
int ready_to_fire = 0;
@@ -308,7 +445,7 @@
::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
::aos::time::Time::InMS(5) / 2);
::aos::time::Time end_time =
- ::aos::time::Time::Now() + aos::time::Time::InSeconds(3);
+ ::aos::time::Time::Now() + align_duration;
while (end_time > ::aos::time::Time::Now()) {
if (ShouldCancel()) break;
@@ -344,8 +481,9 @@
} else {
ready_to_fire = 0;
}
- if (ready_to_fire > 9) {
+ if (ready_to_fire > 15) {
break;
+ LOG(INFO, "Vision align success!\n");
}
}
phased_loop.SleepUntilNext();
@@ -353,15 +491,106 @@
vision_action_->Cancel();
WaitUntilDoneOrCanceled(::std::move(vision_action_));
+ LOG(INFO, "Done waiting for vision\n");
+}
+
+bool AutonomousActor::IntakeDone() {
+ control_loops::superstructure_queue.status.FetchAnother();
+
+ constexpr double kProfileError = 1e-5;
+ constexpr double kEpsilon = 0.15;
+
+ if (control_loops::superstructure_queue.status->state < 12 ||
+ control_loops::superstructure_queue.status->state == 16) {
+ LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ return true;
+ }
+
+ if (::std::abs(control_loops::superstructure_queue.status->intake.goal_angle -
+ superstructure_goal_.intake) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->intake
+ .goal_angular_velocity) < kProfileError) {
+ LOG(DEBUG, "Profile done.\n");
+ if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
+ superstructure_goal_.intake) < kEpsilon &&
+ ::std::abs(control_loops::superstructure_queue.status->intake
+ .angular_velocity) < kEpsilon) {
+ LOG(INFO, "Near goal, done.\n");
+ return true;
+ }
+ }
+ return false;
+}
+
+bool AutonomousActor::SuperstructureProfileDone() {
+ constexpr double kProfileError = 1e-5;
+ return ::std::abs(
+ control_loops::superstructure_queue.status->intake.goal_angle -
+ superstructure_goal_.intake) < kProfileError &&
+ ::std::abs(
+ control_loops::superstructure_queue.status->shoulder.goal_angle -
+ superstructure_goal_.shoulder) < kProfileError &&
+ ::std::abs(
+ control_loops::superstructure_queue.status->wrist.goal_angle -
+ superstructure_goal_.wrist) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->intake
+ .goal_angular_velocity) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->shoulder
+ .goal_angular_velocity) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->wrist
+ .goal_angular_velocity) < kProfileError;
+}
+
+bool AutonomousActor::SuperstructureDone() {
+ control_loops::superstructure_queue.status.FetchAnother();
+
+ constexpr double kEpsilon = 0.03;
+
+ if (control_loops::superstructure_queue.status->state < 12 ||
+ control_loops::superstructure_queue.status->state == 16) {
+ LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ return true;
+ }
+
+ if (SuperstructureProfileDone()) {
+ LOG(DEBUG, "Profile done.\n");
+ if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
+ superstructure_goal_.intake) < (kEpsilon + 0.1) &&
+ ::std::abs(control_loops::superstructure_queue.status->shoulder.angle -
+ superstructure_goal_.shoulder) < (kEpsilon + 0.05) &&
+ ::std::abs(control_loops::superstructure_queue.status->wrist.angle -
+ superstructure_goal_.wrist) < (kEpsilon + 0.01) &&
+ ::std::abs(control_loops::superstructure_queue.status->intake
+ .angular_velocity) < (kEpsilon + 0.1) &&
+ ::std::abs(control_loops::superstructure_queue.status->shoulder
+ .angular_velocity) < (kEpsilon + 0.10) &&
+ ::std::abs(control_loops::superstructure_queue.status->wrist
+ .angular_velocity) < (kEpsilon + 0.05)) {
+ LOG(INFO, "Near goal, done.\n");
+ return true;
+ }
+ }
+ return false;
+}
+
+void AutonomousActor::WaitForIntake() {
+ while (true) {
+ if (ShouldCancel()) return;
+ if (IntakeDone()) return;
+ }
}
void AutonomousActor::WaitForSuperstructure() {
while (true) {
if (ShouldCancel()) return;
- control_loops::superstructure_queue.status.FetchAnother();
+ if (SuperstructureDone()) return;
+ }
+}
- constexpr double kProfileError = 1e-5;
- constexpr double kEpsilon = 0.03;
+void AutonomousActor::WaitForSuperstructureProfile() {
+ while (true) {
+ if (ShouldCancel()) return;
+ control_loops::superstructure_queue.status.FetchAnother();
if (control_loops::superstructure_queue.status->state < 12 ||
control_loops::superstructure_queue.status->state == 16) {
@@ -369,75 +598,81 @@
return;
}
- if (::std::abs(
- control_loops::superstructure_queue.status->intake.goal_angle -
- superstructure_goal_.intake) < kProfileError &&
- ::std::abs(
- control_loops::superstructure_queue.status->shoulder.goal_angle -
- superstructure_goal_.shoulder) < kProfileError &&
- ::std::abs(
- control_loops::superstructure_queue.status->wrist.goal_angle -
- superstructure_goal_.wrist) < kProfileError &&
- ::std::abs(control_loops::superstructure_queue.status->intake
- .goal_angular_velocity) < kProfileError &&
- ::std::abs(control_loops::superstructure_queue.status->shoulder
- .goal_angular_velocity) < kProfileError &&
- ::std::abs(control_loops::superstructure_queue.status->wrist
- .goal_angular_velocity) < kProfileError) {
- LOG(INFO, "Profile done.\n");
- if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
- superstructure_goal_.intake) < kEpsilon &&
- ::std::abs(
- control_loops::superstructure_queue.status->shoulder.angle -
- superstructure_goal_.shoulder) < kEpsilon &&
- ::std::abs(control_loops::superstructure_queue.status->wrist.angle -
- superstructure_goal_.wrist) < kEpsilon &&
- ::std::abs(control_loops::superstructure_queue.status->intake
- .angular_velocity) < kEpsilon &&
- ::std::abs(control_loops::superstructure_queue.status->shoulder
- .angular_velocity) < kEpsilon &&
- ::std::abs(control_loops::superstructure_queue.status->wrist
- .angular_velocity) < kEpsilon) {
- LOG(INFO, "Near goal, done.\n");
- return;
- }
+ if (SuperstructureProfileDone()) return;
+ }
+}
+
+void AutonomousActor::WaitForSuperstructureLow() {
+ while (true) {
+ if (ShouldCancel()) return;
+ control_loops::superstructure_queue.status.FetchAnother();
+
+ if (control_loops::superstructure_queue.status->state < 12 ||
+ control_loops::superstructure_queue.status->state == 16) {
+ LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ return;
+ }
+ if (SuperstructureProfileDone()) return;
+ if (control_loops::superstructure_queue.status->shoulder.angle < 0.1) {
+ return;
}
}
}
+void AutonomousActor::BackLongShotLowBarTwoBall() {
+ LOG(INFO, "Expanding for back long shot\n");
+ MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
+ {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::BackLongShotTwoBall() {
+ LOG(INFO, "Expanding for back long shot\n");
+ MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
+ {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::BackLongShotTwoBallFinish() {
+ LOG(INFO, "Expanding for back long shot\n");
+ MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625, {7.0, 40.0}, {4.0, 6.0},
+ {10.0, 25.0}, false, 0.0);
+}
+
void AutonomousActor::BackLongShot() {
LOG(INFO, "Expanding for back long shot\n");
- MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 10.0},
- {10.0, 25.0}, false);
+ MoveSuperstructure(0.80, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 6.0},
+ {10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackMiddleShot() {
LOG(INFO, "Expanding for back middle shot\n");
MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.665, {7.0, 40.0}, {4.0, 10.0},
- {10.0, 25.0}, false);
+ {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::FrontLongShot() {
+ LOG(INFO, "Expanding for front long shot\n");
+ MoveSuperstructure(0.80, M_PI / 2.0 + 0.1, M_PI + 0.41 + 0.02, {7.0, 40.0},
+ {4.0, 6.0}, {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::FrontMiddleShot() {
+ LOG(INFO, "Expanding for front middle shot\n");
+ MoveSuperstructure(-0.05, M_PI / 2.0 + 0.1, M_PI + 0.44, {7.0, 40.0},
+ {4.0, 10.0}, {10.0, 25.0}, true, 0.0);
}
void AutonomousActor::TuckArm(bool low_bar, bool traverse_down) {
MoveSuperstructure(low_bar ? -0.05 : 2.0, -0.010, 0.0, {7.0, 40.0},
- {4.0, 10.0}, {10.0, 25.0}, !traverse_down);
+ {4.0, 10.0}, {10.0, 25.0}, !traverse_down, 0.0);
}
-void AutonomousActor::DoFullShot(bool center) {
- // Get the superstructure to unfold and get ready for shooting.
- LOG(INFO, "Unfolding superstructure\n");
- if (center) {
- BackMiddleShot();
- } else {
- BackLongShot();
- }
-
- // Spin up the shooter wheels.
- LOG(INFO, "Spinning up the shooter wheels\n");
- SetShooterSpeed(640.0);
-
+void AutonomousActor::DoFullShot() {
if (ShouldCancel()) return;
// Make sure that the base is aligned with the base.
LOG(INFO, "Waiting for the superstructure\n");
WaitForSuperstructure();
+
+ ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.5));
+
if (ShouldCancel()) return;
LOG(INFO, "Triggering the vision actor\n");
AlignWithVisionGoal();
@@ -445,12 +680,13 @@
// Wait for the drive base to be aligned with the target and make sure that
// the shooter is up to speed.
LOG(INFO, "Waiting for vision to be aligned\n");
- WaitForAlignedWithVision();
+ WaitForAlignedWithVision(aos::time::Time::InSeconds(2));
if (ShouldCancel()) return;
LOG(INFO, "Waiting for shooter to be up to speed\n");
WaitForShooterSpeed();
if (ShouldCancel()) return;
+ ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.3));
LOG(INFO, "Shoot!\n");
Shoot();
@@ -463,7 +699,7 @@
// Wait for everything to be folded up.
LOG(INFO, "Waiting for superstructure to be folded back down\n");
- WaitForSuperstructure();
+ WaitForSuperstructureLow();
}
void AutonomousActor::LowBarDrive() {
@@ -486,46 +722,306 @@
StartDrive(0, -M_PI / 4.0 - 0.2, kLowBarDrive, kSlowTurn);
}
+void AutonomousActor::TippyDrive(double goal_distance, double tip_distance,
+ double below, double above) {
+ StartDrive(goal_distance, 0.0, kMoatDrive, kSlowTurn);
+ if (!WaitForBelowAngle(below)) return;
+ if (!WaitForAboveAngle(above)) return;
+ // Ok, we are good now. Compensate by moving the goal by the error.
+ // Should be here at 2.7
+ drivetrain_queue.status.FetchLatest();
+ if (drivetrain_queue.status.get()) {
+ const double left_error =
+ (initial_drivetrain_.left -
+ drivetrain_queue.status->estimated_left_position);
+ const double right_error =
+ (initial_drivetrain_.right -
+ drivetrain_queue.status->estimated_right_position);
+ const double distance_to_go = (left_error + right_error) / 2.0;
+ const double distance_compensation =
+ goal_distance - tip_distance - distance_to_go;
+ LOG(INFO, "Going %f further at the bump\n", distance_compensation);
+ StartDrive(distance_compensation, 0.0, kMoatDrive, kSlowTurn);
+ }
+}
+
void AutonomousActor::MiddleDrive() {
TuckArm(false, false);
- StartDrive(4.7, 0.0, kMoatDrive, kSlowTurn);
+ TippyDrive(3.65, 2.7, -0.2, 0.0);
if (!WaitForDriveDone()) return;
- StartDrive(0.0, M_PI, kMoatDrive, kFastTurn);
}
void AutonomousActor::OneFromMiddleDrive(bool left) {
- const double kTurnAngle = left ? M_PI / 2.0 - 0.40 : (-M_PI / 2.0 + 0.40);
- const double kFlipTurnAngle =
- left ? (M_PI - kTurnAngle) : (-M_PI - kTurnAngle);
+ const double kTurnAngle = left ? -0.41 : 0.41;
TuckArm(false, false);
- StartDrive(5.0 - kDistanceShort, 0.0, kMoatDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(0.0, kTurnAngle, kRealignDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(-1.3, 0.0, kRealignDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(0.0, kFlipTurnAngle, kRealignDrive, kFastTurn);
+ TippyDrive(4.05, 2.7, -0.2, 0.0);
if (!WaitForDriveDone()) return;
- StartDrive(0.3, 0.0, kRealignDrive, kFastTurn);
+ StartDrive(0.0, kTurnAngle, kRealignDrive, kFastTurn);
}
void AutonomousActor::TwoFromMiddleDrive() {
- const double kTurnAngle = M_PI / 2.0 - 0.13;
TuckArm(false, false);
- StartDrive(5.0 - kDistanceShort, 0.0, kMoatDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(0.0, kTurnAngle, kMoatDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(-2.6, 0.0, kRealignDrive, kFastTurn);
- if (!WaitForDriveDone()) return;
- StartDrive(0.0, M_PI - kTurnAngle, kMoatDrive, kFastTurn);
+ constexpr double kDriveDistance = 5.10;
+ TippyDrive(kDriveDistance, 2.7, -0.2, 0.0);
+
+ if (!WaitForDriveNear(kDriveDistance - 3.0, 2.0)) return;
+ StartDrive(0, -M_PI / 2 - 0.10, kMoatDrive, kFastTurn);
if (!WaitForDriveDone()) return;
- StartDrive(0.3, 0.0, kRealignDrive, kFastTurn);
+ StartDrive(0, M_PI / 3 + 0.35, kMoatDrive, kFastTurn);
+}
+
+void AutonomousActor::CloseIfBall() {
+ ::y2016::sensors::ball_detector.FetchLatest();
+ if (::y2016::sensors::ball_detector.get()) {
+ const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ if (ball_detected) {
+ CloseShooter();
+ }
+ }
+}
+
+void AutonomousActor::WaitForBallOrDriveDone() {
+ ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+ ::aos::time::Time::InMS(5) / 2);
+ while (true) {
+ if (ShouldCancel()) {
+ return;
+ }
+ phased_loop.SleepUntilNext();
+ drivetrain_queue.status.FetchLatest();
+ if (IsDriveDone()) {
+ return;
+ }
+
+ ::y2016::sensors::ball_detector.FetchLatest();
+ if (::y2016::sensors::ball_detector.get()) {
+ const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ if (ball_detected) {
+ return;
+ }
+ }
+ }
+}
+
+void AutonomousActor::WaitForBall() {
+ while (true) {
+ ::y2016::sensors::ball_detector.FetchAnother();
+ if (::y2016::sensors::ball_detector.get()) {
+ const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ if (ball_detected) {
+ return;
+ }
+ if (ShouldCancel()) return;
+ }
+ }
+}
+
+void AutonomousActor::TwoBallAuto() {
+ aos::time::Time start_time = aos::time::Time::Now();
+ OpenShooter();
+ MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+ false, 12.0);
+ if (ShouldCancel()) return;
+ LOG(INFO, "Waiting for the intake to come down.\n");
+
+ WaitForIntake();
+ LOG(INFO, "Intake done at %f seconds, starting to drive\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ if (ShouldCancel()) return;
+ const double kDriveDistance = 5.05;
+ StartDrive(-kDriveDistance, 0.0, kTwoBallLowDrive, kSlowTurn);
+
+ StartDrive(0.0, 0.4, kTwoBallLowDrive, kSwerveTurn);
+ if (!WaitForDriveNear(kDriveDistance - 0.5, kDoNotTurnCare)) return;
+
+ // Check if the ball is there.
+ bool first_ball_there = true;
+ ::y2016::sensors::ball_detector.FetchLatest();
+ if (::y2016::sensors::ball_detector.get()) {
+ const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ first_ball_there = ball_detected;
+ LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ }
+ MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
+ false, 0.0);
+ LOG(INFO, "Shutting off rollers at %f seconds, starting to straighten out\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ StartDrive(0.0, -0.4, kTwoBallLowDrive, kSwerveTurn);
+ MoveSuperstructure(-0.05, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
+ false, 0.0);
+ CloseShooter();
+ if (!WaitForDriveNear(kDriveDistance - 2.4, kDoNotTurnCare)) return;
+
+ // We are now under the low bar. Start lifting.
+ BackLongShotLowBarTwoBall();
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(640.0);
+ StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
+
+ if (!WaitForDriveNear(1.50, kDoNotTurnCare)) return;
+ constexpr double kShootTurnAngle = -M_PI / 4.0 - 0.05;
+ StartDrive(0, kShootTurnAngle, kTwoBallFastDrive, kFinishTurn);
+ BackLongShotTwoBall();
+
+ if (!WaitForDriveDone()) return;
+ LOG(INFO, "First shot done driving at %f seconds\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+
+ WaitForSuperstructureProfile();
+
+ if (ShouldCancel()) return;
+ AlignWithVisionGoal();
+
+ WaitForShooterSpeed();
+ if (ShouldCancel()) return;
+
+ constexpr double kVisionExtra = 0.0;
+ WaitForAlignedWithVision(aos::time::Time::InSeconds(0.5 + kVisionExtra));
+ BackLongShotTwoBallFinish();
+ WaitForSuperstructureProfile();
+ if (ShouldCancel()) return;
+ LOG(INFO, "Shoot!\n");
+ if (first_ball_there) {
+ Shoot();
+ } else {
+ LOG(INFO, "Nah, not shooting\n");
+ }
+
+ LOG(INFO, "First shot at %f seconds\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ if (ShouldCancel()) return;
+
+ SetShooterSpeed(0.0);
+ LOG(INFO, "Folding superstructure back down\n");
+ TuckArm(true, true);
+
+ // Undo vision move.
+ StartDrive(0.0, 0.0, kTwoBallFastDrive, kFinishTurn);
+ if (!WaitForDriveDone()) return;
+
+ constexpr double kBackDrive = 3.09 - 0.4;
+ StartDrive(kBackDrive, 0.0, kTwoBallReturnDrive, kSlowTurn);
+ if (!WaitForDriveNear(kBackDrive - 0.19, kDoNotTurnCare)) return;
+ StartDrive(0, -kShootTurnAngle, kTwoBallReturnDrive, kSwerveTurn);
+ if (!WaitForDriveNear(1.0, kDoNotTurnCare)) return;
+ StartDrive(0, 0, kTwoBallReturnSlow, kSwerveTurn);
+
+ if (!WaitForDriveNear(0.06, kDoNotTurnCare)) return;
+ LOG(INFO, "At Low Bar %f\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+
+ OpenShooter();
+ constexpr double kSecondBallAfterBarDrive = 2.10;
+ StartDrive(kSecondBallAfterBarDrive, 0.0, kTwoBallBallPickupAccel, kSlowTurn);
+ if (!WaitForDriveNear(kSecondBallAfterBarDrive - 0.5, kDoNotTurnCare)) return;
+ constexpr double kBallSmallWallTurn = -0.11;
+ StartDrive(0, kBallSmallWallTurn, kTwoBallBallPickup, kFinishTurn);
+
+ MoveSuperstructure(0.03, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+ false, 12.0);
+
+ if (!WaitForDriveProfileDone()) return;
+
+ MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+ false, 12.0);
+
+ LOG(INFO, "Done backing up %f\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+
+ constexpr double kDriveBackDistance = 5.15 - 0.4;
+ StartDrive(-kDriveBackDistance, 0.0, kTwoBallLowDrive, kFinishTurn);
+ CloseIfBall();
+ if (!WaitForDriveNear(kDriveBackDistance - 0.75, kDoNotTurnCare)) return;
+
+ StartDrive(0.0, -kBallSmallWallTurn, kTwoBallLowDrive, kFinishTurn);
+ LOG(INFO, "Straightening up at %f\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+
+ CloseIfBall();
+ if (!WaitForDriveNear(kDriveBackDistance - 2.3, kDoNotTurnCare)) return;
+
+ ::y2016::sensors::ball_detector.FetchLatest();
+ if (::y2016::sensors::ball_detector.get()) {
+ const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ if (!ball_detected) {
+ if (!WaitForDriveDone()) return;
+ LOG(INFO, "Aborting, no ball %f\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ return;
+ }
+ }
+ CloseShooter();
+
+ BackLongShotLowBarTwoBall();
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(640.0);
+ StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
+
+ if (!WaitForDriveNear(1.80, kDoNotTurnCare)) return;
+ StartDrive(0, kShootTurnAngle, kTwoBallFastDrive, kFinishTurn);
+ BackLongShotTwoBall();
+
+ if (!WaitForDriveDone()) return;
+ LOG(INFO, "Second shot done driving at %f seconds\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ WaitForSuperstructure();
+ AlignWithVisionGoal();
+ if (ShouldCancel()) return;
+
+ WaitForShooterSpeed();
+ if (ShouldCancel()) return;
+
+ // 2.2 with 0.4 of vision.
+ // 1.8 without any vision.
+ LOG(INFO, "Going to vision align at %f\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ WaitForAlignedWithVision(start_time + aos::time::Time::InSeconds(13.5 + kVisionExtra * 2) -
+ aos::time::Time::Now());
+ BackLongShotTwoBallFinish();
+ WaitForSuperstructureProfile();
+ if (ShouldCancel()) return;
+ LOG(INFO, "Shoot at %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+ Shoot();
+
+ LOG(INFO, "Second shot at %f seconds\n",
+ (aos::time::Time::Now() - start_time).ToSeconds());
+ if (ShouldCancel()) return;
+
+ SetShooterSpeed(0.0);
+ LOG(INFO, "Folding superstructure back down\n");
+ TuckArm(true, false);
+ LOG(INFO, "Shot %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+
+ WaitForSuperstructureLow();
+
+ LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+}
+
+void AutonomousActor::StealAndMoveOverBy(double distance) {
+ OpenShooter();
+ MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+ true, 12.0);
+ if (ShouldCancel()) return;
+ LOG(INFO, "Waiting for the intake to come down.\n");
+
+ WaitForIntake();
+ if (ShouldCancel()) return;
+ StartDrive(-distance, M_PI / 2.0, kFastDrive, kStealTurn);
+ WaitForBallOrDriveDone();
+ if (ShouldCancel()) return;
+ MoveSuperstructure(1.0, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+ true, 12.0);
+
+ if (!WaitForDriveDone()) return;
+ StartDrive(0.0, M_PI / 2.0, kFastDrive, kStealTurn);
+ if (!WaitForDriveDone()) return;
}
bool AutonomousActor::RunAction(const actors::AutonomousActionParams ¶ms) {
+ aos::time::Time start_time = aos::time::Time::Now();
LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
InitializeEncoders();
@@ -534,27 +1030,139 @@
switch (params.mode) {
case 0:
LowBarDrive();
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontLongShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(640.0);
+
break;
case 1:
TwoFromMiddleDrive();
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
break;
case 2:
OneFromMiddleDrive(true);
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
break;
case 3:
MiddleDrive();
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
break;
case 4:
OneFromMiddleDrive(false);
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
break;
+ case 5:
+ TwoBallAuto();
+ return true;
+ break;
+ case 6:
+ StealAndMoveOverBy(3.10 + 2 * 52 * 2.54 / 100.0);
+ if (ShouldCancel()) return true;
+
+ TwoFromMiddleDrive();
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
+ break;
+ case 7:
+ StealAndMoveOverBy(2.95 + 52 * 2.54 / 100.0);
+ if (ShouldCancel()) return true;
+
+ OneFromMiddleDrive(true);
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
+ break;
+ case 8: {
+ StealAndMoveOverBy(2.95);
+ if (ShouldCancel()) return true;
+
+ MiddleDrive();
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
+ } break;
+ case 9: {
+ StealAndMoveOverBy(1.70);
+ if (ShouldCancel()) return true;
+
+ OneFromMiddleDrive(false);
+ if (!WaitForDriveDone()) return true;
+ // Get the superstructure to unfold and get ready for shooting.
+ LOG(INFO, "Unfolding superstructure\n");
+ FrontMiddleShot();
+
+ // Spin up the shooter wheels.
+ LOG(INFO, "Spinning up the shooter wheels\n");
+ SetShooterSpeed(600.0);
+
+ } break;
default:
LOG(ERROR, "Invalid auto mode %d\n", params.mode);
return true;
}
+ DoFullShot();
+
+ StartDrive(0.5, 0.0, kMoatDrive, kFastTurn);
if (!WaitForDriveDone()) return true;
- DoFullShot(params.mode != 0);
+ LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
::aos::time::Time::InMS(5) / 2);
diff --git a/y2016/actors/autonomous_actor.h b/y2016/actors/autonomous_actor.h
index 15ed95d..9a26731 100644
--- a/y2016/actors/autonomous_actor.h
+++ b/y2016/actors/autonomous_actor.h
@@ -33,6 +33,17 @@
// Waits for the drive motion to finish. Returns true if it succeeded, and
// false if it cancels.
bool WaitForDriveDone();
+ void WaitForBallOrDriveDone();
+
+ void StealAndMoveOverBy(double distance);
+
+ // Returns true if the drive has finished.
+ bool IsDriveDone();
+ // Waits until the robot is pitched up above the specified angle, or the move
+ // finishes. Returns true on success, and false if it cancels.
+ bool WaitForAboveAngle(double angle);
+ bool WaitForBelowAngle(double angle);
+ bool WaitForMaxBy(double angle);
// Waits until the profile and distance is within distance and angle of the
// goal. Returns true on success, and false when canceled.
@@ -60,14 +71,32 @@
const ProfileParameters intake_params,
const ProfileParameters shoulder_params,
const ProfileParameters wrist_params,
- bool traverse_up);
+ bool traverse_up, double roller_power);
void WaitForSuperstructure();
+ void WaitForSuperstructureProfile();
+ void WaitForSuperstructureLow();
+ void WaitForIntake();
+ bool IntakeDone();
+ bool WaitForDriveProfileDone();
+ void FrontLongShot();
+ void FrontMiddleShot();
void BackLongShot();
+ void BackLongShotTwoBall();
+ void BackLongShotTwoBallFinish();
+ void BackLongShotLowBarTwoBall();
void BackMiddleShot();
+ void WaitForBall();
void TuckArm(bool arm_down, bool traverse_down);
+ void OpenShooter();
+ void CloseShooter();
+ void CloseIfBall();
+ bool SuperstructureProfileDone();
+ bool SuperstructureDone();
+ void TippyDrive(double goal_distance, double tip_distance, double below,
+ double above);
- void DoFullShot(bool center);
+ void DoFullShot();
void LowBarDrive();
// Drive to the middle spot over the middle position. Designed for the rock
// wall, rough terain, or ramparts.
@@ -82,7 +111,9 @@
void Shoot();
void AlignWithVisionGoal();
- void WaitForAlignedWithVision();
+ void WaitForAlignedWithVision(aos::time::Time align_duration);
+
+ void TwoBallAuto();
::std::unique_ptr<actors::VisionAlignAction> vision_action_;
};
diff --git a/y2016/actors/superstructure_action.q b/y2016/actors/superstructure_action.q
index 72bd310..231f5e7 100644
--- a/y2016/actors/superstructure_action.q
+++ b/y2016/actors/superstructure_action.q
@@ -4,7 +4,10 @@
// Parameters to send with start.
struct SuperstructureActionParams {
- double value;
+ double partial_angle;
+ double delay_time;
+ double full_angle;
+ double shooter_angle;
};
queue_group SuperstructureActionQueueGroup {
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index b8ad33a..c2d7c4d 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -1,5 +1,7 @@
#include "y2016/actors/superstructure_actor.h"
+#include <cmath>
+
#include "aos/common/util/phased_loop.h"
#include "aos/common/logging/logging.h"
#include "y2016/actors/superstructure_actor.h"
@@ -9,22 +11,94 @@
namespace actors {
SuperstructureActor::SuperstructureActor(
- actors::SuperstructureActionQueueGroup* s)
+ actors::SuperstructureActionQueueGroup *s)
: aos::common::actions::ActorBase<actors::SuperstructureActionQueueGroup>(
s) {}
bool SuperstructureActor::RunAction(
- const actors::SuperstructureActionParams& params) {
- LOG(INFO, "Starting superstructure action with value %f", params.value);
+ const actors::SuperstructureActionParams ¶ms) {
+ LOG(INFO, "Starting superstructure action\n");
- while (true) {
- control_loops::superstructure_queue.status.FetchLatest();
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
- break;
+ MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
+ WaitForSuperstructure();
+ if (ShouldCancel()) return true;
+ MoveSuperstructure(params.partial_angle, params.shooter_angle, true);
+ if (!WaitOrCancel(::aos::time::Time::InSeconds(params.delay_time))) return true;
+ MoveSuperstructure(params.full_angle, params.shooter_angle, true);
+ WaitForSuperstructure();
+ if (ShouldCancel()) return true;
+ return true;
+}
+
+void SuperstructureActor::MoveSuperstructure(double shoulder, double shooter,
+ bool unfold_climber) {
+ superstructure_goal_ = {0, shoulder, shooter};
+
+ auto new_superstructure_goal =
+ ::y2016::control_loops::superstructure_queue.goal.MakeMessage();
+
+ new_superstructure_goal->angle_intake = 0;
+ new_superstructure_goal->angle_shoulder = shoulder;
+ new_superstructure_goal->angle_wrist = shooter;
+
+ new_superstructure_goal->max_angular_velocity_intake = 7.0;
+ new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
+ new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+
+ new_superstructure_goal->max_angular_acceleration_intake = 40.0;
+ new_superstructure_goal->max_angular_acceleration_shoulder = 5.0;
+ new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+
+ new_superstructure_goal->voltage_top_rollers = 0;
+ new_superstructure_goal->voltage_bottom_rollers = 0;
+
+ new_superstructure_goal->traverse_unlatched = true;
+ new_superstructure_goal->traverse_down = false;
+ new_superstructure_goal->voltage_climber = 0.0;
+ new_superstructure_goal->unfold_climber = unfold_climber;
+
+ if (!new_superstructure_goal.Send()) {
+ LOG(ERROR, "Sending superstructure move failed.\n");
+ }
+}
+
+bool SuperstructureActor::SuperstructureProfileDone() {
+ constexpr double kProfileError = 1e-2;
+ return ::std::abs(
+ control_loops::superstructure_queue.status->intake.goal_angle -
+ superstructure_goal_.intake) < kProfileError &&
+ ::std::abs(
+ control_loops::superstructure_queue.status->shoulder.goal_angle -
+ superstructure_goal_.shoulder) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->intake
+ .goal_angular_velocity) < kProfileError &&
+ ::std::abs(control_loops::superstructure_queue.status->shoulder
+ .goal_angular_velocity) < kProfileError;
+}
+
+bool SuperstructureActor::SuperstructureDone() {
+ control_loops::superstructure_queue.status.FetchAnother();
+
+ // We are no longer running if we are in the zeroing states (below 12), or
+ // estopped.
+ if (control_loops::superstructure_queue.status->state < 12 ||
+ control_loops::superstructure_queue.status->state == 16) {
+ LOG(ERROR, "Superstructure no longer running, aborting action\n");
+ return true;
}
- return true;
+ if (SuperstructureProfileDone()) {
+ LOG(DEBUG, "Profile done.\n");
+ return true;
+ }
+ return false;
+}
+
+void SuperstructureActor::WaitForSuperstructure() {
+ while (true) {
+ if (ShouldCancel()) return;
+ if (SuperstructureDone()) return;
+ }
}
::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
diff --git a/y2016/actors/superstructure_actor.h b/y2016/actors/superstructure_actor.h
index b882585..4d5e372 100644
--- a/y2016/actors/superstructure_actor.h
+++ b/y2016/actors/superstructure_actor.h
@@ -13,9 +13,21 @@
class SuperstructureActor
: public ::aos::common::actions::ActorBase<SuperstructureActionQueueGroup> {
public:
- explicit SuperstructureActor(SuperstructureActionQueueGroup* s);
+ explicit SuperstructureActor(SuperstructureActionQueueGroup *s);
- bool RunAction(const actors::SuperstructureActionParams& params) override;
+ // Internal struct holding superstructure goals sent by autonomous to the
+ // loop.
+ struct SuperstructureGoal {
+ double intake;
+ double shoulder;
+ double wrist;
+ };
+ SuperstructureGoal superstructure_goal_;
+ bool RunAction(const actors::SuperstructureActionParams ¶ms) override;
+ void MoveSuperstructure(double shoulder, double shooter, bool unfold_climber);
+ void WaitForSuperstructure();
+ bool SuperstructureProfileDone();
+ bool SuperstructureDone();
};
using SuperstructureAction =
@@ -23,7 +35,7 @@
// Makes a new SuperstructureActor action.
::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
- const ::y2016::actors::SuperstructureActionParams& params);
+ const ::y2016::actors::SuperstructureActionParams ¶ms);
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index ad899be..00695f0 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -43,38 +43,33 @@
if (!::y2016::vision::vision_status.FetchLatest()) {
continue;
}
+ const auto &vision_status = *::y2016::vision::vision_status;
- if (!::y2016::vision::vision_status->left_image_valid ||
- !::y2016::vision::vision_status->right_image_valid) {
+ if (!vision_status.left_image_valid || !vision_status.right_image_valid) {
continue;
}
const double side_distance_change =
- ::y2016::vision::vision_status->horizontal_angle * robot_radius;
+ vision_status.horizontal_angle * robot_radius;
if (!::std::isfinite(side_distance_change)) {
continue;
}
- drivetrain_queue.status.FetchLatest();
- if (drivetrain_queue.status.get()) {
- const double left_current =
- drivetrain_queue.status->estimated_left_position;
- const double right_current =
- drivetrain_queue.status->estimated_right_position;
+ const double left_current = vision_status.drivetrain_left_position;
+ const double right_current = vision_status.drivetrain_right_position;
- if (!drivetrain_queue.goal.MakeWithBuilder()
- .steering(0.0)
- .throttle(0.0)
- .highgear(false)
- .quickturn(false)
- .control_loop_driving(true)
- .left_goal(left_current + side_distance_change)
- .right_goal(right_current - side_distance_change)
- .left_velocity_goal(0)
- .right_velocity_goal(0)
- .Send()) {
- LOG(WARNING, "sending drivetrain goal failed\n");
- }
+ if (!drivetrain_queue.goal.MakeWithBuilder()
+ .steering(0.0)
+ .throttle(0.0)
+ .highgear(false)
+ .quickturn(false)
+ .control_loop_driving(true)
+ .left_goal(left_current + side_distance_change)
+ .right_goal(right_current - side_distance_change)
+ .left_velocity_goal(0)
+ .right_velocity_goal(0)
+ .Send()) {
+ LOG(WARNING, "sending drivetrain goal failed\n");
}
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 4f1a01e..974a82d 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -71,6 +71,7 @@
0.0, 0.3},
},
+ 0.0,
"practice",
};
break;
@@ -85,27 +86,28 @@
-4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098 - 0.0178 - 0.0725,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
// Location of an index pulse.
- 0.018008, 1.5},
+ 0.018008, 2.5},
},
// Shoulder
{
// Value to add to the pot reading for the shoulder.
-1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 +
- 0.0035 + 0.0055,
+ 0.0035 + 0.0055 - 0.001 - 0.0103 + 0.0032 - 0.0755,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.536989, 1.5},
+ 0.535359, 2.5},
},
// Wrist
{
// Value to add to the pot reading for the wrist.
3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078 - 0.0548 -
- 0.0167 + 0.002,
+ 0.0167 + 0.002 - 0.0026 - 0.1040 - 0.0035 - 0.0012 + 0.0166 - 0.017 + 0.148 + 0.004,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -1.040454, 1.5},
+ -0.354946, 2.5},
},
+ 0.0,
"competition",
};
break;
@@ -117,26 +119,28 @@
{
// Hard stop is 164.2067247 degrees.
-4.2193 + (164.2067247 * M_PI / 180.0 + 0.02 - 0.0235) + 0.0549 -
- 0.104,
+ 0.104 + 0.019 - 0.938 + 0.660 - 0.002,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
- 0.363074, 0.3},
+ 0.332370, 1.3},
},
// Shoulder (Now calibrated at 0)
{
- -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0,
+ -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441 +
+ 0.0034 + 0.0065,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.014860, 0.3},
+ 0.126458, 1.3},
},
// Wrist
{
3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
- 0.023,
+ 0.023 + 0.0488 + 0.0120 - 0.0005 - 0.0784 - 0.0010 - 0.080 + 0.1245,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -0.622423, 0.3},
+ -0.263227, 1.3},
},
+ 0.011,
"practice",
};
break;
diff --git a/y2016/constants.h b/y2016/constants.h
index 7416a3f..a83456c 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -33,14 +33,14 @@
// Ratios for our subsystems.
static constexpr double kShooterEncoderRatio = 1.0;
static constexpr double kIntakeEncoderRatio =
- 16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
+ 14.0 / 64.0 * 18.0 / 72.0 * 16.0 / 48.0;
static constexpr double kShoulderEncoderRatio =
- 12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
+ 14.0 / 64.0 * 18.0 / 72.0 * 12.0 / 42.0;
static constexpr double kWristEncoderRatio =
- 16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
+ 14.0 / 54.0 * 18.0 / 64.0 * 16.0 / 48.0;
- static constexpr double kIntakePotRatio = 16.0 / 48.0 * 18.0 / 72.0;
- static constexpr double kShoulderPotRatio = 16.0 / 58.0;
+ static constexpr double kIntakePotRatio = 18.0 / 72.0 * 16.0 / 48.0;
+ static constexpr double kShoulderPotRatio = 12.0 / 42.0;
static constexpr double kWristPotRatio = 16.0 / 48.0;
// Difference in radians between index pulses.
@@ -54,15 +54,15 @@
// Subsystem motion ranges, in whatever units that their respective queues say
// the use.
static constexpr ::frc971::constants::Range kIntakeRange{// Lower hard stop
- -0.4,
+ -0.5,
// Upper hard stop
- 2.75 + 0.05,
+ 2.85 + 0.05,
// Lower soft stop
-0.300,
// Uppper soft stop
2.725};
static constexpr ::frc971::constants::Range kShoulderRange{// Lower hard stop
- -0.100,
+ -0.150,
// Upper hard stop
2.8,
// Lower soft stop
@@ -70,9 +70,9 @@
// Uppper soft stop
2.0};
static constexpr ::frc971::constants::Range kWristRange{// Lower hard stop
- -2.9,
+ -3.0,
// Upper hard stop
- 2.9,
+ 3.0,
// Lower soft stop
-2.6,
// Uppper soft stop
@@ -99,6 +99,7 @@
};
Wrist wrist;
+ const double down_error;
const char *vision_name;
};
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 2e64090..9aeb4c8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -36,7 +36,8 @@
drivetrain::kLowGearRatio,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
- true};
+ true,
+ constants::GetValues().down_error};
return kDrivetrainConfig;
};
diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 75f0c59..8908038 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -379,8 +379,8 @@
scenario_plotter = ScenarioPlotter()
- J_accelerating = 12
- J_decelerating = 5
+ J_accelerating = 18
+ J_decelerating = 7
arm = Arm(name='AcceleratingArm', J=J_accelerating)
arm_integral_controller = IntegralArm(
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 3701e57..83eb677 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -77,7 +77,7 @@
# Radius of the robot, in meters (requires tuning by hand)
self.rb = 0.601 / 2.0
# Radius of the wheels, in meters.
- self.r = 0.097155 * 0.9811158901447808
+ self.r = 0.097155 * 0.9811158901447808 / 118.0 * 115.75
# Resistance of the motor, divided by the number of motors.
self.resistance = 12.0 / self.stall_current
# Motor velocity constant
diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index cc2dfaf..d99160d 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -42,7 +42,7 @@
# Moment of inertia, measured in CAD.
# Extra mass to compensate for friction is added on.
- self.J = 0.34 + 0.65
+ self.J = 0.34 + 0.40
# Control loop time step
self.dt = 0.005
@@ -73,7 +73,7 @@
glog.debug("Free speed is %f", self.free_speed * numpy.pi * 2.0 / 60.0 / self.G)
q_pos = 0.20
- q_vel = 5.5
+ q_vel = 5.0
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
[0.0, (1.0 / (q_vel ** 2.0))]])
diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 6beac61..6c07725 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -71,7 +71,7 @@
controllability = controls.ctrb(self.A, self.B)
q_pos = 0.16
- q_vel = 1.5
+ q_vel = 0.95
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
[0.0, (1.0 / (q_vel ** 2.0))]])
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py
index 660e577..f08f1a2 100755
--- a/y2016/control_loops/python/wrist.py
+++ b/y2016/control_loops/python/wrist.py
@@ -39,7 +39,7 @@
# Gear ratio
self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
- self.J = 0.20
+ self.J = 0.35
# Control loop time step
self.dt = 0.005
diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 0936eea..629b980 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -84,7 +84,17 @@
// Turn the lights on if we are supposed to spin.
if (output) {
- if (::std::abs(goal->angular_velocity) > 0.0 || goal->force_lights_on) {
+ if (::std::abs(goal->angular_velocity) > 0.0) {
+ output->lights_on = true;
+ if (goal->shooting_forwards) {
+ output->forwards_flashlight = true;
+ output->backwards_flashlight = false;
+ } else {
+ output->forwards_flashlight = false;
+ output->backwards_flashlight = true;
+ }
+ }
+ if (goal->force_lights_on) {
output->lights_on = true;
}
}
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index b799b5a..0e00a02 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -31,6 +31,9 @@
// Forces the lights on.
bool force_lights_on;
+
+ // If true, the robot is shooting forwards.
+ bool shooting_forwards;
};
message Position {
@@ -65,6 +68,9 @@
// If true, the lights are on.
bool lights_on;
+
+ bool forwards_flashlight;
+ bool backwards_flashlight;
};
queue Goal goal;
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index f633d7b..6a10b61 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -78,6 +78,7 @@
'//aos/common/controls:control_loop',
'//aos/common/util:trapezoid_profile',
'//aos/common:math',
+ '//y2016/queues:ball_detector',
'//frc971/control_loops:state_feedback_loop',
'//frc971/control_loops:simple_capped_state_feedback_loop',
'//frc971/zeroing',
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index e5f0fff..0c1ac6a 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -7,6 +7,7 @@
#include "y2016/control_loops/superstructure/integral_intake_plant.h"
#include "y2016/control_loops/superstructure/integral_arm_plant.h"
+#include "y2016/queues/ball_detector.q.h"
#include "y2016/constants.h"
@@ -18,6 +19,7 @@
// The maximum voltage the intake roller will be allowed to use.
constexpr float kMaxIntakeTopVoltage = 12.0;
constexpr float kMaxIntakeBottomVoltage = 12.0;
+constexpr float kMaxClimberVoltage = 12.0;
// Aliases to reduce typing.
constexpr double kIntakeEncoderIndexDifference =
@@ -46,7 +48,7 @@
// incorporating a small safety margin makes writing test cases much easier
// since you can directly compare statuses against the constants in the
// CollisionAvoidance class.
- constexpr double kSafetyMargin = 0.02; // radians
+ constexpr double kSafetyMargin = 0.03; // radians
// Avoid colliding the shooter with the frame.
// If the shoulder is below a certain angle or we want to move it below
@@ -80,15 +82,15 @@
if (wrist_angle > kMaxWristAngleForMovingByIntake ||
wrist_angle < kMinWristAngleForMovingByIntake) {
shoulder_angle_goal =
- ::std::max(original_shoulder_angle_goal,
- kMinShoulderAngleForIntakeInterference + kSafetyMargin);
+ ::std::max(original_shoulder_angle_goal,
+ kMinShoulderAngleForIntakeInterference + kSafetyMargin);
}
} else {
if (wrist_angle > kMaxWristAngleForMovingByIntake ||
wrist_angle < kMinWristAngleForMovingByIntake) {
- shoulder_angle_goal =
- ::std::max(original_shoulder_angle_goal,
- kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
+ shoulder_angle_goal = ::std::max(
+ original_shoulder_angle_goal,
+ kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
}
}
if (::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
@@ -172,8 +174,7 @@
CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing &&
shoulder_angle <=
CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference &&
- intake_angle >
- CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference) {
+ intake_angle > CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference) {
LOG(DEBUG, "Collided: Intake %f > %f, and shoulder %f < %f < %f.\n",
intake_angle, CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference,
CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing,
@@ -208,7 +209,7 @@
if (shoulder_angle <
CollisionAvoidance::kMinShoulderAngleForHorizontalShooter &&
::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
- LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| < %f.\n",
+ LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| > %f.\n",
shoulder_angle,
CollisionAvoidance::kMinShoulderAngleForHorizontalShooter, wrist_angle,
kMaxWristAngleForSafeArmStowing);
@@ -469,6 +470,29 @@
arm_.unprofiled_goal(2, 0));
}
+ // If we're about to ask the wrist to go past one of its limits, then
+ // move the goal so it will be just at the limit when we finish lifting
+ // the shoulder. If it wasn't intersecting something before, this can't
+ // cause it to crash into anything.
+ const double ungrounded_wrist = arm_.goal(2, 0) - arm_.goal(0, 0);
+ const double unprofiled_ungrounded_wrist =
+ arm_.unprofiled_goal(2, 0) - arm_.unprofiled_goal(0, 0);
+ if (unprofiled_ungrounded_wrist >
+ constants::Values::kWristRange.upper &&
+ ungrounded_wrist >
+ constants::Values::kWristRange.upper - kWristAlmostLevel) {
+ arm_.set_unprofiled_goal(arm_.unprofiled_goal(0, 0),
+ constants::Values::kWristRange.upper +
+ arm_.unprofiled_goal(0, 0));
+ } else if (unprofiled_ungrounded_wrist <
+ constants::Values::kWristRange.lower &&
+ ungrounded_wrist < constants::Values::kWristRange.lower +
+ kWristAlmostLevel) {
+ arm_.set_unprofiled_goal(arm_.unprofiled_goal(0, 0),
+ constants::Values::kWristRange.lower +
+ arm_.unprofiled_goal(0, 0));
+ }
+
// Wait until we are level and then go for it.
if (IsArmNear(kLooseTolerance)) {
state_ = LOW_ARM_ZERO_LEVEL_SHOOTER;
@@ -609,10 +633,28 @@
const double max_voltage = (state_ == RUNNING || state_ == LANDING_RUNNING)
? kOperatingVoltage
: kZeroingVoltage;
- arm_.set_max_voltage(max_voltage, max_voltage);
+ if (unsafe_goal) {
+ constexpr float kTriggerThreshold = 12.0 * 0.90 / 0.005;
+
+ if (unsafe_goal->voltage_climber > 1.0) {
+ kill_shoulder_accumulator_ +=
+ ::std::min(kMaxClimberVoltage, unsafe_goal->voltage_climber);
+ } else {
+ kill_shoulder_accumulator_ = 0.0;
+ }
+
+ if (kill_shoulder_accumulator_ > kTriggerThreshold) {
+ kill_shoulder_ = true;
+ }
+ }
+ arm_.set_max_voltage(
+ kill_shoulder_ ? 0.0 : max_voltage,
+ kill_shoulder_ ? (arm_.X_hat(0, 0) < 0.05 ? kShooterHangingLowVoltage
+ : kShooterHangingVoltage)
+ : max_voltage);
intake_.set_max_voltage(max_voltage);
- if (IsRunning()) {
+ if (IsRunning() && !kill_shoulder_) {
// We don't want lots of negative voltage when we are near the bellypan on
// the shoulder...
// TODO(austin): Do I want to push negative power into the belly pan at this
@@ -649,16 +691,40 @@
output->voltage_shoulder = arm_.shoulder_voltage();
output->voltage_wrist = arm_.wrist_voltage();
- // Logic to run our rollers on the intake.
output->voltage_top_rollers = 0.0;
output->voltage_bottom_rollers = 0.0;
+
+ output->voltage_climber = 0.0;
+ output->unfold_climber = false;
if (unsafe_goal) {
- output->voltage_top_rollers = ::std::max(
- -kMaxIntakeTopVoltage,
- ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
- output->voltage_bottom_rollers = ::std::max(
- -kMaxIntakeBottomVoltage,
- ::std::min(unsafe_goal->voltage_bottom_rollers, kMaxIntakeBottomVoltage));
+ // Ball detector lights.
+ ::y2016::sensors::ball_detector.FetchLatest();
+ bool ball_detected = false;
+ if (::y2016::sensors::ball_detector.get()) {
+ ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+ }
+
+ // Climber.
+ output->voltage_climber = ::std::max(
+ static_cast<float>(0.0),
+ ::std::min(unsafe_goal->voltage_climber, kMaxClimberVoltage));
+ output->unfold_climber = unsafe_goal->unfold_climber;
+
+ // Intake.
+ if (unsafe_goal->force_intake || !ball_detected) {
+ output->voltage_top_rollers = ::std::max(
+ -kMaxIntakeTopVoltage,
+ ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
+ output->voltage_bottom_rollers =
+ ::std::max(-kMaxIntakeBottomVoltage,
+ ::std::min(unsafe_goal->voltage_bottom_rollers,
+ kMaxIntakeBottomVoltage));
+ } else {
+ output->voltage_top_rollers = 0.0;
+ output->voltage_bottom_rollers = 0.0;
+ }
+
+ // Traverse.
output->traverse_unlatched = unsafe_goal->traverse_unlatched;
output->traverse_down = unsafe_goal->traverse_down;
}
@@ -697,7 +763,8 @@
status->intake.unprofiled_goal_angle = intake_.unprofiled_goal(0, 0);
status->intake.unprofiled_goal_angular_velocity =
intake_.unprofiled_goal(1, 0);
- status->intake.calculated_velocity = (intake_.angle() - last_intake_angle_) / 0.005;
+ status->intake.calculated_velocity =
+ (intake_.angle() - last_intake_angle_) / 0.005;
status->intake.voltage_error = intake_.X_hat(2, 0);
status->intake.estimator_state = intake_.IntakeEstimatorState();
status->intake.feedforwards_power = intake_.controller().ff_U(0, 0);
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 9cd570c..eb16405 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -111,6 +111,8 @@
&control_loops::superstructure_queue);
static constexpr double kZeroingVoltage = 6.0;
+ static constexpr double kShooterHangingVoltage = 6.0;
+ static constexpr double kShooterHangingLowVoltage = 2.0;
static constexpr double kOperatingVoltage = 12.0;
static constexpr double kLandingShoulderDownVoltage = -1.5;
@@ -232,6 +234,9 @@
float last_wrist_angle_ = 0.0;
float last_intake_angle_ = 0.0;
+ double kill_shoulder_accumulator_ = 0.0;
+ bool kill_shoulder_ = false;
+
// Returns true if the profile has finished, and the joint is within the
// specified tolerance.
bool IsArmNear(double tolerance);
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index f550512..842beb7 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -65,6 +65,13 @@
float voltage_top_rollers;
float voltage_bottom_rollers;
+ // Voltage to sent to the climber. Positive is pulling the robot up.
+ float voltage_climber;
+ // If true, unlatch the climber and allow it to unfold.
+ bool unfold_climber;
+
+ bool force_intake;
+
// If true, release the latch which holds the traverse mechanism in the
// middle.
bool traverse_unlatched;
@@ -116,6 +123,11 @@
float voltage_top_rollers;
float voltage_bottom_rollers;
+ // Voltage to sent to the climber. Positive is pulling the robot up.
+ float voltage_climber;
+ // If true, release the latch to trigger the climber to unfold.
+ bool unfold_climber;
+
// If true, release the latch to hold the traverse mechanism in the middle.
bool traverse_unlatched;
// If true, fire the traverse mechanism down.
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 9fdec26..02f7ae2 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -795,7 +795,7 @@
RunForTime(Time::InSeconds(2), false);
EXPECT_EQ(Superstructure::DISABLED_INITIALIZED, superstructure_.state());
- superstructure_plant_.set_power_error(1.0, 1.0, 1.0);
+ superstructure_plant_.set_power_error(1.0, 1.5, 1.0);
RunForTime(Time::InSeconds(1), false);
diff --git a/y2016/dashboard/BUILD b/y2016/dashboard/BUILD
new file mode 100644
index 0000000..65e650c
--- /dev/null
+++ b/y2016/dashboard/BUILD
@@ -0,0 +1,37 @@
+load('/aos/externals/seasocks/gen_embedded', 'gen_embedded')
+load('/aos/downloader/downloader', 'aos_downloader_dir')
+
+gen_embedded(
+ name = 'gen_embedded',
+ srcs = glob(['www_defaults/**/*'], ['www/**/*']),
+)
+
+aos_downloader_dir(
+ name = 'www_files',
+ visibility = ['//visibility:public'],
+ srcs = glob([
+ 'www/**/*',
+ ]),
+ dir = "www",
+)
+
+cc_binary(
+ name = 'dashboard',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'dashboard.cc',
+ 'dashboard.h',
+ ],
+ deps = [
+ ':gen_embedded',
+ '//aos/linux_code:init',
+ '//aos/common/logging',
+ '//aos/common/util:phased_loop',
+ '//aos/common:time',
+ '//third_party/seasocks',
+ '//y2016/actors:autonomous_action_queue',
+ '//y2016/vision:vision_queue',
+ '//y2016/control_loops/superstructure:superstructure_queue',
+ '//y2016/queues:ball_detector',
+ ],
+)
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
new file mode 100644
index 0000000..bdfedb8
--- /dev/null
+++ b/y2016/dashboard/dashboard.cc
@@ -0,0 +1,302 @@
+#include "y2016/dashboard/dashboard.h"
+
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <thread>
+#include <vector>
+#include <complex>
+
+#include "seasocks/Server.h"
+
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/mutex.h"
+
+#include "y2016/actors/autonomous_action.q.h"
+#include "y2016/vision/vision.q.h"
+#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/queues/ball_detector.q.h"
+
+#include "y2016/dashboard/embedded.h"
+
+namespace y2016 {
+namespace dashboard {
+namespace big_indicator {
+constexpr int kBlack = 0;
+constexpr int kBallIntaked = 1;
+constexpr int kAiming = 2;
+constexpr int kLockedOn = 3;
+} // namespace big_indicator
+
+namespace superstructure_indicator {
+constexpr int kBlack = 0;
+constexpr int kNotZeroed = 1;
+constexpr int kEstopped = 2;
+} // namespace superstructure_indicator
+
+// Define the following if we want to use a local www directory and feed in
+// dummy data.
+//#define DASHBOARD_TESTING
+
+// Define the following if we want to read from the vision queue, which has
+// caused problems in the past when auto aiming that still need to be addressed.
+//#define DASHBOARD_READ_VISION_QUEUE
+
+DataCollector::DataCollector()
+ : cur_raw_data_("no data"),
+ sample_id_(0),
+ measure_index_(0),
+ overflow_id_(20) {}
+
+void DataCollector::RunIteration() {
+ ::aos::MutexLocker locker(&mutex_);
+ measure_index_ = 0;
+
+// Add recorded data here. /////
+#ifdef DASHBOARD_TESTING
+ // The following feeds data into the webserver when we do not have a process
+ // feeding data to the queues.
+ // To test, we are sending three streams holding randomly generated numbers.
+ AddPoint("test", ::std::rand() % 4);
+ AddPoint("test2", ::std::rand() % 3);
+ AddPoint("test3", ::std::rand() % 3 - 1);
+ (void)big_indicator::kBlack;
+ (void)big_indicator::kBallIntaked;
+ (void)big_indicator::kAiming;
+ (void)big_indicator::kLockedOn;
+ (void)superstructure_indicator::kBlack;
+ (void)superstructure_indicator::kNotZeroed;
+ (void)superstructure_indicator::kEstopped;
+#else
+ int big_indicator = big_indicator::kBlack;
+ int superstructure_state_indicator = superstructure_indicator::kBlack;
+ // We should never have a -1 here, so this is an indicator that somethings
+ // gone wrong with reading the auto queue.
+ int auto_mode_indicator = -1;
+
+ ::y2016::actors::auto_mode.FetchLatest();
+ ::y2016::control_loops::superstructure_queue.status.FetchLatest();
+ ::y2016::sensors::ball_detector.FetchLatest();
+ ::y2016::vision::vision_status.FetchLatest();
+
+// Caused glitching with auto-aim at NASA, so be cautious with this until
+// we find a good fix.
+#ifdef DASHBOARD_READ_VISION_QUEUE
+ if (::y2016::vision::vision_status.get() &&
+ (::y2016::vision::vision_status->left_image_valid ||
+ ::y2016::vision::vision_status->right_image_valid)) {
+ big_indicator = big_indicator::kAiming;
+ if (::std::abs(::y2016::vision::vision_status->horizontal_angle) < 0.002) {
+ big_indicator = big_indicator::kLockedOn;
+ }
+ }
+#else
+ (void)big_indicator::kAiming;
+ (void)big_indicator::kLockedOn;
+#endif
+
+ // Ball detector comes after vision because we want to prioritize that
+ // indication.
+ if (::y2016::sensors::ball_detector.get()) {
+ // TODO(comran): Grab detected voltage from joystick_reader. Except this
+ // value may not change, so it may be worth it to keep it as it is right
+ // now.
+ if (::y2016::sensors::ball_detector->voltage > 2.5) {
+ big_indicator = big_indicator::kBallIntaked;
+ }
+ }
+
+ if (::y2016::control_loops::superstructure_queue.status.get()) {
+ if (!::y2016::control_loops::superstructure_queue.status->zeroed) {
+ superstructure_state_indicator = superstructure_indicator::kNotZeroed;
+ }
+ if (::y2016::control_loops::superstructure_queue.status->estopped) {
+ superstructure_state_indicator = superstructure_indicator::kEstopped;
+ }
+ }
+
+ if (::y2016::actors::auto_mode.get()) {
+ auto_mode_indicator = ::y2016::actors::auto_mode->mode;
+ }
+
+ AddPoint("big indicator", big_indicator);
+ AddPoint("superstructure state indicator", superstructure_state_indicator);
+ AddPoint("auto mode indicator", auto_mode_indicator);
+#endif
+
+ // Get ready for next iteration. /////
+ sample_id_++;
+}
+
+void DataCollector::AddPoint(const ::std::string &name, double value) {
+ // Mutex should be locked when this method is called to synchronize packets.
+ CHECK(mutex_.OwnedBySelf());
+
+ size_t index = GetIndex(sample_id_);
+
+ ItemDatapoint datapoint{value, ::aos::time::Time::Now()};
+ if (measure_index_ >= sample_items_.size()) {
+ // New item in our data table.
+ ::std::vector<ItemDatapoint> datapoints;
+ SampleItem item{name, datapoints};
+ sample_items_.emplace_back(item);
+ } else if (index >= sample_items_.at(measure_index_).datapoints.size()) {
+ // New data point for an already existing item.
+ sample_items_.at(measure_index_).datapoints.emplace_back(datapoint);
+ } else {
+ // Overwrite an already existing data point for an already existing item.
+ sample_items_.at(measure_index_).datapoints.at(index) = datapoint;
+ }
+
+ measure_index_++;
+}
+
+::std::string DataCollector::Fetch(int32_t from_sample) {
+ ::aos::MutexLocker locker(&mutex_);
+
+ ::std::stringstream message;
+ message.precision(10);
+
+ // Send out the names of each item when requested by the client.
+ // Example: *item_one_name,item_two_name,item_three_name
+ if (from_sample == 0) {
+ message << "*"; // Begin name packet.
+
+ // Add comma-separated list of names.
+ for (size_t cur_data_name = 0; cur_data_name < sample_items_.size();
+ cur_data_name++) {
+ if (cur_data_name > 0) {
+ message << ",";
+ }
+ message << sample_items_.at(cur_data_name).name;
+ }
+ return message.str();
+ }
+
+ // Send out one sample containing the data.
+ // Samples are split with dollar signs, info with percent signs, and
+ // measurements with commas.
+ // Example of data with two samples: $289%2803.13%10,67$290%2803.14%12,68
+
+ // Note that we are ignoring the from_sample being sent to keep up with the
+ // live data without worrying about client lag.
+ int32_t cur_sample = sample_id_ - 2;
+ int32_t adjusted_index = GetIndex(cur_sample);
+ message << "$"; // Begin data packet.
+
+ // Make sure we are not out of range.
+ if (static_cast<size_t>(adjusted_index) <
+ sample_items_.at(0).datapoints.size()) {
+ message << cur_sample << "%"
+ << sample_items_.at(0)
+ .datapoints.at(adjusted_index)
+ .time.ToSeconds() << "%"; // Send time.
+ // Add comma-separated list of data points.
+ for (size_t cur_measure = 0; cur_measure < sample_items_.size();
+ cur_measure++) {
+ if (cur_measure > 0) {
+ message << ",";
+ }
+ message << sample_items_.at(cur_measure)
+ .datapoints.at(adjusted_index)
+ .value;
+ }
+ }
+
+ return message.str();
+}
+
+size_t DataCollector::GetIndex(size_t sample_id) {
+ return sample_id % overflow_id_;
+}
+
+void DataCollector::operator()() {
+ ::aos::SetCurrentThreadName("DashboardData");
+
+ while (run_) {
+ ::aos::time::PhasedLoopXMS(100, 0);
+ RunIteration();
+ }
+}
+
+SocketHandler::SocketHandler()
+ : data_collector_thread_(::std::ref(data_collector_)) {}
+
+void SocketHandler::onConnect(seasocks::WebSocket *connection) {
+ connections_.insert(connection);
+ LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void SocketHandler::onData(seasocks::WebSocket *connection, const char *data) {
+ int32_t from_sample = atoi(data);
+
+ ::std::string send_data = data_collector_.Fetch(from_sample);
+ connection->send(send_data.c_str());
+}
+
+void SocketHandler::onDisconnect(seasocks::WebSocket *connection) {
+ connections_.erase(connection);
+ LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void SocketHandler::Quit() {
+ data_collector_.Quit();
+ data_collector_thread_.join();
+}
+
+SeasocksLogger::SeasocksLogger(Level min_level_to_log)
+ : PrintfLogger(min_level_to_log) {}
+
+void SeasocksLogger::log(Level level, const char *message) {
+ // Convert Seasocks error codes to AOS.
+ log_level aos_level;
+ switch (level) {
+ case seasocks::Logger::INFO:
+ aos_level = INFO;
+ break;
+ case seasocks::Logger::WARNING:
+ aos_level = WARNING;
+ break;
+ case seasocks::Logger::ERROR:
+ case seasocks::Logger::SEVERE:
+ aos_level = ERROR;
+ break;
+ case seasocks::Logger::DEBUG:
+ case seasocks::Logger::ACCESS:
+ default:
+ aos_level = DEBUG;
+ break;
+ }
+ LOG(aos_level, "Seasocks: %s\n", message);
+}
+
+} // namespace dashboard
+} // namespace y2016
+
+int main(int, char *[]) {
+ ::aos::InitNRT();
+
+ ::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
+ new ::y2016::dashboard::SeasocksLogger(seasocks::Logger::INFO)));
+ ::y2016::dashboard::SocketHandler socket_handler;
+
+ server.addWebSocketHandler(
+ "/ws",
+ ::std::shared_ptr<::y2016::dashboard::SocketHandler>(&socket_handler));
+#ifdef DASHBOARD_TESTING
+ server.serve("www", 1180);
+#else
+ // Absolute directory of www folder on the robot.
+ server.serve("/home/admin/robot_code/www", 1180);
+#endif
+
+ socket_handler.Quit();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
new file mode 100644
index 0000000..003820c
--- /dev/null
+++ b/y2016/dashboard/dashboard.h
@@ -0,0 +1,96 @@
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <vector>
+
+#include "seasocks/PageHandler.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
+
+#include "aos/linux_code/init.h"
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/mutex.h"
+
+namespace y2016 {
+namespace dashboard {
+
+// Dashboard is a webserver that opens a socket and stream data from the robot
+// to the client. It is divided between the DataCollector, which polls
+// RunIteration to determine what to send to the client, and an instance of a
+// Seasocks server, which initiates a webserver on a port and opens a socket
+// for streaming data.
+
+// It is an adaption of http_status, which was a 2015 project
+// that plotted live position data from the robot queues on a webpage for
+// debugging.
+
+class DataCollector {
+ public:
+ DataCollector();
+ void RunIteration();
+
+ // Store a datapoint. In this case, we are reading data points to determine
+ // what color to display on the webpage indicators. Traditionally, this would
+ // be used to plot live data on a graph on the page.
+ void AddPoint(const ::std::string &name, double value);
+
+ // Method called by the websocket to get a JSON-packaged string containing,
+ // at most, a constant number of samples, starting at from_sample.
+ ::std::string Fetch(int32_t from_sample);
+
+ void operator()();
+ void Quit() { run_ = false; }
+
+ private:
+ // Returns a wrapped index based on the overflow size.
+ size_t GetIndex(size_t sample_id);
+
+ struct ItemDatapoint {
+ double value;
+ ::aos::time::Time time;
+ };
+
+ struct SampleItem {
+ ::std::string name;
+ ::std::vector<ItemDatapoint> datapoints;
+ };
+
+ // Storage vector that is written and overwritten with data in a FIFO fashion.
+ ::std::vector<SampleItem> sample_items_;
+
+ ::std::string cur_raw_data_;
+ int32_t sample_id_; // Last sample id used.
+ size_t measure_index_; // Last measure index used.
+ const int32_t overflow_id_; // Vector wrapping size.
+
+ ::std::atomic<bool> run_{true};
+ ::aos::Mutex mutex_;
+};
+
+class SocketHandler : public seasocks::WebSocket::Handler {
+ public:
+ SocketHandler();
+ void onConnect(seasocks::WebSocket* connection) override;
+ void onData(seasocks::WebSocket* connection, const char* data) override;
+ void onDisconnect(seasocks::WebSocket* connection) override;
+ void Quit();
+
+ private:
+ ::std::set<seasocks::WebSocket*> connections_;
+ DataCollector data_collector_;
+ ::std::thread data_collector_thread_;
+};
+
+class SeasocksLogger : public seasocks::PrintfLogger {
+ public:
+ SeasocksLogger(Level min_level_to_log);
+ void log(Level level, const char* message) override;
+};
+
+} // namespace dashboard
+} // namespace y2016
diff --git a/y2016/dashboard/www/index.html b/y2016/dashboard/www/index.html
new file mode 100644
index 0000000..da5512f
--- /dev/null
+++ b/y2016/dashboard/www/index.html
@@ -0,0 +1,245 @@
+<!DOCTYPE html>
+<html>
+<head>
+<title>Spartan Dashboard</title>
+
+<script type="text/javascript">
+var escapable =
+ /[\x00-\x1f\ud800-\udfff\u200c-\u200f\u2028-\u202f\u2060-\u206f\ufff0-\uffff]/g;
+var ws;
+var intervalTime = 50;
+var selected = 0;
+var reconnecting = false;
+var lastSampleID = 0;
+var resetTimeout;
+
+// Filter out junky JSON packets that will otherwise cause nasty decoding
+// errors. These errors come as a result of incomplete packets, corrupted data,
+// or any other artifacts that find themselves into the socket stream.
+
+function filterUnicode(quoted) {
+ escapable.lastIndex = 0;
+ if (!escapable.test(quoted)) return quoted;
+
+ return quoted.replace(escapable, '');
+}
+
+// Change the current data index to plot on the graph.
+// Get a new JSON packet from the websocket on the robot.
+function refresh() {
+ if (!reconnecting) ws.send(lastSampleID);
+}
+
+function initSocketLoop() {
+ ws = new WebSocket('ws://' + document.location.host + '/ws');
+
+ var numDatas = 0;
+
+ $(function() {
+
+ // Socket created & first opened.
+ ws.onopen = function() {
+ reconnecting = false;
+ refresh();
+ $('#message').text('');
+ };
+
+ // Socket disconnected.
+ ws.onclose = function() {
+ console.log('onclose');
+ reconnect();
+ };
+
+ ws.onmessage = function(message) {
+ message = message.data;
+ if(message.charAt(0) == "*"){
+ message = message.substring(1);
+ var names = message.split(",");
+ for (var i = numDatas; i < names.length; i++) {
+ $('#dataTable').append('<tr><td>' + names[i] + '</td><td></td></tr>');
+ numDatas++;
+ }
+ lastSampleID = 1;
+ }else{
+ var samples = message.split("$");
+ for(var x = 0;x < samples.length;x++){
+ var info = samples[x].split("%");
+ lastSampleID = info[0];
+
+ if(!(typeof info[2] === "undefined")){
+ var values = info[2].split(",");
+
+ // For the big indicator.
+ switch(parseInt(values[0])){
+ case 1:
+ $("#bigIndicator").css("background", "#00FF00");
+ $("#bigIndicator").css("color", "#000000");
+ $("#bigIndicator").text("Ball detected");
+ break;
+ case 2:
+ $("#bigIndicator").css("background", "#FFFF00");
+ $("#bigIndicator").css("color", "#000000");
+ $("#bigIndicator").text("Target seen");
+ break;
+ case 3:
+ $("#bigIndicator").css("background", "#0000FF");
+ $("#bigIndicator").css("color", "#000000");
+ $("#bigIndicator").text("Target aligned");
+ break;
+ case 0:
+ default:
+ $("#bigIndicator").css("background", "#000000");
+ $("#bigIndicator").css("color", "#444444");
+ $("#bigIndicator").text("No ball, no target");
+ break;
+ }
+
+ // Superstructure state indicator.
+ switch(parseInt(values[1])){
+ case 1:
+ $("#superstructureStateIndicator").css("background", "#FF0000");
+ $("#superstructureStateIndicator").css("color", "#000000");
+ $("#superstructureStateIndicator").text("Not zeroed");
+ break;
+ case 2:
+ $("#superstructureStateIndicator").css("background", "#FF8C00");
+ $("#superstructureStateIndicator").css("color", "#000000");
+ $("#superstructureStateIndicator").text("Estopped");
+ break;
+ case 0:
+ default:
+ $("#superstructureStateIndicator").css("background", "#000000");
+ $("#superstructureStateIndicator").css("color", "#444444");
+ $("#superstructureStateIndicator").text("Superstructure OK");
+ break;
+ }
+
+ // Auto mode indicator.
+ $("#autoModeIndicator").text("Mode: " + values[2]);
+ if (parseInt(values[2]) < 0){
+ $("#autoModeIndicator").css("visibility", "hidden");
+ } else {
+ $("#autoModeIndicator").css("visibility", "visible");
+ }
+
+ // Populate data table.
+ for(var y = 0;y < values.length;y++){
+ if(!(typeof info[1] === "undefined"
+ || typeof values[y] === "undefined")){
+ $('#dataTable').find('tr').eq(y).find('td').eq(1)
+ .text(values[y]);
+ }
+ }
+ }
+ }
+ }
+
+ setTimeout(refresh, intervalTime);
+ };
+
+ // Socket error, most likely due to a server-side error.
+ ws.onerror = function(error) {
+ console.log('onerror ' + error);
+ };
+ });
+}
+
+function reconnect() {
+ $('#message').text('Reconnecting...');
+ $('#dataTable').empty();
+ lastSampleID = 0;
+ reconnecting = true;
+
+ setTimeout(function(){
+ initSocketLoop()
+ }, 500);
+}
+
+window.onload = function() {
+ initSocketLoop();
+}
+</script>
+<script type="text/javascript" src='jquery-2.2.3.min.js'></script>
+<style>
+body {
+ width: 100%;
+ margin-left: auto;
+ margin-right:auto;
+}
+
+#dataTable {
+ position: absolute;
+ top: 0;
+ background: #FFFFFF;
+ left: 0;
+ width: 200px;
+ cell-spacing:0;
+ cell-padding:0;
+ text-align: left;
+ z-index: 99999;
+}
+
+#headsUpDisplay {
+ width: 1000px;
+ position: absolute;
+ margin-left: auto;
+ margin-right: auto;
+ left: 0;
+ right: 0;
+ z-index: 10000000;
+}
+
+#message {
+ color: #FF0000;
+ text-align: center;
+ background: #000000;
+ font-size: 100px;
+}
+
+#indicatorContainer {
+ width: 100%;
+ height: 100%;
+ position: absolute;
+ top: 0;
+ left: 0;
+ background: #000000;
+ text-align: center;
+ font-size: 100px;
+}
+
+#bigIndicator {
+ background: #000000;
+}
+
+#superstructureStateIndicator {
+ background: #000000;
+ width: 60%;
+}
+
+#autoModeIndicator {
+ background: #FF0000;
+}
+</style>
+</head>
+<body>
+<!-- Data -->
+<table id="dataTable">
+</table>
+
+<div id="headsUpDisplay">
+ <p id="message"></p>
+ <p id="data"></p>
+</div>
+
+<table id="indicatorContainer">
+ <tr>
+ <td id="bigIndicator" colspan="2">Ball detected</td>
+ </tr>
+ <tr style="height:10%">
+ <td id="superstructureStateIndicator">Superstructure state</td>
+ <td id="autoModeIndicator">Auto mode</td>
+ </tr>
+</table>
+
+</body>
+</html>
diff --git a/y2016/dashboard/www/jquery-2.2.3.min.js b/y2016/dashboard/www/jquery-2.2.3.min.js
new file mode 100644
index 0000000..b8c4187
--- /dev/null
+++ b/y2016/dashboard/www/jquery-2.2.3.min.js
@@ -0,0 +1,4 @@
+/*! jQuery v2.2.3 | (c) jQuery Foundation | jquery.org/license */
+!function(a,b){"object"==typeof module&&"object"==typeof module.exports?module.exports=a.document?b(a,!0):function(a){if(!a.document)throw new Error("jQuery requires a window with a document");return b(a)}:b(a)}("undefined"!=typeof window?window:this,function(a,b){var c=[],d=a.document,e=c.slice,f=c.concat,g=c.push,h=c.indexOf,i={},j=i.toString,k=i.hasOwnProperty,l={},m="2.2.3",n=function(a,b){return new n.fn.init(a,b)},o=/^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g,p=/^-ms-/,q=/-([\da-z])/gi,r=function(a,b){return b.toUpperCase()};n.fn=n.prototype={jquery:m,constructor:n,selector:"",length:0,toArray:function(){return e.call(this)},get:function(a){return null!=a?0>a?this[a+this.length]:this[a]:e.call(this)},pushStack:function(a){var b=n.merge(this.constructor(),a);return b.prevObject=this,b.context=this.context,b},each:function(a){return n.each(this,a)},map:function(a){return this.pushStack(n.map(this,function(b,c){return a.call(b,c,b)}))},slice:function(){return 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diff --git a/y2016/dashboard/www_defaults/_404.png b/y2016/dashboard/www_defaults/_404.png
new file mode 100644
index 0000000..8a43cb8
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_404.png
Binary files differ
diff --git a/y2016/dashboard/www_defaults/_error.css b/y2016/dashboard/www_defaults/_error.css
new file mode 100644
index 0000000..565d0a4
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_error.css
@@ -0,0 +1,60 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ color: #ffffff;
+ background-color: #c21e29;
+ text-align: center;
+}
+
+a {
+ color: #ffff00;
+}
+
+.footer {
+ font-style: italic;
+}
+
+.message {
+ display: inline-block;
+ border: 1px solid white;
+ padding: 50px;
+ font-size: 20px;
+}
+
+.headline {
+ padding: 50px;
+ font-weight: bold;
+ font-size: 32px;
+}
+
+.footer {
+ padding-top: 50px;
+ font-size: 12px;
+}
+
diff --git a/y2016/dashboard/www_defaults/_error.html b/y2016/dashboard/www_defaults/_error.html
new file mode 100644
index 0000000..e3d422d
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_error.html
@@ -0,0 +1,42 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+ <title>%%ERRORCODE%% - %%MESSAGE%% - Keep Calm And Carry On!</title>
+ <link href="/_error.css" rel="stylesheet">
+</head>
+<body>
+ <div class="message">
+ <img src="/_404.png" height="200" width="107">
+ <div class="headline">HTTP_STATUS: %%ERRORCODE%% — %%MESSAGE%%</div>
+ <div class="info">%%BODY%%</div>
+ </div>
+
+ <div class="footer">http_status developed by 971 Spartan Robotics. Server powered by <a href="https://github.com/mattgodbolt/seasocks">SeaSocks</a>. Contact Comran Morshed(comranmorsh@gmail.com) if this 404 error should not be happening...</div>
+</body>
+</html>
diff --git a/y2016/dashboard/www_defaults/_seasocks.css b/y2016/dashboard/www_defaults/_seasocks.css
new file mode 100644
index 0000000..5f0b655
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_seasocks.css
@@ -0,0 +1,49 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ font-size: 12px;
+ color: #ffffff;
+ background-color: #333333;
+ margin: 0;
+}
+
+a {
+ color: #ffff00;
+}
+
+table {
+ border-collapse: collapse;
+ width: 100%;
+ text-align: center;
+}
+
+.template {
+ display: none;
+}
+
diff --git a/y2016/dashboard/www_defaults/_stats.html b/y2016/dashboard/www_defaults/_stats.html
new file mode 100644
index 0000000..2390334
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_stats.html
@@ -0,0 +1,88 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this
+list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+ <title>SeaSocks Stats</title>
+ <link href="/_seasocks.css" rel="stylesheet">
+ <script src="/_jquery.min.js" type="text/javascript"></script>
+ <script>
+ function clear() {
+ $('#cx tbody tr:visible').remove();
+ }
+ function connection(stats) {
+ c = $('#cx .template').clone().removeClass('template').appendTo('#cx');
+ for (stat in stats) {
+ c.find('.' + stat).text(stats[stat]);
+ }
+ }
+ function refresh() {
+ var stats = new XMLHttpRequest();
+ stats.open("GET", "/_livestats.js", false);
+ stats.send(null);
+ eval(stats.responseText);
+ }
+ $(function() {
+ setInterval(refresh, 1000);
+ refresh();
+ });
+ </script>
+</head>
+<body><h1>SeaSocks Stats</h1></body>
+
+<h2>Connections</h2>
+<table id="cx">
+ <thead>
+ <tr>
+ <th>Connection time</th>
+ <th>Fd</th>
+ <th>Addr</th>
+ <th>URI</th>
+ <th>Username</th>
+ <th>Pending read</th>
+ <th>Bytes read</th>
+ <th>Pending send</th>
+ <th>Bytes sent</th>
+ </tr>
+ </thead>
+ <tbody>
+ <tr class="template">
+ <td class="since"></td>
+ <td class="fd"></td>
+ <td class="addr"></td>
+ <td class="uri"></td>
+ <td class="user"></td>
+ <td class="input"></td>
+ <td class="read"></td>
+ <td class="output"></td>
+ <td class="written"></td>
+ </tr>
+ </tbody>
+</table>
+
+</body>
+</html>
diff --git a/y2016/dashboard/www_defaults/favicon.ico b/y2016/dashboard/www_defaults/favicon.ico
new file mode 100644
index 0000000..bedac26
--- /dev/null
+++ b/y2016/dashboard/www_defaults/favicon.ico
Binary files differ
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 0023ac8..45733ff 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -23,6 +23,7 @@
#include "frc971/autonomous/auto.q.h"
#include "y2016/actors/autonomous_actor.h"
#include "y2016/actors/vision_align_actor.h"
+#include "y2016/actors/superstructure_actor.h"
#include "y2016/control_loops/drivetrain/drivetrain_base.h"
using ::frc971::control_loops::drivetrain_queue;
@@ -55,7 +56,6 @@
// Buttons on the lexan driver station to get things running on bring-up day.
const ButtonLocation kIntakeDown(3, 11);
const POVLocation kFrontLong(3, 180);
-const ButtonLocation kHigherFrontLong(3, 6);
const POVLocation kBackLong(3, 0);
const POVLocation kBackFender(3, 90);
const POVLocation kFrontFender(3, 270);
@@ -67,6 +67,9 @@
const ButtonLocation kVisionAlign(3, 4);
+const ButtonLocation kExpand(3, 6);
+const ButtonLocation kWinch(3, 5);
+
class Reader : public ::aos::input::JoystickInput {
public:
Reader()
@@ -122,12 +125,19 @@
const double wheel = -data.GetAxis(kSteeringWheel);
const double throttle = -data.GetAxis(kDriveThrottle);
+ drivetrain_queue.status.FetchLatest();
- if (data.IsPressed(kVisionAlign) && vision_valid_ &&
- !vision_action_running_) {
- actors::VisionAlignActionParams params;
- action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
- vision_action_running_ = true;
+ if (data.IsPressed(kVisionAlign)) {
+ if (vision_valid_ && !vision_action_running_) {
+ actors::VisionAlignActionParams params;
+ action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
+ vision_action_running_ = true;
+ LOG(INFO, "Starting vision align\n");
+ } else {
+ if (!vision_valid_) {
+ LOG(INFO, "Vision align but not valid\n");
+ }
+ }
}
if (data.NegEdge(kVisionAlign)) {
@@ -138,12 +148,11 @@
}
// Don't do any normal drivetrain stuff if vision is in charge.
- if (was_running_) {
+ if (vision_action_running_) {
return;
}
if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
- drivetrain_queue.status.FetchLatest();
if (drivetrain_queue.status.get()) {
left_goal = drivetrain_queue.status->estimated_left_position;
right_goal = drivetrain_queue.status->estimated_right_position;
@@ -176,6 +185,7 @@
}
void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ float voltage_climber = 0.0;
// Default the intake to up.
intake_goal_ = constants::Values::kIntakeRange.upper - 0.04;
@@ -209,41 +219,66 @@
}
}
- if (data.IsPressed(kHigherFrontLong)) {
+ if (data.IsPressed(kFrontLong)) {
// Forwards shot
shoulder_goal_ = M_PI / 2.0 + 0.1;
- wrist_goal_ = M_PI + 0.43;
- shooter_velocity_ = 640.0;
- intake_goal_ = intake_when_shooting;
- } else if (data.IsPressed(kFrontLong)) {
- // Forwards shot
- shoulder_goal_ = M_PI / 2.0 + 0.1;
- wrist_goal_ = M_PI + 0.40;
+ wrist_goal_ = M_PI + 0.41 + 0.02 - 0.005;
+ if (drivetrain_queue.status.get()) {
+ wrist_goal_ += drivetrain_queue.status->ground_angle;
+ }
shooter_velocity_ = 640.0;
intake_goal_ = intake_when_shooting;
} else if (data.IsPressed(kBackLong)) {
// Backwards shot
shoulder_goal_ = M_PI / 2.0 - 0.4;
- wrist_goal_ = -0.62;
+ wrist_goal_ = -0.62 - 0.02;
+ if (drivetrain_queue.status.get()) {
+ wrist_goal_ += drivetrain_queue.status->ground_angle;
+ }
shooter_velocity_ = 640.0;
intake_goal_ = intake_when_shooting;
} else if (data.IsPressed(kBackFender)) {
// Fender shot back
- shoulder_goal_ = 0.65;
- wrist_goal_ = -1.20;
- shooter_velocity_ = 550.0;
+ shoulder_goal_ = M_PI / 2.0 - 0.2;
+ wrist_goal_ = -0.55;
+ shooter_velocity_ = 600.0;
intake_goal_ = intake_when_shooting;
} else if (data.IsPressed(kFrontFender)) {
- // Fender shot back
- shoulder_goal_ = 1.45;
- wrist_goal_ = 2.5 + 1.7;
- shooter_velocity_ = 550.0;
+ // Forwards shot, higher
+ shoulder_goal_ = M_PI / 2.0 + 0.1;
+ wrist_goal_ = M_PI + 0.41 + 0.02 + 0.020;
+ if (drivetrain_queue.status.get()) {
+ wrist_goal_ += drivetrain_queue.status->ground_angle;
+ }
+ shooter_velocity_ = 640.0;
intake_goal_ = intake_when_shooting;
+ } else if (data.IsPressed(kExpand) || data.IsPressed(kWinch)) {
+ // Set the goals to the hanging position so when the actor finishes, we
+ // will still be at the right spot.
+ shoulder_goal_ = 1.2;
+ wrist_goal_ = 1.0;
+ intake_goal_ = 0.0;
+ if (data.PosEdge(kExpand)) {
+ is_expanding_ = true;
+ actors::SuperstructureActionParams params;
+ params.partial_angle = 0.3;
+ params.delay_time = 0.7;
+ params.full_angle = shoulder_goal_;
+ params.shooter_angle = wrist_goal_;
+ action_queue_.EnqueueAction(actors::MakeSuperstructureAction(params));
+ }
+ if (data.IsPressed(kWinch)) {
+ voltage_climber = 12.0;
+ }
} else {
wrist_goal_ = 0.0;
shoulder_goal_ = -0.010;
shooter_velocity_ = 0.0;
}
+ if (data.NegEdge(kExpand) || voltage_climber > 1.0) {
+ is_expanding_ = false;
+ action_queue_.CancelAllActions();
+ }
bool ball_detected = false;
::y2016::sensors::ball_detector.FetchLatest();
@@ -329,50 +364,59 @@
}
if (!waiting_for_zero_) {
- auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
- new_superstructure_goal->angle_intake = intake_goal_;
- new_superstructure_goal->angle_shoulder = shoulder_goal_;
- new_superstructure_goal->angle_wrist = wrist_goal_;
+ if (!is_expanding_) {
+ auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
+ new_superstructure_goal->angle_intake = intake_goal_;
+ new_superstructure_goal->angle_shoulder = shoulder_goal_;
+ new_superstructure_goal->angle_wrist = wrist_goal_;
- new_superstructure_goal->max_angular_velocity_intake = 7.0;
- new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
- new_superstructure_goal->max_angular_velocity_wrist = 10.0;
- if (use_slow_profile) {
- new_superstructure_goal->max_angular_acceleration_intake = 10.0;
- } else {
- new_superstructure_goal->max_angular_acceleration_intake = 40.0;
- }
- new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
- new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+ new_superstructure_goal->max_angular_velocity_intake = 7.0;
+ new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
+ new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+ if (use_slow_profile) {
+ new_superstructure_goal->max_angular_acceleration_intake = 10.0;
+ } else {
+ new_superstructure_goal->max_angular_acceleration_intake = 40.0;
+ }
+ new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
+ if (shoulder_goal_ > 1.0) {
+ new_superstructure_goal->max_angular_acceleration_wrist = 45.0;
+ } else {
+ new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+ }
- // Granny mode
- /*
- new_superstructure_goal->max_angular_velocity_intake = 0.2;
- new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
- new_superstructure_goal->max_angular_velocity_wrist = 0.2;
- new_superstructure_goal->max_angular_acceleration_intake = 1.0;
- new_superstructure_goal->max_angular_acceleration_shoulder = 1.0;
- new_superstructure_goal->max_angular_acceleration_wrist = 1.0;
- */
- if (is_intaking_) {
- new_superstructure_goal->voltage_top_rollers = 12.0;
- new_superstructure_goal->voltage_bottom_rollers = 12.0;
- } else if (is_outtaking_) {
- new_superstructure_goal->voltage_top_rollers = -12.0;
- new_superstructure_goal->voltage_bottom_rollers = -7.0;
- } else {
- new_superstructure_goal->voltage_top_rollers = 0.0;
- new_superstructure_goal->voltage_bottom_rollers = 0.0;
- }
+ // Granny mode
+ /*
+ new_superstructure_goal->max_angular_velocity_intake = 0.2;
+ new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
+ new_superstructure_goal->max_angular_velocity_wrist = 0.2;
+ new_superstructure_goal->max_angular_acceleration_intake = 1.0;
+ new_superstructure_goal->max_angular_acceleration_shoulder = 1.0;
+ new_superstructure_goal->max_angular_acceleration_wrist = 1.0;
+ */
+ if (is_intaking_) {
+ new_superstructure_goal->voltage_top_rollers = 12.0;
+ new_superstructure_goal->voltage_bottom_rollers = 12.0;
+ } else if (is_outtaking_) {
+ new_superstructure_goal->voltage_top_rollers = -12.0;
+ new_superstructure_goal->voltage_bottom_rollers = -7.0;
+ } else {
+ new_superstructure_goal->voltage_top_rollers = 0.0;
+ new_superstructure_goal->voltage_bottom_rollers = 0.0;
+ }
- new_superstructure_goal->traverse_unlatched = traverse_unlatched_;
- new_superstructure_goal->traverse_down = traverse_down_;
+ new_superstructure_goal->traverse_unlatched = traverse_unlatched_;
+ new_superstructure_goal->unfold_climber = false;
+ new_superstructure_goal->voltage_climber = voltage_climber;
+ new_superstructure_goal->traverse_down = traverse_down_;
+ new_superstructure_goal->force_intake = true;
- if (!new_superstructure_goal.Send()) {
- LOG(ERROR, "Sending superstructure goal failed.\n");
- } else {
- LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
- intake_goal_, shoulder_goal_, wrist_goal_);
+ if (!new_superstructure_goal.Send()) {
+ LOG(ERROR, "Sending superstructure goal failed.\n");
+ } else {
+ LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
+ intake_goal_, shoulder_goal_, wrist_goal_);
+ }
}
if (!shooter_queue.goal.MakeWithBuilder()
@@ -380,6 +424,7 @@
.clamp_open(is_intaking_ || is_outtaking_)
.push_to_shooter(fire_)
.force_lights_on(force_lights_on)
+ .shooting_forwards(wrist_goal_ > 0)
.Send()) {
LOG(ERROR, "Sending shooter goal failed.\n");
}
@@ -441,6 +486,8 @@
const ::frc971::control_loops::drivetrain::DrivetrainConfig dt_config_;
+ bool is_expanding_ = false;
+
::aos::util::SimpleLogInterval no_drivetrain_status_ =
::aos::util::SimpleLogInterval(::aos::time::Time::InSeconds(0.2), WARNING,
"no drivetrain status");
diff --git a/y2016/plotting/responsive_plotter.js b/y2016/plotting/responsive_plotter.js
new file mode 100644
index 0000000..0840e1d
--- /dev/null
+++ b/y2016/plotting/responsive_plotter.js
@@ -0,0 +1,238 @@
+"use strict";
+
+// Create anonymous namespace to avoid leaking these functions.
+(function() {
+// Convenience function that fetches a file and extracts the array buffer.
+function fetch_ArrayBuffer(url) { // returns Promise<ArrayBuffer>
+ return fetch(url).then(function(val) { return val.arrayBuffer(); });
+}
+
+// Two dimensional vector.
+class Point2d {
+ constructor(x, y) {
+ this.x = x;
+ this.y = y;
+ }
+ sub(o) { return new Point2d(this.x - o.x, this.y - o.y); }
+ add(o) { return new Point2d(this.x + o.x, this.y + o.y); }
+};
+
+// Drag event object for updating a Point2d class by reference.
+class PointDrag {
+ constructor(point) { // point : Point2d
+ this.point = point;
+ }
+ doDrag(delta) {
+ this.point.x += delta.x;
+ this.point.y += delta.y;
+ }
+ doMouseUp(e) { return null; }
+}
+
+// Takes in a canvas and adds the ability to click and drag the offset point.
+// scaleX and scaleY are allowed to be locked or not-locked as the scroll events
+// must be handled by the user of this class.
+//
+// offset.x and offset.y are defined in reference to the model-scale, not the viewport.
+// Thus to move the viewport you need to use offset.x * scaleX, etc.
+//
+// scaleX and scaleY aren't automatically applied to the rendering context because
+// differing x and y scales mess up the line width rendering.
+class ClickDrag {
+ constructor(canvas) {
+ canvas.addEventListener('selectstart', function(e) { e.preventDefault(); return false; }, false);
+ canvas.addEventListener('mousemove', this.handleMouseMove.bind(this), true);
+ canvas.addEventListener('mousedown', this.handleMouseDown.bind(this), true);
+ canvas.addEventListener('mouseup', this.handleMouseUp.bind(this), true);
+ this.canvas = canvas;
+ this.dragger = null;
+ this.offset = new Point2d(0, 0);
+ this.scaleX = 1.0;
+ this.scaleY = 1.0;
+ this.old_point = null;
+ this.on_redraw = null;
+ }
+ translateContext(ctx) { // ctx : CanvasRenderingContext2D
+ ctx.translate(this.offset.x * this.scaleX, this.offset.y * this.scaleY);
+ }
+ handleMouseMove(e) { // e : MouseEvent
+ let pos = new Point2d(e.offsetX / this.scaleX, e.offsetY / this.scaleY);
+ if (this.old_point !== null && this.dragger !== null) {
+ this.dragger.doDrag(pos.sub(this.old_point));
+ if (this.on_redraw !== null) { this.on_redraw(); }
+ }
+ this.old_point = pos;
+ }
+ get width() { return this.canvas.width; }
+ handleMouseDown(e) { // e : MouseEvent
+ this.dragger = new PointDrag(this.offset);
+ }
+ handleMouseUp(e) { // e : MouseEvent
+ if (this.dragger === null) { return; }
+ if (this.dragger.doMouseUp !== undefined) {
+ this.dragger = this.dragger.doMouseUp(e);
+ if (this.on_redraw !== null) { this.on_redraw(); }
+ }
+ }
+ multiplyScale(evt, dx, dy) {
+ let x_cur = evt.offsetX / this.scaleX - this.offset.x;
+ let y_cur = evt.offsetY / this.scaleY - this.offset.y;
+ this.scaleX *= dx;
+ this.scaleY *= dy;
+ this.offset.x = evt.offsetX / this.scaleX - x_cur;
+ this.offset.y = evt.offsetY / this.scaleY - y_cur;
+ if (this.on_redraw !== null) { this.on_redraw(); }
+ }
+};
+
+// This represents a particular downsampling of a timeseries dataset.
+// For the base level, data = min = max.
+// This is required
+class MipMapLevel {
+ // All arrays should be the same size.
+ constructor(data, min, max, scale) { // data : Float32Array, min : Float32Array, max : Float32Array, scale : Integer
+ this.data = data;
+ this.min = min;
+ this.max = max;
+ this.scale = scale;
+ }
+ get length() { return this.data.length; }
+ // Uses box filter to downsample. Guassian may be an improvement.
+ downsample() {
+ let new_length = (this.data.length / 2) | 0;
+ let data = new Float32Array(new_length);
+ let min = new Float32Array(new_length);
+ let max = new Float32Array(new_length);
+ for (let i = 0; i < new_length; i++) {
+ let i1 = i * 2;
+ let i2 = i1 + 1
+ data[i] = (this.data[i1] + this.data[i2]) / 2.0;
+ min[i] = Math.min(this.min[i1], this.min[i2]);
+ max[i] = Math.max(this.max[i1], this.max[i2]);
+ }
+ return new MipMapLevel(data, min, max, this.scale * 2);
+ }
+ static makeBaseLevel(data) { // data : Float32Array
+ return new MipMapLevel(data, data, data, 1);
+ }
+ clipv(v) { // v : Numeric
+ return Math.min(Math.max(v|0, 0), this.length - 1);
+ }
+ draw(ctx, clickDrag) { // ctx : CanvasRenderingContext2D, clickDrag : ClickDrag
+ let scalex = clickDrag.scaleX * this.scale;
+ let scaley = clickDrag.scaleY;
+ let stx = -clickDrag.offset.x / this.scale;
+ let edx = stx + clickDrag.width / scalex;
+ let sti = this.clipv(stx - 2);
+ let edi = this.clipv(edx + 2);
+ ctx.beginPath();
+ ctx.fillStyle="#00ff00";
+ ctx.moveTo(sti * scalex, scaley * this.min[sti]);
+ for (let i = sti + 1; i <= edi; i++) {
+ ctx.lineTo(i * scalex, scaley * this.min[i]);
+ }
+ for (let i = edi; i >= sti; --i) {
+ ctx.lineTo(i * scalex, scaley * this.max[i]);
+ }
+ ctx.fill();
+ ctx.closePath();
+
+ ctx.beginPath();
+ ctx.strokeStyle="#008f00";
+ ctx.moveTo(sti * scalex, scaley * this.data[sti]);
+ for (let i = sti + 1; i <= edi; i++) {
+ ctx.lineTo(i * scalex, scaley * this.data[i]);
+ }
+ ctx.stroke();
+ ctx.closePath();
+ }
+};
+
+// This class represents all downsampled data levels.
+// This must only be used for descrite time-series data.
+class MipMapper {
+ constructor(samples) { // samples : Float32Array
+ this.levels = [];
+ let level = MipMapLevel.makeBaseLevel(samples);
+ this.levels.push(level);
+ while (level.length > 2) {
+ level = level.downsample();
+ this.levels.push(level);
+ }
+ }
+ // Find the level such that samples are spaced at most 2 pixels apart
+ getLevel(scale) { // scale : Float
+ let level = this.levels[0];
+ for (let i = 0; i < this.levels.length; ++i) {
+ // Someone who understands nyquist could probably improve this.
+ if (this.levels[i].scale * scale <= 4.0) {
+ level = this.levels[i];
+ }
+ }
+ return level;
+ }
+}
+
+// Custom HTML element for x-responsive-plotter.
+// This should be the main entry-point for this code.
+class ResponsivePlotter extends HTMLElement {
+ createdCallback() {
+ this.data = null;
+ this.canvas = document.createElement("canvas");
+ this.canvas.style["background"] = "inherit";
+ this.canvas.addEventListener("mousewheel", this.doScroll.bind(this), false);
+ this.clickDrag = new ClickDrag(this.canvas);
+ this.clickDrag.on_redraw = this.doRedraw.bind(this);
+ this.clickDrag.offset.y = 160; //320;
+ this.updateInnerData();
+ this.appendChild(this.canvas);
+ }
+ doScroll(e) {
+ let factor = (e.wheelDelta < 0) ? 0.9 : 1.1;
+ this.clickDrag.multiplyScale(e, e.shiftKey ? 1.0 : factor, e.shiftKey ? factor : 1.0);
+ e.preventDefault();
+ }
+ doRedraw() {
+ this.redraw();
+ }
+ updateInnerData() {
+ this.canvas.width = this.getAttribute("width") || 640;
+ this.canvas.height = this.getAttribute("height") || 480;
+ fetch_ArrayBuffer(this.getAttribute("data")).then(this.dataUpdated.bind(this));
+ this.redraw();
+ }
+ attributeChangedCallback(attrName, oldVal, newVal) {
+ if (attrName == "width") {
+ this.canvas.width = this.getAttribute("width") || 640;
+ this.redraw();
+ } else if (attrName == "height") {
+ this.canvas.width = this.getAttribute("height") || 480;
+ this.redraw();
+ } else if (attrName == "data") {
+ // Should this clear out the canvas if a different url is selected?
+ // Well it does.
+ this.data = null;
+ fetch_ArrayBuffer(this.getAttribute("data")).then(this.dataUpdated.bind(this));
+ }
+ }
+ dataUpdated(data) { // data : ArrayBuffer
+ this.data = new MipMapper(new Float32Array(data));
+ this.redraw();
+ }
+ redraw() {
+ let ctx = this.canvas.getContext('2d');
+ ctx.clearRect(0, 0, this.canvas.width, this.canvas.height);
+ ctx.save();
+ this.clickDrag.translateContext(ctx);
+ if (this.data !== null) {
+ let level = this.data.getLevel(this.clickDrag.scaleX);
+ level.draw(ctx, this.clickDrag);
+ }
+ ctx.restore();
+ }
+};
+
+
+// TODO(parker): This is chrome-specific v0 version of this switch to v1 when available.
+document.registerElement('x-responsive-plotter', ResponsivePlotter);
+})();
diff --git a/y2016/plotting/test.html b/y2016/plotting/test.html
new file mode 100644
index 0000000..df278b0
--- /dev/null
+++ b/y2016/plotting/test.html
@@ -0,0 +1,12 @@
+<!DOCTYPE html>
+<html>
+ <head>
+ <meta charset="UTF-8">
+ <script src="/responsive_plotter.js" type="text/javascript"></script>
+ </head>
+
+ <body style=>
+ <x-responsive-plotter width=800 data="/test_data" style="background: lightblue;">
+ </x-responsive-plotter>
+ </body>
+</html>
diff --git a/y2016/plotting/test.rb b/y2016/plotting/test.rb
new file mode 100644
index 0000000..9f2f58a
--- /dev/null
+++ b/y2016/plotting/test.rb
@@ -0,0 +1,29 @@
+require "sinatra"
+
+# Must use sinatra server for this because fetch() in javascript
+# cannot load from the filesystem.
+get '/test.html' do
+ File.read("./test.html")
+end
+
+get '/responsive_plotter.js' do
+ content_type 'text/javascript'
+ File.read("./responsive_plotter.js")
+end
+
+get '/test_data' do
+ content_type 'binary/octet-stream'
+ data = ""
+ # Use ./test_data if it exists. Otherwise random data.
+ if (File.exists?("./test_data"))
+ data = File.read("./test_data")
+ else
+ 1000.times do
+ data += (1024.times.collect do |i|
+ (rand() * 480 - 160)
+ end.pack("F*"))
+ end
+ end
+ data
+end
+
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index 550e605..f41ea84 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -92,5 +92,7 @@
':vision_data',
':stereo_geometry',
'//y2016:constants',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
+ '//aos/common:mutex',
],
)
diff --git a/y2016/vision/calibration.pb b/y2016/vision/calibration.pb
index 83fd42a..b24a6e4 100644
--- a/y2016/vision/calibration.pb
+++ b/y2016/vision/calibration.pb
@@ -1,7 +1,7 @@
calibration {
robot: "competition"
calibration: {
- focal_length: 1.116070312
+ focal_length: 1.236070312
center_center_dist: 0.27051
center_center_skew: -16.65
camera_y_skew: 20.0
@@ -15,14 +15,14 @@
camera_exposure: 10
camera_brightness: 128
camera_gain: 0
- camera_fps: 10
+ camera_fps: 20
}
}
calibration {
robot: "practice"
calibration {
- focal_length: 1.1160703125
+ focal_length: 1.236070312
center_center_dist: 0.26829
center_center_skew: 0.0
camera_y_skew: 0.0
@@ -36,7 +36,7 @@
camera_exposure: 10
camera_brightness: 128
camera_gain: 0
- camera_fps: 5
+ camera_fps: 20
}
}
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index b51e4ed..3967e60 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -4,12 +4,19 @@
#include <vector>
#include <memory>
+#include <array>
+#include <thread>
+#include <atomic>
+#include <limits>
#include "aos/linux_code/init.h"
#include "aos/common/time.h"
#include "aos/common/logging/logging.h"
#include "aos/common/logging/queue_logging.h"
#include "aos/vision/events/udp.h"
+#include "aos/common/mutex.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2016/vision/vision.q.h"
#include "y2016/vision/vision_data.pb.h"
@@ -19,7 +26,8 @@
namespace y2016 {
namespace vision {
-::aos::vision::Vector<2> CreateCenterFromTarget(double lx, double ly, double rx, double ry) {
+::aos::vision::Vector<2> CreateCenterFromTarget(double lx, double ly, double rx,
+ double ry) {
return ::aos::vision::Vector<2>((lx + rx) / 2.0, (ly + ry) / 2.0);
}
@@ -32,7 +40,8 @@
void SelectTargets(const VisionData &left_target,
const VisionData &right_target,
::aos::vision::Vector<2> *center_left,
- ::aos::vision::Vector<2> *center_right) {
+ ::aos::vision::Vector<2> *center_right, double *angle_left,
+ double *angle_right) {
// No good targets. Let the caller decide defaults.
if (right_target.target_size() == 0 || left_target.target_size() == 0) {
return;
@@ -67,6 +76,7 @@
const double angle = h / wid1;
if (min_angle == -1.0 || ::std::abs(angle) < ::std::abs(min_angle)) {
min_angle = angle;
+ *angle_left = angle;
left_index = i;
}
}
@@ -77,19 +87,21 @@
double good_ang = min_angle;
double min_ang_err = -1.0;
int right_index = -1;
- // Now pick the bottom edge angle from the right that lines up best with the left.
+ // Now pick the bottom edge angle from the right that lines up best with the
+ // left.
for (int j = 0; j < right_target.target_size(); j++) {
double wid2 = TargetWidth(right_target.target(j).left_corner_x(),
- right_target.target(j).left_corner_y(),
- right_target.target(j).right_corner_x(),
- right_target.target(j).right_corner_y());
+ right_target.target(j).left_corner_y(),
+ right_target.target(j).right_corner_x(),
+ right_target.target(j).right_corner_y());
h = right_target.target(j).left_corner_y() -
right_target.target(j).right_corner_y();
- double ang = h/ wid2;
+ double ang = h / wid2;
double ang_err = ::std::abs(good_ang - ang);
if (min_ang_err == -1.0 || min_ang_err > ang_err) {
min_ang_err = ang_err;
right_index = j;
+ *angle_right = ang;
}
}
@@ -105,86 +117,294 @@
right_target.target(right_index).right_corner_y());
}
+class CameraHandler {
+ public:
+ void Received(const VisionData &target, ::aos::time::Time now) {
+ if (current_.received) {
+ last_ = current_;
+ }
+ current_.target = target;
+ current_.rx_time = now;
+ current_.capture_time = now -
+ ::aos::time::Time::InNS(target.send_timestamp() -
+ target.image_timestamp()) +
+ // It takes a bit to shoot a frame. Push the frame
+ // further back in time.
+ ::aos::time::Time::InMS(10);
+ current_.received = true;
+ }
+
+ void CheckStale(::aos::time::Time now) {
+ if (now > current_.rx_time + ::aos::time::Time::InMS(50)) {
+ current_.received = false;
+ last_.received = false;
+ }
+ }
+
+ bool received_both() const { return current_.received && last_.received; }
+
+ bool is_valid() const {
+ return current_.target.target_size() > 0 && last_.target.target_size() > 0;
+ }
+
+ const VisionData &target() const { return current_.target; }
+ const VisionData &last_target() const { return last_.target; }
+
+ ::aos::time::Time capture_time() const { return current_.capture_time; }
+ ::aos::time::Time last_capture_time() const { return last_.capture_time; }
+
+ private:
+ struct TargetWithTimes {
+ VisionData target;
+ ::aos::time::Time rx_time{0, 0};
+ ::aos::time::Time capture_time{0, 0};
+ bool received = false;
+ };
+
+ TargetWithTimes current_;
+ TargetWithTimes last_;
+};
+
+void CalculateFiltered(const CameraHandler &older, const CameraHandler &newer,
+ const ::aos::vision::Vector<2> &newer_center,
+ const ::aos::vision::Vector<2> &last_newer_center,
+ double angle, double last_angle,
+ ::aos::vision::Vector<2> *interpolated_result,
+ double *interpolated_angle) {
+ const double age_ratio =
+ (older.capture_time() - newer.last_capture_time()).ToSeconds() /
+ (newer.capture_time() - newer.last_capture_time()).ToSeconds();
+ interpolated_result->Set(
+ newer_center.x() * age_ratio + (1 - age_ratio) * last_newer_center.x(),
+ newer_center.y() * age_ratio + (1 - age_ratio) * last_newer_center.y());
+
+ *interpolated_angle = angle * age_ratio + (1 - age_ratio) * last_angle;
+}
+
+// Handles calculating drivetrain offsets.
+class DrivetrainOffsetCalculator {
+ public:
+ // To be called by ::std::thread.
+ void operator()() {
+ auto &status = ::frc971::control_loops::drivetrain_queue.status;
+ while (run_) {
+ status.FetchAnother();
+
+ ::aos::MutexLocker locker(&lock_);
+ data_[data_index_].time = status->sent_time;
+ data_[data_index_].left = status->estimated_left_position;
+ data_[data_index_].right = status->estimated_right_position;
+ ++data_index_;
+ if (data_index_ == data_.size()) data_index_ = 0;
+ if (valid_data_ < data_.size()) ++valid_data_;
+ }
+ }
+
+ // Takes a vision status message with everything except
+ // drivetrain_{left,right}_position set and sets those.
+ // Returns false if it doesn't have enough data to fill them out.
+ bool CompleteVisionStatus(::y2016::vision::VisionStatus *status) {
+ if (valid_data_ == 0) return false;
+
+ const ::aos::time::Time capture_time =
+ ::aos::time::Time::InNS(status->target_time);
+ DrivetrainData before, after;
+ FindBeforeAfter(&before, &after, capture_time);
+
+ if (before.time == after.time) {
+ status->drivetrain_left_position = before.left;
+ status->drivetrain_right_position = before.right;
+ } else {
+ const double age_ratio = (capture_time - before.time).ToSeconds() /
+ (after.time - before.time).ToSeconds();
+ status->drivetrain_left_position =
+ before.left * (1 - age_ratio) + after.left * age_ratio;
+ status->drivetrain_right_position =
+ before.right * (1 - age_ratio) + after.right * age_ratio;
+ }
+
+ return true;
+ }
+
+ void Quit() { run_ = false; }
+
+ private:
+ struct DrivetrainData {
+ ::aos::time::Time time;
+ double left, right;
+ };
+
+ // Fills out before and after with the data surrounding capture_time.
+ // They might be identical if that's the closest approximation.
+ // Do not call this if valid_data_ is 0.
+ void FindBeforeAfter(DrivetrainData *before, DrivetrainData *after,
+ ::aos::time::Time capture_time) {
+ ::aos::MutexLocker locker(&lock_);
+ size_t location = 0;
+ while (true) {
+ // We hit the end of our data. Just fill them both out as the last data
+ // point.
+ if (location >= valid_data_) {
+ *before = *after =
+ data_[previous_index((valid_data_ + data_index_) % data_.size())];
+ return;
+ }
+
+ // The index into data_ corresponding to location positions after
+ // (data_index_ - 1).
+ const size_t index = previous_index(location + data_index_);
+
+ // If we've found the one we want.
+ if (data_[index].time > capture_time) {
+ *after = data_[index];
+ if (location == 0) {
+ // If this is the first one and it's already after, just return the
+ // same thing for both.
+ *before = data_[index];
+ } else {
+ *before = data_[previous_index(index)];
+ }
+ return;
+ }
+
+ ++location;
+ }
+ }
+
+ size_t previous_index(size_t index) const {
+ if (index == 0) {
+ return data_.size() - 1;
+ } else {
+ return index - 1;
+ }
+ }
+
+ ::std::array<DrivetrainData, 200> data_;
+ // The index into data_ the next data point is going at.
+ size_t data_index_ = 0;
+ // How many elemets of data_ are valid.
+ size_t valid_data_ = 0;
+
+ ::aos::Mutex lock_;
+
+ ::std::atomic<bool> run_{true};
+};
void Main() {
StereoGeometry stereo(constants::GetValues().vision_name);
LOG(INFO, "calibration: %s\n",
stereo.calibration().ShortDebugString().c_str());
- VisionData left_target;
- aos::time::Time left_rx_time{0, 0};
+ DrivetrainOffsetCalculator drivetrain_offset;
+ ::std::thread drivetrain_offset_thread(::std::ref(drivetrain_offset));
- VisionData right_target;
- aos::time::Time right_rx_time{0, 0};
+ CameraHandler left;
+ CameraHandler right;
::aos::vision::RXUdpSocket recv(8080);
char rawData[65507];
- bool got_left = false;
- bool got_right = false;
while (true) {
// TODO(austin): Don't malloc.
VisionData target;
int size = recv.Recv(rawData, 65507);
- aos::time::Time now = aos::time::Time::Now();
+ ::aos::time::Time now = ::aos::time::Time::Now();
if (target.ParseFromArray(rawData, size)) {
if (target.camera_index() == 0) {
- left_target = target;
- left_rx_time = now;
- got_left = true;
+ left.Received(target, now);
} else {
- right_target = target;
- right_rx_time = now;
- got_right = true;
+ right.Received(target, now);
}
} else {
LOG(ERROR, "oh noes: parse error\n");
continue;
}
- if (now > left_rx_time + aos::time::Time::InMS(50)) {
- got_left = false;
- }
- if (now > right_rx_time + aos::time::Time::InMS(50)) {
- got_right = false;
- }
+ left.CheckStale(now);
+ right.CheckStale(now);
- if (got_left && got_right) {
- bool left_image_valid = left_target.target_size() > 0;
- bool right_image_valid = right_target.target_size() > 0;
+ if (left.received_both() && right.received_both()) {
+ const bool left_image_valid = left.is_valid();
+ const bool right_image_valid = right.is_valid();
auto new_vision_status = vision_status.MakeMessage();
new_vision_status->left_image_valid = left_image_valid;
new_vision_status->right_image_valid = right_image_valid;
if (left_image_valid && right_image_valid) {
- ::aos::vision::Vector<2> center0(0.0, 0.0);
- ::aos::vision::Vector<2> center1(0.0, 0.0);
- SelectTargets(left_target, right_target, ¢er0, ¢er1);
+ ::aos::vision::Vector<2> center_left(0.0, 0.0);
+ ::aos::vision::Vector<2> center_right(0.0, 0.0);
+ double angle_left;
+ double angle_right;
+ SelectTargets(left.target(), right.target(), ¢er_left,
+ ¢er_right, &angle_left, &angle_right);
+
+ // TODO(Ben): Remember this from last time instead of recalculating it
+ // each time.
+ ::aos::vision::Vector<2> last_center_left(0.0, 0.0);
+ ::aos::vision::Vector<2> last_center_right(0.0, 0.0);
+ double last_angle_left;
+ double last_angle_right;
+ SelectTargets(left.last_target(), right.last_target(),
+ &last_center_left, &last_center_right,
+ &last_angle_left, &last_angle_right);
+
+ ::aos::vision::Vector<2> filtered_center_left(0.0, 0.0);
+ ::aos::vision::Vector<2> filtered_center_right(0.0, 0.0);
+ double filtered_angle_left;
+ double filtered_angle_right;
+ if (left.capture_time() < right.capture_time()) {
+ filtered_center_left = center_left;
+ filtered_angle_left = angle_left;
+ new_vision_status->target_time = left.capture_time().ToNSec();
+ CalculateFiltered(left, right, center_right, last_center_right,
+ angle_right, last_angle_right,
+ &filtered_center_right, &filtered_angle_right);
+ } else {
+ filtered_center_right = center_right;
+ filtered_angle_right = angle_right;
+ new_vision_status->target_time = right.capture_time().ToNSec();
+ CalculateFiltered(right, left, center_left, last_center_left,
+ angle_left, last_angle_left, &filtered_center_left,
+ &filtered_angle_left);
+ }
+
double distance, horizontal_angle, vertical_angle;
- stereo.Process(center0, center1, &distance, &horizontal_angle,
- &vertical_angle);
- new_vision_status->left_image_timestamp = left_target.image_timestamp();
- new_vision_status->right_image_timestamp = right_target.image_timestamp();
- new_vision_status->left_send_timestamp = left_target.send_timestamp();
- new_vision_status->right_send_timestamp = right_target.send_timestamp();
+ stereo.Process(filtered_center_left, filtered_center_right, &distance,
+ &horizontal_angle, &vertical_angle);
+ new_vision_status->left_image_timestamp =
+ left.target().image_timestamp();
+ new_vision_status->right_image_timestamp =
+ right.target().image_timestamp();
+ new_vision_status->left_send_timestamp = left.target().send_timestamp();
+ new_vision_status->right_send_timestamp = right.target().send_timestamp();
new_vision_status->horizontal_angle = horizontal_angle;
new_vision_status->vertical_angle = vertical_angle;
new_vision_status->distance = distance;
+ new_vision_status->angle =
+ (filtered_angle_left + filtered_angle_right) / 2.0;
}
- LOG_STRUCT(DEBUG, "vision", *new_vision_status);
- if (!new_vision_status.Send()) {
- LOG(ERROR, "Failed to send vision information\n");
+ if (drivetrain_offset.CompleteVisionStatus(new_vision_status.get())) {
+ LOG_STRUCT(DEBUG, "vision", *new_vision_status);
+ if (!new_vision_status.Send()) {
+ LOG(ERROR, "Failed to send vision information\n");
+ }
+ } else {
+ LOG_STRUCT(WARNING, "vision without drivetrain", *new_vision_status);
}
}
if (target.camera_index() == 0) {
- LOG(DEBUG, "left_target: %s\n", left_target.ShortDebugString().c_str());
+ LOG(DEBUG, "left_target: %s\n", left.target().ShortDebugString().c_str());
} else {
- LOG(DEBUG, "right_target: %s\n", right_target.ShortDebugString().c_str());
+ LOG(DEBUG, "right_target: %s\n",
+ right.target().ShortDebugString().c_str());
}
}
+
+ drivetrain_offset.Quit();
+ drivetrain_offset_thread.join();
}
} // namespace vision
diff --git a/y2016/vision/vision.q b/y2016/vision/vision.q
index 2d95c3c..872c9ae 100644
--- a/y2016/vision/vision.q
+++ b/y2016/vision/vision.q
@@ -20,5 +20,17 @@
double vertical_angle;
// Distance to the target in meters.
double distance;
+ // The angle in radians of the bottom of the target.
+ double angle;
+
+ // Capture time of the angle using the clock behind Time::Now().
+ int64_t target_time;
+
+ // The estimated positions of both sides of the drivetrain when the frame
+ // was captured.
+ // These are the estimated_left_position and estimated_right_position members
+ // of the drivetrain queue.
+ double drivetrain_left_position;
+ double drivetrain_right_position;
};
queue VisionStatus vision_status;
diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 8273bf9..acf820f 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -428,14 +428,14 @@
compressor_ = ::std::move(compressor);
}
- void set_drivetrain_left(
+ void set_drivetrain_shifter(
::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- drivetrain_left_ = ::std::move(s);
+ drivetrain_shifter_ = ::std::move(s);
}
- void set_drivetrain_right(
+ void set_climber_trigger(
::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- drivetrain_right_ = ::std::move(s);
+ climber_trigger_ = ::std::move(s);
}
void set_traverse(
@@ -487,8 +487,8 @@
drivetrain_.FetchLatest();
if (drivetrain_.get()) {
LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
- drivetrain_left_->Set(!drivetrain_->left_high);
- drivetrain_right_->Set(!drivetrain_->right_high);
+ drivetrain_shifter_->Set(
+ !(drivetrain_->left_high || drivetrain_->right_high));
}
}
@@ -499,14 +499,29 @@
shooter_clamp_->Set(shooter_->clamp_open);
shooter_pusher_->Set(shooter_->push_to_shooter);
lights_->Set(shooter_->lights_on);
- flashlight_->Set(shooter_->lights_on ? Relay::kForward : Relay::kOff);
+ if (shooter_->forwards_flashlight) {
+ if (shooter_->backwards_flashlight) {
+ flashlight_->Set(Relay::kOn);
+ } else {
+ flashlight_->Set(Relay::kReverse);
+ }
+ } else {
+ if (shooter_->backwards_flashlight) {
+ flashlight_->Set(Relay::kForward);
+ } else {
+ flashlight_->Set(Relay::kOff);
+ }
+ }
}
}
{
superstructure_.FetchLatest();
if (superstructure_.get()) {
- LOG_STRUCT(DEBUG, "solenoids", *shooter_);
+ LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
+
+ climber_trigger_->Set(superstructure_->unfold_climber);
+
traverse_->Set(superstructure_->traverse_down);
traverse_latch_->Set(superstructure_->traverse_unlatched);
}
@@ -530,9 +545,9 @@
private:
const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_left_,
- drivetrain_right_, shooter_clamp_, shooter_pusher_, lights_, traverse_,
- traverse_latch_;
+ ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_shifter_,
+ shooter_clamp_, shooter_pusher_, lights_, traverse_, traverse_latch_,
+ climber_trigger_;
::std::unique_ptr<Relay> flashlight_;
::std::unique_ptr<Compressor> compressor_;
@@ -630,6 +645,10 @@
bottom_rollers_talon_ = ::std::move(t);
}
+ void set_climber_talon(::std::unique_ptr<Talon> t) {
+ climber_talon_ = ::std::move(t);
+ }
+
private:
virtual void Read() override {
::y2016::control_loops::superstructure_queue.output.FetchAnother();
@@ -649,6 +668,7 @@
12.0);
top_rollers_talon_->Set(-queue->voltage_top_rollers / 12.0);
bottom_rollers_talon_->Set(-queue->voltage_bottom_rollers / 12.0);
+ climber_talon_->Set(-queue->voltage_climber / 12.0);
}
virtual void Stop() override {
@@ -659,7 +679,7 @@
}
::std::unique_ptr<Talon> intake_talon_, shoulder_talon_, wrist_talon_,
- top_rollers_talon_, bottom_rollers_talon_;
+ top_rollers_talon_, bottom_rollers_talon_, climber_talon_;
};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
@@ -685,14 +705,14 @@
reader.set_drivetrain_left_hall(make_unique<AnalogInput>(5));
reader.set_drivetrain_right_hall(make_unique<AnalogInput>(6));
- reader.set_shooter_left_encoder(make_encoder(3));
- reader.set_shooter_right_encoder(make_encoder(4));
+ reader.set_shooter_left_encoder(make_encoder(7));
+ reader.set_shooter_right_encoder(make_encoder(-3));
reader.set_intake_encoder(make_encoder(0));
reader.set_intake_index(make_unique<DigitalInput>(0));
reader.set_intake_potentiometer(make_unique<AnalogInput>(0));
- reader.set_shoulder_encoder(make_encoder(2));
+ reader.set_shoulder_encoder(make_encoder(4));
reader.set_shoulder_index(make_unique<DigitalInput>(2));
reader.set_shoulder_potentiometer(make_unique<AnalogInput>(2));
@@ -713,11 +733,9 @@
::frc971::wpilib::GyroSender gyro_sender;
::std::thread gyro_thread(::std::ref(gyro_sender));
-#if 0
- auto imu_trigger = make_unique<DigitalInput>(100);
- ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
+ auto imu_trigger = make_unique<DigitalInput>(3);
+ ::frc971::wpilib::ADIS16448 imu(SPI::Port::kMXP, imu_trigger.get());
::std::thread imu_thread(::std::ref(imu));
-#endif
DrivetrainWriter drivetrain_writer;
drivetrain_writer.set_drivetrain_left_talon(
@@ -744,19 +762,21 @@
::std::unique_ptr<Talon>(new Talon(1)));
superstructure_writer.set_bottom_rollers_talon(
::std::unique_ptr<Talon>(new Talon(0)));
+ superstructure_writer.set_climber_talon(
+ ::std::unique_ptr<Talon>(new Talon(7)));
::std::thread superstructure_writer_thread(
::std::ref(superstructure_writer));
::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
new ::frc971::wpilib::BufferedPcm());
SolenoidWriter solenoid_writer(pcm);
- solenoid_writer.set_drivetrain_left(pcm->MakeSolenoid(1));
- solenoid_writer.set_drivetrain_right(pcm->MakeSolenoid(0));
+ solenoid_writer.set_drivetrain_shifter(pcm->MakeSolenoid(0));
solenoid_writer.set_traverse_latch(pcm->MakeSolenoid(2));
solenoid_writer.set_traverse(pcm->MakeSolenoid(3));
solenoid_writer.set_shooter_clamp(pcm->MakeSolenoid(4));
solenoid_writer.set_shooter_pusher(pcm->MakeSolenoid(5));
solenoid_writer.set_lights(pcm->MakeSolenoid(6));
+ solenoid_writer.set_climber_trigger(pcm->MakeSolenoid(1));
solenoid_writer.set_flashlight(make_unique<Relay>(0));
solenoid_writer.set_compressor(make_unique<Compressor>());
@@ -783,10 +803,8 @@
reader_thread.join();
gyro_sender.Quit();
gyro_thread.join();
-#if 0
imu.Quit();
imu_thread.join();
-#endif
drivetrain_writer.Quit();
drivetrain_writer_thread.join();
