Add Turret Constants
Add speeds, ratios, and limits.
Change-Id: I84c8edb884fb31b1303444ede775288a8c30d7a2
diff --git a/y2020/BUILD b/y2020/BUILD
index 9f7795e..215c760 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -35,6 +35,7 @@
"//y2020/control_loops/drivetrain:polydrivetrain_plants",
"//y2020/control_loops/superstructure/hood:hood_plants",
"//y2020/control_loops/superstructure/intake:intake_plants",
+ "//y2020/control_loops/superstructure/turret:turret_plants",
"@com_google_absl//absl/base",
],
)
@@ -134,8 +135,8 @@
data = [
":config.json",
"//aos/network:web_proxy_main",
- "//y2020/www:main_bundle",
"//y2020/www:files",
"//y2020/www:flatbuffers",
+ "//y2020/www:main_bundle",
],
)
diff --git a/y2020/constants.cc b/y2020/constants.cc
index aee797f..6f79b6b 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -12,9 +12,9 @@
#include "aos/logging/logging.h"
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
-#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
-
#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
+#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
+#include "y2020/control_loops/superstructure/turret/integral_turret_plant.h"
namespace y2020 {
namespace constants {
@@ -69,6 +69,28 @@
intake->zeroing_constants.allowable_encoder_error = 0.9;
intake->zeroing_constants.middle_position = Values::kIntakeRange().middle();
+ Values::PotAndAbsEncoderConstants *const turret = &r->turret;
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ *const turret_params = &turret->subsystem_params;
+
+ //Turret Constants
+ turret_params->zeroing_voltage = 4.0;
+ turret_params->operating_voltage = 12.0;
+ // TODO(austin): Tune these.
+ turret_params->zeroing_profile_params = {0.5, 2.0};
+ turret_params->default_profile_params = {15.0, 40.0};
+ turret_params->range = Values::kTurretRange();
+ turret_params->make_integral_loop =
+ &control_loops::superstructure::turret::MakeIntegralTurretLoop;
+ turret_params->zeroing_constants.average_filter_size =
+ Values::kZeroingSampleSize;
+ turret_params->zeroing_constants.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kTurretEncoderRatio();
+ turret_params->zeroing_constants.zeroing_threshold = 0.0005;
+ turret_params->zeroing_constants.moving_buffer_size = 20;
+ turret_params->zeroing_constants.allowable_encoder_error = 0.9;
+
switch (team) {
// A set of constants for tests.
case 1:
@@ -76,17 +98,29 @@
case kCompTeamNumber:
hood->zeroing_constants.measured_absolute_position = 0.0;
+
intake->zeroing_constants.measured_absolute_position = 0.0;
+
+ turret->potentiometer_offset = 0.0;
+ turret_params->zeroing_constants.measured_absolute_position = 0.0;
break;
case kPracticeTeamNumber:
hood->zeroing_constants.measured_absolute_position = 0.0;
+
intake->zeroing_constants.measured_absolute_position = 0.0;
+
+ turret->potentiometer_offset = 0.0;
+ turret_params->zeroing_constants.measured_absolute_position = 0.0;
break;
case kCodingRobotTeamNumber:
hood->zeroing_constants.measured_absolute_position = 0.0;
+
intake->zeroing_constants.measured_absolute_position = 0.0;
+
+ turret->potentiometer_offset = 0.0;
+ turret_params->zeroing_constants.measured_absolute_position = 0.0;
break;
default:
diff --git a/y2020/constants.h b/y2020/constants.h
index 69e7f28..d7b9b4b 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -12,6 +12,7 @@
#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2020/control_loops/superstructure/hood/hood_plant.h"
#include "y2020/control_loops/superstructure/intake/intake_plant.h"
+#include "y2020/control_loops/superstructure/turret/turret_plant.h"
namespace y2020 {
namespace constants {
@@ -53,6 +54,10 @@
};
}
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
+ hood;
+
// Intake
static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
@@ -77,10 +82,43 @@
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
- hood;
- ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
- ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
intake;
+
+ // Turret
+ static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
+
+ static constexpr double kTurretEncoderRatio() {
+ return 1.0; // TODO (Kai): Get Gear Ratios when ready
+ }
+
+ static constexpr double kMaxTurretEncoderPulsesPerSecond() {
+ return control_loops::superstructure::turret::kFreeSpeed *
+ control_loops::superstructure::turret::kOutputRatio /
+ kTurretEncoderRatio() / (2.0 * M_PI) *
+ kTurretEncoderCountsPerRevolution();
+ }
+
+ // TODO(austin): Figure out the actual constant here.
+ static constexpr double kTurretPotRatio() { return 1.0; }
+
+ static constexpr ::frc971::constants::Range kTurretRange() {
+ return ::frc971::constants::Range{
+ // TODO (Kai): Placeholders right now.
+ -3.2, // Back Hard
+ 3.2, // Front Hard
+ -3.14, // Back Soft
+ 3.14 // Front Soft
+ };
+ }
+
+ struct PotAndAbsEncoderConstants {
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ subsystem_params;
+ double potentiometer_offset;
+ };
+
+ PotAndAbsEncoderConstants turret;
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and