Split controls out of superstructure.cc
Change-Id: Ia2303251cff44dcf7e319a8f94bf2d1142538cf9
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index f0c85b6..214fc6c 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -1,4 +1,5 @@
#include "y2016/control_loops/superstructure/superstructure.h"
+#include "y2016/control_loops/superstructure/superstructure_controls.h"
#include "aos/common/controls/control_loops.q.h"
#include "aos/common/logging/logging.h"
@@ -14,387 +15,8 @@
namespace {
constexpr double kZeroingVoltage = 4.0;
-
-double UseUnlessZero(double target_value, double default_value) {
- if (target_value != 0.0) {
- return target_value;
- } else {
- return default_value;
- }
-}
-
} // namespace
-void SimpleCappedStateFeedbackLoop::CapU() {
- mutable_U(0, 0) = ::std::min(U(0, 0), max_voltage_);
- mutable_U(0, 0) = ::std::max(U(0, 0), -max_voltage_);
-}
-
-void DoubleCappedStateFeedbackLoop::CapU() {
- mutable_U(0, 0) = ::std::min(U(0, 0), shoulder_max_voltage_);
- mutable_U(0, 0) = ::std::max(U(0, 0), -shoulder_max_voltage_);
- mutable_U(1, 0) = ::std::min(U(1, 0), wrist_max_voltage_);
- mutable_U(1, 0) = ::std::max(U(1, 0), -wrist_max_voltage_);
-}
-
-// Intake
-Intake::Intake()
- : loop_(new SimpleCappedStateFeedbackLoop(StateFeedbackLoop<3, 1, 1>(
- ::y2016::control_loops::superstructure::MakeIntegralIntakeLoop()))),
- estimator_(constants::GetValues().intake.zeroing),
- profile_(::aos::controls::kLoopFrequency) {
- Y_.setZero();
- unprofiled_goal_.setZero();
- offset_.setZero();
- AdjustProfile(0.0, 0.0);
-}
-
-void Intake::UpdateIntakeOffset(double offset) {
- const double doffset = offset - offset_(0, 0);
- LOG(INFO, "Adjusting Intake offset from %f to %f\n", offset_(0, 0), offset);
-
- loop_->mutable_X_hat()(0, 0) += doffset;
- Y_(0, 0) += doffset;
- loop_->mutable_R(0, 0) += doffset;
-
- profile_.MoveGoal(doffset);
- offset_(0, 0) = offset;
-
- CapGoal("R", &loop_->mutable_R());
-}
-
-void Intake::Correct(PotAndIndexPosition position) {
- estimator_.UpdateEstimate(position);
-
- if (!initialized_) {
- if (estimator_.offset_ready()) {
- UpdateIntakeOffset(estimator_.offset());
- initialized_ = true;
- }
- }
-
- if (!zeroed_ && estimator_.zeroed()) {
- UpdateIntakeOffset(estimator_.offset());
- zeroed_ = true;
- }
-
- Y_ << position.encoder;
- Y_ += offset_;
- loop_->Correct(Y_);
-}
-
-void Intake::CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal) {
- const auto &values = constants::GetValues();
-
- // Limit the goal to min/max allowable angles.
- if ((*goal)(0, 0) >= values.intake.limits.upper) {
- LOG(WARNING, "Intake goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
- values.intake.limits.upper);
- (*goal)(0, 0) = values.intake.limits.upper;
- }
- if ((*goal)(0, 0) <= values.intake.limits.lower) {
- LOG(WARNING, "Intake goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
- values.intake.limits.lower);
- (*goal)(0, 0) = values.intake.limits.lower;
- }
-}
-
-void Intake::ForceGoal(double goal) {
- set_unprofiled_goal(goal);
- loop_->mutable_R() = unprofiled_goal_;
- loop_->mutable_next_R() = loop_->R();
-
- profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
-}
-
-void Intake::set_unprofiled_goal(double unprofiled_goal) {
- unprofiled_goal_(0, 0) = unprofiled_goal;
- unprofiled_goal_(1, 0) = 0.0;
- unprofiled_goal_(2, 0) = 0.0;
- CapGoal("unprofiled R", &unprofiled_goal_);
-}
-
-void Intake::Update(bool disable) {
- if (!disable) {
- ::Eigen::Matrix<double, 2, 1> goal_state =
- profile_.Update(unprofiled_goal_(0, 0), unprofiled_goal_(1, 0));
-
- loop_->mutable_next_R(0, 0) = goal_state(0, 0);
- loop_->mutable_next_R(1, 0) = goal_state(1, 0);
- loop_->mutable_next_R(2, 0) = 0.0;
- CapGoal("next R", &loop_->mutable_next_R());
- }
-
- loop_->Update(disable);
-
- if (!disable && loop_->U(0, 0) != loop_->U_uncapped(0, 0)) {
- profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
- }
-}
-
-bool Intake::CheckHardLimits() {
- const auto &values = constants::GetValues();
- // Returns whether hard limits have been exceeded.
-
- if (angle() >= values.intake.limits.upper_hard ||
- angle() <= values.intake.limits.lower_hard) {
- LOG(ERROR, "Intake at %f out of bounds [%f, %f], ESTOPing\n", angle(),
- values.intake.limits.lower_hard, values.intake.limits.upper_hard);
- return true;
- }
-
- return false;
-}
-
-void Intake::set_max_voltage(double voltage) {
- loop_->set_max_voltage(voltage);
-}
-
-void Intake::AdjustProfile(double max_angular_velocity,
- double max_angular_acceleration) {
- profile_.set_maximum_velocity(UseUnlessZero(max_angular_velocity, 10.0));
- profile_.set_maximum_acceleration(
- UseUnlessZero(max_angular_acceleration, 10.0));
-}
-
-void Intake::Reset() {
- estimator_.Reset();
- initialized_ = false;
- zeroed_ = false;
-}
-
-EstimatorState Intake::IntakeEstimatorState() {
- EstimatorState estimator_state;
- ::frc971::zeroing::PopulateEstimatorState(estimator_, &estimator_state);
-
- return estimator_state;
-}
-
-Arm::Arm()
- : loop_(new DoubleCappedStateFeedbackLoop(
- ::y2016::control_loops::superstructure::MakeIntegralArmLoop())),
- shoulder_profile_(::aos::controls::kLoopFrequency),
- wrist_profile_(::aos::controls::kLoopFrequency),
- shoulder_estimator_(constants::GetValues().shoulder.zeroing),
- wrist_estimator_(constants::GetValues().wrist.zeroing) {
- Y_.setZero();
- offset_.setZero();
- unprofiled_goal_.setZero();
- AdjustProfile(0.0, 0.0, 0.0, 0.0);
-}
-
-void Arm::UpdateWristOffset(double offset) {
- const double doffset = offset - offset_(1, 0);
- LOG(INFO, "Adjusting Wrist offset from %f to %f\n", offset_(1, 0), offset);
-
- loop_->mutable_X_hat()(2, 0) += doffset;
- Y_(1, 0) += doffset;
- loop_->mutable_R(2, 0) += doffset;
- loop_->mutable_next_R(2, 0) += doffset;
- unprofiled_goal_(2, 0) += doffset;
-
- wrist_profile_.MoveGoal(doffset);
- offset_(1, 0) = offset;
-
- CapGoal("R", &loop_->mutable_R());
- CapGoal("unprofiled R", &loop_->mutable_next_R());
-}
-
-void Arm::UpdateShoulderOffset(double offset) {
- const double doffset = offset - offset_(0, 0);
- LOG(INFO, "Adjusting Shoulder offset from %f to %f\n", offset_(0, 0), offset);
-
- loop_->mutable_X_hat()(0, 0) += doffset;
- loop_->mutable_X_hat()(2, 0) += doffset;
- Y_(0, 0) += doffset;
- loop_->mutable_R(0, 0) += doffset;
- loop_->mutable_R(2, 0) += doffset;
- loop_->mutable_next_R(0, 0) += doffset;
- loop_->mutable_next_R(2, 0) += doffset;
- unprofiled_goal_(0, 0) += doffset;
- unprofiled_goal_(2, 0) += doffset;
-
- shoulder_profile_.MoveGoal(doffset);
- wrist_profile_.MoveGoal(doffset);
- offset_(0, 0) = offset;
-
- CapGoal("R", &loop_->mutable_R());
- CapGoal("unprofiled R", &loop_->mutable_next_R());
-}
-
-// TODO(austin): Handle zeroing errors.
-
-void Arm::Correct(PotAndIndexPosition position_shoulder,
- PotAndIndexPosition position_wrist) {
- shoulder_estimator_.UpdateEstimate(position_shoulder);
- wrist_estimator_.UpdateEstimate(position_wrist);
-
- if (!initialized_) {
- if (shoulder_estimator_.offset_ready() && wrist_estimator_.offset_ready()) {
- UpdateShoulderOffset(shoulder_estimator_.offset());
- UpdateWristOffset(wrist_estimator_.offset());
- initialized_ = true;
- }
- }
-
- if (!shoulder_zeroed_ && shoulder_estimator_.zeroed()) {
- UpdateShoulderOffset(shoulder_estimator_.offset());
- shoulder_zeroed_ = true;
- }
- if (!wrist_zeroed_ && wrist_estimator_.zeroed()) {
- UpdateWristOffset(wrist_estimator_.offset());
- wrist_zeroed_ = true;
- }
-
- {
- Y_ << position_shoulder.encoder, position_wrist.encoder;
- Y_ += offset_;
- loop_->Correct(Y_);
- }
-}
-
-void Arm::CapGoal(const char *name, Eigen::Matrix<double, 6, 1> *goal) {
- // Limit the goals to min/max allowable angles.
- const auto &values = constants::GetValues();
-
- if ((*goal)(0, 0) >= values.shoulder.limits.upper) {
- LOG(WARNING, "Shoulder goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
- values.shoulder.limits.upper);
- (*goal)(0, 0) = values.shoulder.limits.upper;
- }
- if ((*goal)(0, 0) <= values.shoulder.limits.lower) {
- LOG(WARNING, "Shoulder goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
- values.shoulder.limits.lower);
- (*goal)(0, 0) = values.shoulder.limits.lower;
- }
-
- const double wrist_goal_angle_ungrounded = (*goal)(2, 0) - (*goal)(0, 0);
-
- if (wrist_goal_angle_ungrounded >= values.wrist.limits.upper) {
- LOG(WARNING, "Wrist goal %s above limit, %f > %f\n", name,
- wrist_goal_angle_ungrounded, values.wrist.limits.upper);
- (*goal)(2, 0) = values.wrist.limits.upper + (*goal)(0, 0);
- }
- if (wrist_goal_angle_ungrounded <= values.wrist.limits.lower) {
- LOG(WARNING, "Wrist goal %s below limit, %f < %f\n", name,
- wrist_goal_angle_ungrounded, values.wrist.limits.lower);
- (*goal)(2, 0) = values.wrist.limits.lower + (*goal)(0, 0);
- }
-}
-
-void Arm::ForceGoal(double goal_shoulder, double goal_wrist) {
- set_unprofiled_goal(goal_shoulder, goal_wrist);
- loop_->mutable_R() = unprofiled_goal_;
- loop_->mutable_next_R() = loop_->R();
-
- shoulder_profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
- wrist_profile_.MoveCurrentState(loop_->R().block<2, 1>(2, 0));
-}
-
-void Arm::set_unprofiled_goal(double unprofiled_goal_shoulder,
- double unprofiled_goal_wrist) {
- unprofiled_goal_ << unprofiled_goal_shoulder, 0.0, unprofiled_goal_wrist, 0.0,
- 0.0, 0.0;
- CapGoal("unprofiled R", &unprofiled_goal_);
-}
-
-void Arm::AdjustProfile(double max_angular_velocity_shoulder,
- double max_angular_acceleration_shoulder,
- double max_angular_velocity_wrist,
- double max_angular_acceleration_wrist) {
- shoulder_profile_.set_maximum_velocity(
- UseUnlessZero(max_angular_velocity_shoulder, 10.0));
- shoulder_profile_.set_maximum_acceleration(
- UseUnlessZero(max_angular_acceleration_shoulder, 10.0));
- wrist_profile_.set_maximum_velocity(
- UseUnlessZero(max_angular_velocity_wrist, 10.0));
- wrist_profile_.set_maximum_acceleration(
- UseUnlessZero(max_angular_acceleration_wrist, 10.0));
-}
-
-bool Arm::CheckHardLimits() {
- const auto &values = constants::GetValues();
- if (shoulder_angle() >= values.shoulder.limits.upper_hard ||
- shoulder_angle() <= values.shoulder.limits.lower_hard) {
- LOG(ERROR, "Shoulder at %f out of bounds [%f, %f], ESTOPing\n",
- shoulder_angle(), values.shoulder.limits.lower_hard,
- values.shoulder.limits.upper_hard);
- return true;
- }
-
- if (wrist_angle() - shoulder_angle() >= values.wrist.limits.upper_hard ||
- wrist_angle() - shoulder_angle() <= values.wrist.limits.lower_hard) {
- LOG(ERROR, "Wrist at %f out of bounds [%f, %f], ESTOPing\n",
- wrist_angle() - shoulder_angle(), values.wrist.limits.lower_hard,
- values.wrist.limits.upper_hard);
- return true;
- }
-
- return false;
-}
-
-void Arm::Update(bool disable) {
- if (!disable) {
- // Compute next goal.
- ::Eigen::Matrix<double, 2, 1> goal_state_shoulder =
- shoulder_profile_.Update(unprofiled_goal_(0, 0),
- unprofiled_goal_(1, 0));
- loop_->mutable_next_R(0, 0) = goal_state_shoulder(0, 0);
- loop_->mutable_next_R(1, 0) = goal_state_shoulder(1, 0);
-
- ::Eigen::Matrix<double, 2, 1> goal_state_wrist =
- wrist_profile_.Update(unprofiled_goal_(2, 0), unprofiled_goal_(3, 0));
- loop_->mutable_next_R(2, 0) = goal_state_wrist(0, 0);
- loop_->mutable_next_R(3, 0) = goal_state_wrist(1, 0);
-
- loop_->mutable_next_R(4, 0) = unprofiled_goal_(4, 0);
- loop_->mutable_next_R(5, 0) = unprofiled_goal_(5, 0);
- CapGoal("next R", &loop_->mutable_next_R());
- }
-
- // Move loop
- loop_->Update(disable);
-
- // Shoulder saturated
- if (!disable && loop_->U(0, 0) != loop_->U_uncapped(0, 0)) {
- shoulder_profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
- }
-
- // Wrist saturated
- if (!disable && loop_->U(1, 0) != loop_->U_uncapped(1, 0)) {
- wrist_profile_.MoveCurrentState(loop_->R().block<2, 1>(2, 0));
- }
-}
-
-void Arm::set_max_voltage(double shoulder_max_voltage,
- double wrist_max_voltage) {
- loop_->set_max_voltage(shoulder_max_voltage, wrist_max_voltage);
-}
-
-void Arm::Reset() {
- shoulder_estimator_.Reset();
- wrist_estimator_.Reset();
- initialized_ = false;
- shoulder_zeroed_ = false;
- wrist_zeroed_ = false;
-}
-
-EstimatorState Arm::ShoulderEstimatorState() {
- EstimatorState estimator_state;
- ::frc971::zeroing::PopulateEstimatorState(shoulder_estimator_,
- &estimator_state);
-
- return estimator_state;
-}
-
-EstimatorState Arm::WristEstimatorState() {
- EstimatorState estimator_state;
- ::frc971::zeroing::PopulateEstimatorState(wrist_estimator_, &estimator_state);
-
- return estimator_state;
-}
-
-// ///// Superstructure /////
Superstructure::Superstructure(
control_loops::SuperstructureQueue *superstructure_queue)
: aos::controls::ControlLoop<control_loops::SuperstructureQueue>(