Split controls out of superstructure.cc
Change-Id: Ia2303251cff44dcf7e319a8f94bf2d1142538cf9
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
new file mode 100644
index 0000000..7cd67e3
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -0,0 +1,399 @@
+#include "y2016/control_loops/superstructure/superstructure_controls.h"
+
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+#include "y2016/control_loops/superstructure/integral_intake_plant.h"
+#include "y2016/control_loops/superstructure/integral_arm_plant.h"
+
+#include "y2016/constants.h"
+
+namespace y2016 {
+namespace control_loops {
+namespace superstructure {
+
+using ::frc971::PotAndIndexPosition;
+using ::frc971::EstimatorState;
+
+namespace {
+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;
+}
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2016