Add shooter python codegen
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I8b76968b8c7628822136155d7a15a149e6d236d6
diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
new file mode 100644
index 0000000..157c4a5
--- /dev/null
+++ b/y2024/control_loops/python/altitude.py
@@ -0,0 +1,58 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+gflags.DEFINE_bool('hybrid', False, 'If true, make it hybrid.')
+
+kAltitude = angular_system.AngularSystemParams(
+ name='Altitude',
+ motor=control_loop.KrakenFOC(),
+ G=(16.0 / 60.0) * (16.0 / 162.0),
+ # 4340 in^ lb
+ J=1.27,
+ q_pos=0.40,
+ q_vel=3.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=10.5 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kAltitude, R)
+ angular_system.PlotMotion(kAltitude, R)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 7:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the intake and integral intake.'
+ )
+ else:
+ namespaces = ['y2024', 'control_loops', 'superstructure', 'altitude']
+ angular_system.WriteAngularSystem(kAltitude, argv[1:4], argv[4:7],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))