actually use the gyro and do auto in high gear
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 3d6e441..910196e 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -51,8 +51,8 @@
class Drivetrain(control_loop.ControlLoop):
- def __init__(self, left_low=True, right_low=True):
- super(Drivetrain, self).__init__("Drivetrain")
+ def __init__(self, name="Drivetrain", left_low=True, right_low=True):
+ super(Drivetrain, self).__init__(name)
# Stall Torque in N m
self.stall_torque = 2.42
# Stall Current in Amps
@@ -143,8 +143,8 @@
print self.K
print numpy.linalg.eig(self.A - self.B * self.K)[0]
- self.hlp = 0.07
- self.llp = 0.09
+ self.hlp = 0.12
+ self.llp = 0.15
self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
self.U_max = numpy.matrix([[12.0], [12.0]])
@@ -218,12 +218,17 @@
# Write the generated constants out to a file.
print "Output one"
- drivetrain = Drivetrain()
+ drivetrain_low_low = Drivetrain(name="DrivetrainLowLow", left_low=True, right_low=True)
+ drivetrain_low_high = Drivetrain(name="DrivetrainLowHigh", left_low=True, right_low=False)
+ drivetrain_high_low = Drivetrain(name="DrivetrainHighLow", left_low=False, right_low=True)
+ drivetrain_high_high = Drivetrain(name="DrivetrainHighHigh", left_low=False, right_low=False)
if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
- dog_loop_writer = control_loop.ControlLoopWriter("Drivetrain", [drivetrain])
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "Drivetrain", [drivetrain_low_low, drivetrain_low_high,
+ drivetrain_high_low, drivetrain_high_high])
if argv[1][-3:] == '.cc':
dog_loop_writer.Write(argv[2], argv[1])
else: