Copy back a lot of the 2014 code.
Change-Id: I552292d8bd7bce4409e02d254bef06a9cc009568
diff --git a/y2014/control_loops/claw/claw_calibration.cc b/y2014/control_loops/claw/claw_calibration.cc
new file mode 100644
index 0000000..de91d91
--- /dev/null
+++ b/y2014/control_loops/claw/claw_calibration.cc
@@ -0,0 +1,310 @@
+#include "y2014/control_loops/claw/claw.q.h"
+#include "frc971/control_loops/control_loops.q.h"
+
+#include "aos/linux_code/init.h"
+#include "y2014/constants.h"
+
+namespace frc971 {
+
+typedef constants::Values::Claws Claws;
+
+class Sensor {
+ public:
+ Sensor(const double start_position,
+ const HallEffectStruct &initial_hall_effect)
+ : start_position_(start_position),
+ last_hall_effect_(initial_hall_effect),
+ last_posedge_count_(initial_hall_effect.posedge_count),
+ last_negedge_count_(initial_hall_effect.negedge_count) {
+ last_on_min_position_ = start_position;
+ last_on_max_position_ = start_position;
+ last_off_min_position_ = start_position;
+ last_off_max_position_ = start_position;
+ }
+
+ bool DoGetPositionOfEdge(
+ const control_loops::HalfClawPosition &claw_position,
+ const HallEffectStruct &hall_effect, Claws::AnglePair *limits) {
+ bool print = false;
+
+ if (hall_effect.posedge_count != last_posedge_count_) {
+ const double avg_off_position = (last_off_min_position_ + last_off_max_position_) / 2.0;
+ if (claw_position.posedge_value < avg_off_position) {
+ printf("Posedge upper current %f posedge %f avg_off %f [%f, %f]\n",
+ claw_position.position, claw_position.posedge_value,
+ avg_off_position, last_off_min_position_,
+ last_off_max_position_);
+ limits->upper_decreasing_angle = claw_position.posedge_value - start_position_;
+ } else {
+ printf("Posedge lower current %f posedge %f avg_off %f [%f, %f]\n",
+ claw_position.position, claw_position.posedge_value,
+ avg_off_position, last_off_min_position_,
+ last_off_max_position_);
+ limits->lower_angle =
+ claw_position.posedge_value - start_position_;
+ }
+ print = true;
+ }
+ if (hall_effect.negedge_count != last_negedge_count_) {
+ const double avg_on_position = (last_on_min_position_ + last_on_max_position_) / 2.0;
+ if (claw_position.negedge_value > avg_on_position) {
+ printf("Negedge upper current %f negedge %f last_on %f [%f, %f]\n",
+ claw_position.position, claw_position.negedge_value,
+ avg_on_position, last_on_min_position_,
+ last_on_max_position_);
+ limits->upper_angle =
+ claw_position.negedge_value - start_position_;
+ } else {
+ printf("Negedge lower current %f negedge %f last_on %f [%f, %f]\n",
+ claw_position.position, claw_position.negedge_value,
+ avg_on_position, last_on_min_position_,
+ last_on_max_position_);
+ limits->lower_decreasing_angle = claw_position.negedge_value - start_position_;
+ }
+ print = true;
+ }
+
+ if (hall_effect.current) {
+ if (!last_hall_effect_.current) {
+ last_on_min_position_ = last_on_max_position_ = claw_position.position;
+ } else {
+ last_on_min_position_ =
+ ::std::min(claw_position.position, last_on_min_position_);
+ last_on_max_position_ =
+ ::std::max(claw_position.position, last_on_max_position_);
+ }
+ } else {
+ if (last_hall_effect_.current) {
+ last_off_min_position_ = last_off_max_position_ = claw_position.position;
+ } else {
+ last_off_min_position_ =
+ ::std::min(claw_position.position, last_off_min_position_);
+ last_off_max_position_ =
+ ::std::max(claw_position.position, last_off_max_position_);
+ }
+ }
+
+ last_hall_effect_ = hall_effect;
+ last_posedge_count_ = hall_effect.posedge_count;
+ last_negedge_count_ = hall_effect.negedge_count;
+
+ return print;
+ }
+
+ private:
+ const double start_position_;
+ HallEffectStruct last_hall_effect_;
+ int32_t last_posedge_count_;
+ int32_t last_negedge_count_;
+ double last_on_min_position_;
+ double last_off_min_position_;
+ double last_on_max_position_;
+ double last_off_max_position_;
+};
+
+class ClawSensors {
+ public:
+ ClawSensors(const double start_position,
+ const control_loops::HalfClawPosition &initial_claw_position)
+ : start_position_(start_position),
+ front_(start_position, initial_claw_position.front),
+ calibration_(start_position, initial_claw_position.calibration),
+ back_(start_position, initial_claw_position.back) {}
+
+ bool GetPositionOfEdge(const control_loops::HalfClawPosition &claw_position,
+ Claws::Claw *claw) {
+
+ bool print = false;
+ if (front_.DoGetPositionOfEdge(claw_position,
+ claw_position.front, &claw->front)) {
+ print = true;
+ } else if (calibration_.DoGetPositionOfEdge(claw_position,
+ claw_position.calibration,
+ &claw->calibration)) {
+ print = true;
+ } else if (back_.DoGetPositionOfEdge(claw_position,
+ claw_position.back, &claw->back)) {
+ print = true;
+ }
+
+ double position = claw_position.position - start_position_;
+
+ if (position > claw->upper_limit) {
+ claw->upper_hard_limit = claw->upper_limit = position;
+ print = true;
+ }
+ if (position < claw->lower_limit) {
+ claw->lower_hard_limit = claw->lower_limit = position;
+ print = true;
+ }
+ return print;
+ }
+
+ private:
+ const double start_position_;
+ Sensor front_;
+ Sensor calibration_;
+ Sensor back_;
+};
+
+int Main() {
+ control_loops::claw_queue_group.position.FetchNextBlocking();
+
+ const double top_start_position =
+ control_loops::claw_queue_group.position->top.position;
+ const double bottom_start_position =
+ control_loops::claw_queue_group.position->bottom.position;
+
+ ClawSensors top(top_start_position,
+ control_loops::claw_queue_group.position->top);
+ ClawSensors bottom(bottom_start_position,
+ control_loops::claw_queue_group.position->bottom);
+
+ Claws limits;
+
+ limits.claw_zeroing_off_speed = 0.5;
+ limits.claw_zeroing_speed = 0.1;
+ limits.claw_zeroing_separation = 0.1;
+
+ // claw separation that would be considered a collision
+ limits.claw_min_separation = 0.0;
+ limits.claw_max_separation = 0.0;
+
+ // We should never get closer/farther than these.
+ limits.soft_min_separation = 0.0;
+ limits.soft_max_separation = 0.0;
+
+ limits.upper_claw.lower_hard_limit = 0.0;
+ limits.upper_claw.upper_hard_limit = 0.0;
+ limits.upper_claw.lower_limit = 0.0;
+ limits.upper_claw.upper_limit = 0.0;
+ limits.upper_claw.front.lower_angle = 0.0;
+ limits.upper_claw.front.upper_angle = 0.0;
+ limits.upper_claw.front.lower_decreasing_angle = 0.0;
+ limits.upper_claw.front.upper_decreasing_angle = 0.0;
+ limits.upper_claw.calibration.lower_angle = 0.0;
+ limits.upper_claw.calibration.upper_angle = 0.0;
+ limits.upper_claw.calibration.lower_decreasing_angle = 0.0;
+ limits.upper_claw.calibration.upper_decreasing_angle = 0.0;
+ limits.upper_claw.back.lower_angle = 0.0;
+ limits.upper_claw.back.upper_angle = 0.0;
+ limits.upper_claw.back.lower_decreasing_angle = 0.0;
+ limits.upper_claw.back.upper_decreasing_angle = 0.0;
+
+ limits.lower_claw.lower_hard_limit = 0.0;
+ limits.lower_claw.upper_hard_limit = 0.0;
+ limits.lower_claw.lower_limit = 0.0;
+ limits.lower_claw.upper_limit = 0.0;
+ limits.lower_claw.front.lower_angle = 0.0;
+ limits.lower_claw.front.upper_angle = 0.0;
+ limits.lower_claw.front.lower_decreasing_angle = 0.0;
+ limits.lower_claw.front.upper_decreasing_angle = 0.0;
+ limits.lower_claw.calibration.lower_angle = 0.0;
+ limits.lower_claw.calibration.upper_angle = 0.0;
+ limits.lower_claw.calibration.lower_decreasing_angle = 0.0;
+ limits.lower_claw.calibration.upper_decreasing_angle = 0.0;
+ limits.lower_claw.back.lower_angle = 0.0;
+ limits.lower_claw.back.upper_angle = 0.0;
+ limits.lower_claw.back.lower_decreasing_angle = 0.0;
+ limits.lower_claw.back.upper_decreasing_angle = 0.0;
+
+ limits.claw_unimportant_epsilon = 0.01;
+ limits.start_fine_tune_pos = -0.2;
+ limits.max_zeroing_voltage = 4.0;
+
+ control_loops::ClawGroup::Position last_position =
+ *control_loops::claw_queue_group.position;
+
+ while (true) {
+ control_loops::claw_queue_group.position.FetchNextBlocking();
+ bool print = false;
+ if (top.GetPositionOfEdge(control_loops::claw_queue_group.position->top,
+ &limits.upper_claw)) {
+ print = true;
+ printf("Got an edge on the upper claw\n");
+ }
+ if (bottom.GetPositionOfEdge(
+ control_loops::claw_queue_group.position->bottom,
+ &limits.lower_claw)) {
+ print = true;
+ printf("Got an edge on the lower claw\n");
+ }
+ const double top_position =
+ control_loops::claw_queue_group.position->top.position -
+ top_start_position;
+ const double bottom_position =
+ control_loops::claw_queue_group.position->bottom.position -
+ bottom_start_position;
+ const double separation = top_position - bottom_position;
+ if (separation > limits.claw_max_separation) {
+ limits.soft_max_separation = limits.claw_max_separation = separation;
+ print = true;
+ }
+ if (separation < limits.claw_min_separation) {
+ limits.soft_min_separation = limits.claw_min_separation = separation;
+ print = true;
+ }
+
+ if (print) {
+ printf("{%f,\n", limits.claw_zeroing_off_speed);
+ printf("%f,\n", limits.claw_zeroing_speed);
+ printf("%f,\n", limits.claw_zeroing_separation);
+ printf("%f,\n", limits.claw_min_separation);
+ printf("%f,\n", limits.claw_max_separation);
+ printf("%f,\n", limits.soft_min_separation);
+ printf("%f,\n", limits.soft_max_separation);
+ printf(
+ "{%f, %f, %f, %f, {%f, %f, %f, %f}, {%f, %f, %f, %f}, {%f, %f, %f, "
+ "%f}},\n",
+ limits.upper_claw.lower_hard_limit,
+ limits.upper_claw.upper_hard_limit, limits.upper_claw.lower_limit,
+ limits.upper_claw.upper_limit, limits.upper_claw.front.lower_angle,
+ limits.upper_claw.front.upper_angle,
+ limits.upper_claw.front.lower_decreasing_angle,
+ limits.upper_claw.front.upper_decreasing_angle,
+ limits.upper_claw.calibration.lower_angle,
+ limits.upper_claw.calibration.upper_angle,
+ limits.upper_claw.calibration.lower_decreasing_angle,
+ limits.upper_claw.calibration.upper_decreasing_angle,
+ limits.upper_claw.back.lower_angle,
+ limits.upper_claw.back.upper_angle,
+ limits.upper_claw.back.lower_decreasing_angle,
+ limits.upper_claw.back.upper_decreasing_angle);
+
+ printf(
+ "{%f, %f, %f, %f, {%f, %f, %f, %f}, {%f, %f, %f, %f}, {%f, %f, %f, "
+ "%f}},\n",
+ limits.lower_claw.lower_hard_limit,
+ limits.lower_claw.upper_hard_limit, limits.lower_claw.lower_limit,
+ limits.lower_claw.upper_limit, limits.lower_claw.front.lower_angle,
+ limits.lower_claw.front.upper_angle,
+ limits.lower_claw.front.lower_decreasing_angle,
+ limits.lower_claw.front.upper_decreasing_angle,
+ limits.lower_claw.calibration.lower_angle,
+ limits.lower_claw.calibration.upper_angle,
+ limits.lower_claw.calibration.lower_decreasing_angle,
+ limits.lower_claw.calibration.upper_decreasing_angle,
+ limits.lower_claw.back.lower_angle,
+ limits.lower_claw.back.upper_angle,
+ limits.lower_claw.back.lower_decreasing_angle,
+ limits.lower_claw.back.upper_decreasing_angle);
+ printf("%f, // claw_unimportant_epsilon\n",
+ limits.claw_unimportant_epsilon);
+ printf("%f, // start_fine_tune_pos\n", limits.start_fine_tune_pos);
+ printf("%f,\n", limits.max_zeroing_voltage);
+ printf("}\n");
+ }
+
+ last_position = *control_loops::claw_queue_group.position;
+ }
+ return 0;
+}
+
+} // namespace frc971
+
+int main() {
+ ::aos::Init();
+ int returnvalue = ::frc971::Main();
+ ::aos::Cleanup();
+ return returnvalue;
+}