Improved shooter usability and tested on robot.
Tweaked shooter constants (probably insignificant), linearized victors, added more buttons to allow drivers to run the shooter at several options of speed, and tested this on the robot.
diff --git a/bot3/control_loops/python/shooter.py b/bot3/control_loops/python/shooter.py
index 6efecad..60b3219 100755
--- a/bot3/control_loops/python/shooter.py
+++ b/bot3/control_loops/python/shooter.py
@@ -94,11 +94,11 @@
shooter = Shooter()
close_loop_x = []
close_loop_U = []
- velocity_goal = 300
+ velocity_goal = 350
R = numpy.matrix([[0.0], [velocity_goal]])
- for _ in pylab.linspace(0,1.99,200):
+ for _ in pylab.linspace(0,3.99,400):
# Iterate the position up.
- R = numpy.matrix([[R[0, 0] + 10.5], [velocity_goal]])
+ R = numpy.matrix([[R[0, 0] + velocity_goal / 100], [velocity_goal]])
# Prevents the position goal from going beyond what is necessary.
velocity_weight_scalar = 0.35
max_reference = (
@@ -118,11 +118,12 @@
shooter.Update(U)
close_loop_x.append(shooter.X[1, 0])
close_loop_U.append(U[0, 0] * 10)
+ print U[0, 0]
#pylab.plotfile("shooter.csv", (0,1))
- pylab.plot(pylab.linspace(0,1.99,200), close_loop_U)
+ pylab.plot(pylab.linspace(0,3.99,400), close_loop_U)
#pylab.plotfile("shooter.csv", (0,2))
- pylab.plot(pylab.linspace(0,1.99,200), close_loop_x)
+ pylab.plot(pylab.linspace(0,3.99,400), close_loop_x)
pylab.show()
# Simulate spin down.
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index 5dd32db..c71b96a 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -27,7 +27,7 @@
Eigen::Matrix<double, 2, 1> L;
L << 1.08905775674, 29.7111780621;
Eigen::Matrix<double, 1, 2> K;
- K << 1.42534042426, 0.758151303088;
+ K << 130.450278144, 2.19032372689;
return StateFeedbackController<2, 1, 1>(L, K, MakeShooterPlantCoefficients());
}
@@ -44,4 +44,4 @@
}
} // namespace control_loops
-} // namespace frc971
+} // namespace bot3
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index 2207ab2..fa2237d 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -15,6 +15,6 @@
StateFeedbackLoop<2, 1, 1> MakeShooterLoop();
} // namespace control_loops
-} // namespace frc971
+} // namespace bot3
-#endif // FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#endif // BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_