Moved 2014 code into y2014 namespace.
Change-Id: Ibece165daa9e267ea1c3c7b822b0ba3eeb9830bb
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index 21c5b1e..39bf5c0 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -12,7 +12,7 @@
#include "y2014/constants.h"
#include "y2014/control_loops/shooter/shooter_motor_plant.h"
-namespace frc971 {
+namespace y2014 {
namespace control_loops {
using ::y2014::control_loops::shooter::kSpringConstant;
@@ -42,7 +42,9 @@
voltage_ = std::max(-max_voltage_, voltage_);
mutable_U(0, 0) = voltage_ - old_voltage;
- LOG_STRUCT(DEBUG, "shooter_output", ShooterVoltageToLog(X_hat(2, 0), voltage_));
+ LOG_STRUCT(
+ DEBUG, "shooter_output",
+ ::frc971::control_loops::ShooterVoltageToLog(X_hat(2, 0), voltage_));
last_voltage_ = voltage_;
capped_goal_ = false;
@@ -61,7 +63,8 @@
mutable_R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
+ LOG_STRUCT(DEBUG, "to prevent windup",
+ ::frc971::control_loops::ShooterMovingGoal(dx));
} else if (uncapped_voltage() < -max_voltage_) {
double dx;
if (controller_index() == 0) {
@@ -74,7 +77,8 @@
mutable_R(0, 0) -= dx;
}
capped_goal_ = true;
- LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
+ LOG_STRUCT(DEBUG, "to prevent windup",
+ ::frc971::control_loops::ShooterMovingGoal(dx));
} else {
capped_goal_ = false;
}
@@ -100,14 +104,15 @@
if (controller_index() == 0) {
mutable_R(2, 0) += -A(1, 0) / A(1, 2) * (doffset);
}
- LOG_STRUCT(
- DEBUG, "sensor edge (fake?)",
- ShooterChangeCalibration(encoder_val, known_position, old_position,
- absolute_position(), previous_offset, offset_));
+ LOG_STRUCT(DEBUG, "sensor edge (fake?)",
+ ::frc971::control_loops::ShooterChangeCalibration(
+ encoder_val, known_position, old_position, absolute_position(),
+ previous_offset, offset_));
}
-ShooterMotor::ShooterMotor(control_loops::ShooterQueue *my_shooter)
- : aos::controls::ControlLoop<control_loops::ShooterQueue>(my_shooter),
+ShooterMotor::ShooterMotor(::frc971::control_loops::ShooterQueue *my_shooter)
+ : aos::controls::ControlLoop<::frc971::control_loops::ShooterQueue>(
+ my_shooter),
shooter_(MakeShooterLoop()),
state_(STATE_INITIALIZE),
loading_problem_end_time_(0, 0),
@@ -124,16 +129,18 @@
last_proximal_current_(true) {}
double ShooterMotor::PowerToPosition(double power) {
- const frc971::constants::Values &values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
double maxpower = 0.5 * kSpringConstant *
(kMaxExtension * kMaxExtension -
(kMaxExtension - values.shooter.upper_limit) *
(kMaxExtension - values.shooter.upper_limit));
if (power < 0) {
- LOG_STRUCT(WARNING, "negative power", PowerAdjustment(power, 0));
+ LOG_STRUCT(WARNING, "negative power",
+ ::frc971::control_loops::PowerAdjustment(power, 0));
power = 0;
} else if (power > maxpower) {
- LOG_STRUCT(WARNING, "power too high", PowerAdjustment(power, maxpower));
+ LOG_STRUCT(WARNING, "power too high",
+ ::frc971::control_loops::PowerAdjustment(power, maxpower));
power = maxpower;
}
@@ -157,9 +164,9 @@
}
void ShooterMotor::CheckCalibrations(
- const control_loops::ShooterQueue::Position *position) {
+ const ::frc971::control_loops::ShooterQueue::Position *position) {
CHECK_NOTNULL(position);
- const frc971::constants::Values &values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
// TODO(austin): Validate that this is the right edge.
// If we see a posedge on any of the hall effects,
@@ -206,10 +213,10 @@
// Positive is out, and positive power is out.
void ShooterMotor::RunIteration(
- const control_loops::ShooterQueue::Goal *goal,
- const control_loops::ShooterQueue::Position *position,
- control_loops::ShooterQueue::Output *output,
- control_loops::ShooterQueue::Status *status) {
+ const ::frc971::control_loops::ShooterQueue::Goal *goal,
+ const ::frc971::control_loops::ShooterQueue::Position *position,
+ ::frc971::control_loops::ShooterQueue::Output *output,
+ ::frc971::control_loops::ShooterQueue::Status *status) {
if (goal && ::std::isnan(goal->shot_power)) {
state_ = STATE_ESTOP;
LOG(ERROR, "Estopping because got a shot power of NAN.\n");
@@ -236,7 +243,7 @@
// motors disabled.
if (output) output->voltage = 0;
- const frc971::constants::Values &values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
// Don't even let the control loops run.
bool shooter_loop_disable = false;
@@ -641,8 +648,8 @@
if (!shooter_loop_disable) {
LOG_STRUCT(DEBUG, "running the loop",
- ShooterStatusToLog(shooter_.goal_position(),
- shooter_.absolute_position()));
+ ::frc971::control_loops::ShooterStatusToLog(
+ shooter_.goal_position(), shooter_.absolute_position()));
if (!cap_goal) {
shooter_.set_max_voltage(12.0);
}
@@ -668,7 +675,7 @@
if (position) {
LOG_STRUCT(DEBUG, "internal state",
- ShooterStateToLog(
+ ::frc971::control_loops::ShooterStateToLog(
shooter_.absolute_position(), shooter_.absolute_velocity(),
state_, position->latch, position->pusher_proximal.current,
position->pusher_distal.current, position->plunger,
@@ -698,4 +705,4 @@
}
} // namespace control_loops
-} // namespace frc971
+} // namespace y2014
diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index 93b45e0..107fc65 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -11,7 +11,7 @@
#include "y2014/control_loops/shooter/shooter_motor_plant.h"
#include "y2014/control_loops/shooter/shooter.q.h"
-namespace frc971 {
+namespace y2014 {
namespace control_loops {
namespace testing {
class ShooterTest_UnloadWindupPositive_Test;
@@ -122,17 +122,18 @@
const Time kPrepareFireEndTime = Time::InMS(40);
class ShooterMotor
- : public aos::controls::ControlLoop<control_loops::ShooterQueue> {
+ : public aos::controls::ControlLoop<::frc971::control_loops::ShooterQueue> {
public:
- explicit ShooterMotor(control_loops::ShooterQueue *my_shooter =
- &control_loops::shooter_queue);
+ explicit ShooterMotor(::frc971::control_loops::ShooterQueue *my_shooter =
+ &::frc971::control_loops::shooter_queue);
// True if the goal was moved to avoid goal windup.
bool capped_goal() const { return shooter_.capped_goal(); }
double PowerToPosition(double power);
double PositionToPower(double position);
- void CheckCalibrations(const control_loops::ShooterQueue::Position *position);
+ void CheckCalibrations(
+ const ::frc971::control_loops::ShooterQueue::Position *position);
typedef enum {
STATE_INITIALIZE = 0,
@@ -153,9 +154,10 @@
protected:
virtual void RunIteration(
- const ShooterQueue::Goal *goal,
- const control_loops::ShooterQueue::Position *position,
- ShooterQueue::Output *output, ShooterQueue::Status *status);
+ const ::frc971::control_loops::ShooterQueue::Goal *goal,
+ const ::frc971::control_loops::ShooterQueue::Position *position,
+ ::frc971::control_loops::ShooterQueue::Output *output,
+ ::frc971::control_loops::ShooterQueue::Status *status);
private:
// We have to override this to keep the pistons in the correct positions.
@@ -177,7 +179,7 @@
load_timeout_ = Time::Now() + kLoadTimeout;
}
- control_loops::ShooterQueue::Position last_position_;
+ ::frc971::control_loops::ShooterQueue::Position last_position_;
ZeroedStateFeedbackLoop shooter_;
@@ -220,6 +222,6 @@
};
} // namespace control_loops
-} // namespace frc971
+} // namespace y2014
#endif // Y2014_CONTROL_LOOPS_shooter_shooter_H_
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index 648bbd7..e22ee7a 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -12,7 +12,7 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2014 {
namespace control_loops {
namespace testing {
@@ -85,8 +85,9 @@
// Sets the values of the physical sensors that can be directly observed
// (encoder, hall effect).
- void SetPhysicalSensors(control_loops::ShooterQueue::Position *position) {
- const frc971::constants::Values &values = constants::GetValues();
+ void SetPhysicalSensors(
+ ::frc971::control_loops::ShooterQueue::Position *position) {
+ const constants::Values &values = constants::GetValues();
position->position = GetPosition();
@@ -115,10 +116,10 @@
}
void UpdateEffectEdge(
- PosedgeOnlyCountedHallEffectStruct *sensor,
- const PosedgeOnlyCountedHallEffectStruct &last_sensor,
+ ::frc971::PosedgeOnlyCountedHallEffectStruct *sensor,
+ const ::frc971::PosedgeOnlyCountedHallEffectStruct &last_sensor,
const constants::Values::AnglePair &limits,
- const control_loops::ShooterQueue::Position &last_position) {
+ const ::frc971::control_loops::ShooterQueue::Position &last_position) {
sensor->posedge_count = last_sensor.posedge_count;
sensor->negedge_count = last_sensor.negedge_count;
@@ -152,9 +153,9 @@
// it into a state using the passed values
void SendPositionMessage(bool use_passed, bool plunger_in,
bool latch_in, bool brake_in) {
- const frc971::constants::Values &values = constants::GetValues();
- ::aos::ScopedMessagePtr<control_loops::ShooterQueue::Position> position =
- shooter_queue_.position.MakeMessage();
+ const constants::Values &values = constants::GetValues();
+ ::aos::ScopedMessagePtr<::frc971::control_loops::ShooterQueue::Position>
+ position = shooter_queue_.position.MakeMessage();
if (use_passed) {
plunger_latched_ = latch_in && plunger_in;
@@ -282,11 +283,11 @@
int brake_delay_count_;
private:
- ShooterQueue shooter_queue_;
+ ::frc971::control_loops::ShooterQueue shooter_queue_;
double initial_position_;
double last_voltage_;
- control_loops::ShooterQueue::Position last_position_message_;
+ ::frc971::control_loops::ShooterQueue::Position last_position_message_;
double last_plant_position_;
};
@@ -296,7 +297,7 @@
// Create a new instance of the test queue so that it invalidates the queue
// that it points to. Otherwise, we will have a pointer to shared memory that
// is no longer valid.
- ShooterQueue shooter_queue_;
+ ::frc971::control_loops::ShooterQueue shooter_queue_;
// Create a loop and simulation plant.
ShooterMotor shooter_motor_;
@@ -326,7 +327,7 @@
};
TEST_F(ShooterTest, PowerConversion) {
- const frc971::constants::Values &values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
// test a couple of values return the right thing
EXPECT_NEAR(0.254001, shooter_motor_.PowerToPosition(140.0), 0.00001);
EXPECT_NEAR(0.00058, shooter_motor_.PowerToPosition(0.53), 0.00001);
@@ -719,4 +720,4 @@
} // namespace testing
} // namespace control_loops
-} // namespace frc971
+} // namespace y2014
diff --git a/y2014/control_loops/shooter/shooter_main.cc b/y2014/control_loops/shooter/shooter_main.cc
index 31b24bf..2819f10 100644
--- a/y2014/control_loops/shooter/shooter_main.cc
+++ b/y2014/control_loops/shooter/shooter_main.cc
@@ -4,7 +4,7 @@
int main() {
::aos::Init();
- frc971::control_loops::ShooterMotor shooter;
+ ::y2014::control_loops::ShooterMotor shooter;
shooter.Run();
::aos::Cleanup();
return 0;