Added hood control loop and python.
Change-Id: Iabeec3074e93fec257e0f3b78d3065250e75d526
diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index edc72f5..b7f393b 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -49,6 +49,22 @@
],
)
+py_binary(
+ name = "hood",
+ srcs = [
+ "hood.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
new file mode 100644
index 0000000..8c99940
--- /dev/null
+++ b/y2020/control_loops/python/hood.py
@@ -0,0 +1,60 @@
+#!/usr/bin/python
+
+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
+
+'''
+Hood is an angular subsystem due to the mounting of the encoder on the hood joint.
+We are currently electing to ignore potential non-linearity.
+'''
+
+#TODO: update constants
+kHood = angular_system.AngularSystemParams(
+ name='Hood',
+ motor=control_loop.BAG(),
+ # meters / rad (used the displacement of the lead screw and the angle)
+ G=(0.1601 / 0.6457),
+ J=0.3,
+ q_pos=0.20,
+ q_vel=5.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kHood, R)
+ angular_system.PlotMotion(kHood, R)
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the hood and integral hood.'
+ )
+ else:
+ namespaces = ['y2020', 'control_loops', 'superstructure', 'hood']
+ angular_system.WriteAngularSystem(kHood, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))