Run yapf on Spline UI
Change-Id: Id09023a4e651fd041ea5acc9814e441780307336
diff --git a/frc971/control_loops/python/haptic_wheel.py b/frc971/control_loops/python/haptic_wheel.py
index 5e63df3..7221870 100755
--- a/frc971/control_loops/python/haptic_wheel.py
+++ b/frc971/control_loops/python/haptic_wheel.py
@@ -22,7 +22,6 @@
class SystemParams(object):
-
def __init__(self, J, G, kP, kD, kCompensationTimeconstant, q_pos, q_vel,
q_torque, current_limit):
self.J = J
@@ -69,7 +68,6 @@
class HapticInput(control_loop.ControlLoop):
-
def __init__(self, params=None, name='HapticInput'):
# The defaults are for the steering wheel.
super(HapticInput, self).__init__(name)
@@ -109,7 +107,6 @@
class IntegralHapticInput(HapticInput):
-
def __init__(self, params=None, name="IntegralHapticInput"):
super(IntegralHapticInput, self).__init__(name=name, params=params)
@@ -369,7 +366,9 @@
trigger_velocity = [t * 50.0 for t in trigger_velocity]
trigger_torque = [t / 2.0 for t in trigger_torque]
trigger_current = [t * 10.0 for t in trigger_current]
- trigger_request_current = [t * 2.0 for t in trigger_request_current]
+ trigger_request_current = [
+ t * 2.0 for t in trigger_request_current
+ ]
resampled_trigger_request_current = scipy.interpolate.interp1d(
trigger_request_time, trigger_request_current,
kind="zero")(trigger_data_time)
@@ -390,8 +389,9 @@
kWheel,
run_correct=True)
else:
- plot_input(trigger_data_time, trigger_radians, trigger_velocity,
- trigger_torque, trigger_current, kTrigger)
+ plot_input(trigger_data_time, trigger_radians,
+ trigger_velocity, trigger_torque, trigger_current,
+ kTrigger)
plot_input(wheel_data_time, wheel_radians, wheel_velocity,
wheel_torque, wheel_current, kWheel)
pylab.show()
@@ -403,7 +403,8 @@
else:
namespaces = ['frc971', 'control_loops', 'drivetrain']
for name, params, filenames in [('HapticWheel', kWheel, argv[1:5]),
- ('HapticTrigger', kTrigger, argv[5:9])]:
+ ('HapticTrigger', kTrigger,
+ argv[5:9])]:
haptic_input = HapticInput(params=params, name=name)
loop_writer = control_loop.ControlLoopWriter(
name, [haptic_input],
@@ -422,11 +423,13 @@
control_loop.Constant("k" + name + "Dt", "%f",
integral_haptic_input.dt))
integral_loop_writer.AddConstant(
- control_loop.Constant("k" + name + "FreeCurrent", "%f",
- integral_haptic_input.motor.free_current))
+ control_loop.Constant(
+ "k" + name + "FreeCurrent", "%f",
+ integral_haptic_input.motor.free_current))
integral_loop_writer.AddConstant(
- control_loop.Constant("k" + name + "StallTorque", "%f",
- integral_haptic_input.motor.stall_torque))
+ control_loop.Constant(
+ "k" + name + "StallTorque", "%f",
+ integral_haptic_input.motor.stall_torque))
integral_loop_writer.AddConstant(
control_loop.Constant("k" + name + "J", "%f",
integral_haptic_input.J))