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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 54e5bb52ee74c4f5395434d2aa1db8881e5335c7
commit54e5bb52ee74c4f5395434d2aa1db8881e5335c7[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Mon Feb 19 01:09:18 2018 -0800
committerAustin Schuh <austin.linux@gmail.com>Mon Feb 19 19:24:23 2018 -0800
treef1c4b63ebed34a834a213facbd484760a47d61e4
parent0378513e6ace83807613644b3777e762eba5cc76 [diff]
Add acceptably tuned EKF for the arm.

I had to switch to a voltage error to get it to converge.  I don't know
if that's a residual problem from uninitialized stack or what, but it's
working much better now.

The disturbance estimator has a time constant of like 0.5 seconds right
now.  Faster would be nice, but I'll wait until we see it on a bot
before cranking it up much further.

Change-Id: I72d46aa308ce806a35cfed191ee3b15864e6905a
10 files changed
tree: f1c4b63ebed34a834a213facbd484760a47d61e4
  1. aos/
  2. build_tests/
  3. compilers/
  4. debian/
  5. doc/
  6. frc971/
  7. motors/
  8. third_party/
  9. tools/
  10. vm/
  11. y2012/
  12. y2014/
  13. y2014_bot3/
  14. y2016/
  15. y2017/
  16. y2017_bot3/
  17. y2018/
  18. .clang-format
  19. .gitignore
  20. LICENSE.txt
  21. README.md
  22. setup_roborio.sh
  23. WORKSPACE
README.md

Introduction

This is FRC Team 971's main code repository. There are README* files throughout the source tree documenting specifics for their respective folders.

Access to the code

The main central location for our code is our Gerrit server at https://robotics.mvla.net/gerrit. To get a copy of the code on your computer to work with, follow these steps:

  1. Contact Michael Schuh to get an SVN account.
  2. Go to Gerrit and create an account.
  3. Contact Brian Silverman with your SVN username to get access to the code in Gerrit.
  4. Go to the 971-Robot-Code project in Gerrit and run the command. Running the clone with commit-msg hook command will save you trouble later.

To learn more about git, see git(1) (man git or git(1) (especially the NOTES section).

Code reviews

We want all code to at least have a second person look over it before it gets merged into the master branch. Gerrit has extensive documentation on starting reviews. TL;DR: git push origin HEAD:refs/for/master and then click on the link to add reviewers. If you just upload a change without adding any reviewers, it might sit around for a long time before anybody else notices it. git-review can make the upload process simpler.

Building the code

The currently supported operating system for building the code is amd64 Debian Jessie. It is likely to work on any x86_64 GNU/Linux system, but that's not at all well-tested.

We use Bazel to build the code. Bazel has extensive docs and does a nice job with fast, correct increment rebuilds.

Steps to set up a computer to build the code:

  1. Set up the required APT repositories: Download frc971.list and llvm.org.list and put them in /etc/apt/sources.list.d/.
  2. Install the required packages:
apt-get install -t jessie-backports openjdk-8-jdk
apt-get install python libpython-dev bazel ruby clang-format-3.5 clang-3.6 gfortran libblas-dev liblapack-dev python-scipy python-matplotlib
  1. Allow Bazel's sandboxing to work: Follow the direction in doc/frc971.conf.

Some useful Bazel commands:

  • Build and test everything (on the host system):
bazel test //...
bazel build --cpu=roborio //...
  • Build the code for a specific robot:
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
  • Download code to a robot:
bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local