Upgraded //y2012 to use the common drive code.
This is a fixup from changing the call signature of DoCoerceGoal
Change-Id: I6a99f666bebd9a728f42083a9c0280e8f2dab295
diff --git a/y2012/BUILD b/y2012/BUILD
index 395206b..bbdab0a 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -12,7 +12,7 @@
'//aos/common:time',
'//aos/common/util:log_interval',
'//aos/common/actions:action_lib',
- '//y2012/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2012/control_loops/accessories:accessories_queue',
'//frc971/queues:gyro',
'//frc971/autonomous:auto_queue',
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
index d23c06f..e285742 100644
--- a/y2012/control_loops/drivetrain/BUILD
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -2,29 +2,6 @@
load('/aos/build/queues', 'queue_library')
-cc_binary(
- name = 'replay_drivetrain',
- srcs = [
- 'replay_drivetrain.cc',
- ],
- deps = [
- ':drivetrain_queue',
- '//aos/common/controls:replay_control_loop',
- '//aos/linux_code:init',
- '//frc971/queues:gyro',
- ],
-)
-
-queue_library(
- name = 'drivetrain_queue',
- srcs = [
- 'drivetrain.q',
- ],
- deps = [
- '//aos/common/controls:control_loop_queues',
- ],
-)
-
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
@@ -73,67 +50,18 @@
)
cc_library(
- name = 'ssdrivetrain',
+ name = 'drivetrain_base',
srcs = [
- 'ssdrivetrain.cc',
+ 'drivetrain_base.cc',
],
hdrs = [
- 'ssdrivetrain.h',
+ 'drivetrain_base.h',
],
deps = [
':polydrivetrain_plants',
- ':drivetrain_queue',
- '//aos/common/controls:polytope',
- '//aos/common:math',
- '//aos/common/messages:robot_state',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/control_loops:coerce_goal',
- '//aos/common/util:log_interval',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
- ],
-)
-
-cc_library(
- name = 'polydrivetrain',
- srcs = [
- 'polydrivetrain.cc',
- ],
- hdrs = [
- 'polydrivetrain.h',
- ],
- deps = [
- ':polydrivetrain_plants',
- ':drivetrain_queue',
- '//aos/common/controls:polytope',
- '//aos/common:math',
- '//aos/common/messages:robot_state',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/control_loops:coerce_goal',
- '//aos/common/util:log_interval',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
- ],
-)
-
-cc_library(
- name = 'drivetrain_lib',
- srcs = [
- 'drivetrain.cc',
- ],
- hdrs = [
- 'drivetrain.h',
- ],
- deps = [
- ':drivetrain_queue',
- ':polydrivetrain',
- ':polydrivetrain_plants',
- ':ssdrivetrain',
- '//aos/common/controls:control_loop',
- '//frc971/queues:gyro',
- '//aos/common/util:log_interval',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
+ '//y2016:constants',
],
)
@@ -143,8 +71,8 @@
'drivetrain_main.cc',
],
deps = [
+ ':drivetrain_base',
'//aos/linux_code:init',
- ':drivetrain_lib',
- ':drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
],
)
diff --git a/y2012/control_loops/drivetrain/drivetrain.cc b/y2012/control_loops/drivetrain/drivetrain.cc
deleted file mode 100644
index 0a2eef0..0000000
--- a/y2012/control_loops/drivetrain/drivetrain.cc
+++ /dev/null
@@ -1,152 +0,0 @@
-#include "y2012/control_loops/drivetrain/drivetrain.h"
-
-#include <stdio.h>
-#include <sched.h>
-#include <cmath>
-#include <memory>
-#include "Eigen/Dense"
-
-#include "aos/common/logging/logging.h"
-#include "aos/common/logging/queue_logging.h"
-#include "aos/common/logging/matrix_logging.h"
-
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2012/control_loops/drivetrain/polydrivetrain.h"
-#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
-#include "frc971/queues/gyro.q.h"
-
-// A consistent way to mark code that goes away without shifters. It's still
-// here because we will have shifters again in the future.
-#define HAVE_SHIFTERS 1
-
-using frc971::sensors::gyro_reading;
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-DrivetrainLoop::DrivetrainLoop(
- ::y2012::control_loops::DrivetrainQueue *my_drivetrain)
- : aos::controls::ControlLoop<::y2012::control_loops::DrivetrainQueue>(
- my_drivetrain),
- kf_(::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop()) {
- ::aos::controls::HPolytope<0>::Init();
-}
-
-void DrivetrainLoop::RunIteration(
- const ::y2012::control_loops::DrivetrainQueue::Goal *goal,
- const ::y2012::control_loops::DrivetrainQueue::Position *position,
- ::y2012::control_loops::DrivetrainQueue::Output *output,
- ::y2012::control_loops::DrivetrainQueue::Status *status) {
- bool bad_pos = false;
- if (position == nullptr) {
- LOG_INTERVAL(no_position_);
- bad_pos = true;
- }
- no_position_.Print();
-
- bool control_loop_driving = false;
- if (goal) {
- double wheel = goal->steering;
- double throttle = goal->throttle;
- bool quickturn = goal->quickturn;
-#if HAVE_SHIFTERS
- bool highgear = goal->highgear;
-#endif
-
- control_loop_driving = goal->control_loop_driving;
- double left_goal = goal->left_goal;
- double right_goal = goal->right_goal;
-
- dt_closedloop_.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
- goal->right_velocity_goal);
-#if HAVE_SHIFTERS
- dt_openloop_.SetGoal(wheel, throttle, quickturn, highgear);
-#else
- dt_openloop_.SetGoal(wheel, throttle, quickturn, false);
-#endif
- }
-
- if (!bad_pos) {
- const double left_encoder = position->left_encoder;
- const double right_encoder = position->right_encoder;
- if (gyro_reading.FetchLatest()) {
- LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
- dt_closedloop_.SetPosition(left_encoder, right_encoder,
- gyro_reading->angle);
- last_gyro_heading_ = gyro_reading->angle;
- last_gyro_rate_ = gyro_reading->velocity;
- } else {
- dt_closedloop_.SetRawPosition(left_encoder, right_encoder);
- }
- }
- dt_openloop_.SetPosition(position);
- dt_openloop_.Update();
-
- if (control_loop_driving) {
- dt_closedloop_.Update(output == NULL, true);
- dt_closedloop_.SendMotors(output);
- } else {
- dt_openloop_.SendMotors(output);
- if (output) {
- dt_closedloop_.SetExternalMotors(output->left_voltage,
- output->right_voltage);
- }
- dt_closedloop_.Update(output == NULL, false);
- }
-
- // set the output status of the control loop state
- if (status) {
- status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
- status->estimated_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
- status->estimated_right_position = dt_closedloop_.GetEstimatedRightEncoder();
-
- status->estimated_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
- status->estimated_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
- status->output_was_capped = dt_closedloop_.OutputWasCapped();
- status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
- status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);
- }
-
-
- double left_voltage = 0.0;
- double right_voltage = 0.0;
- if (output) {
- left_voltage = output->left_voltage;
- right_voltage = output->right_voltage;
- }
-
- const double scalar = ::aos::robot_state->voltage_battery / 12.0;
-
- left_voltage *= scalar;
- right_voltage *= scalar;
-
- kf_.set_controller_index(dt_openloop_.controller_index());
-
- Eigen::Matrix<double, 3, 1> Y;
- Y << position->left_encoder, position->right_encoder, last_gyro_rate_;
- kf_.Correct(Y);
- integrated_kf_heading_ +=
- kDt * (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) / (kRobotRadius * 2.0);
-
- // To validate, look at the following:
-
- // Observed - dx/dt velocity for left, right.
-
- // Angular velocity error compared to the gyro
- // Gyro heading vs left-right
- // Voltage error.
-
- Eigen::Matrix<double, 2, 1> U;
- U << last_left_voltage_, last_right_voltage_;
- last_left_voltage_ = left_voltage;
- last_right_voltage_ = right_voltage;
-
- kf_.UpdateObserver(U);
-}
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/drivetrain.h b/y2012/control_loops/drivetrain/drivetrain.h
deleted file mode 100644
index 6fcbca7..0000000
--- a/y2012/control_loops/drivetrain/drivetrain.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
-
-#include "Eigen/Dense"
-
-#include "aos/common/controls/polytope.h"
-#include "aos/common/controls/control_loop.h"
-#include "aos/common/controls/polytope.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/drivetrain/polydrivetrain.h"
-#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
-#include "aos/common/util/log_interval.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-class DrivetrainLoop : public aos::controls::ControlLoop<
- ::y2012::control_loops::DrivetrainQueue> {
- public:
- // Constructs a control loop which can take a Drivetrain or defaults to the
- // drivetrain at y2012::control_loops::drivetrain
- explicit DrivetrainLoop(
- ::y2012::control_loops::DrivetrainQueue *my_drivetrain =
- &::y2012::control_loops::drivetrain_queue);
-
- protected:
- // Executes one cycle of the control loop.
- virtual void RunIteration(
- const ::y2012::control_loops::DrivetrainQueue::Goal *goal,
- const ::y2012::control_loops::DrivetrainQueue::Position *position,
- ::y2012::control_loops::DrivetrainQueue::Output *output,
- ::y2012::control_loops::DrivetrainQueue::Status *status);
-
- typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
- SimpleLogInterval no_position_ = SimpleLogInterval(
- ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
- double last_gyro_heading_ = 0.0;
- double last_gyro_rate_ = 0.0;
-
- PolyDrivetrain dt_openloop_;
- DrivetrainMotorsSS dt_closedloop_;
- StateFeedbackLoop<7, 2, 3> kf_;
-
- double last_left_voltage_ = 0;
- double last_right_voltage_ = 0;
-
- double integrated_kf_heading_ = 0;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2012/control_loops/drivetrain/drivetrain.q b/y2012/control_loops/drivetrain/drivetrain.q
deleted file mode 100644
index 44080da..0000000
--- a/y2012/control_loops/drivetrain/drivetrain.q
+++ /dev/null
@@ -1,126 +0,0 @@
-package y2012.control_loops;
-
-import "aos/common/controls/control_loops.q";
-
-// For logging information about what the code is doing with the shifters.
-struct GearLogging {
- // Which controller is being used.
- int8_t controller_index;
- // Whether the left loop is the high-gear one.
- bool left_loop_high;
- // Whether the right loop is the high-gear one.
- bool right_loop_high;
- // The state of the left shifter.
- int8_t left_state;
- // The state of the right shifter.
- int8_t right_state;
-};
-
-// For logging information about the state of the shifters.
-struct CIMLogging {
- // Whether the code thinks the left side is currently in gear.
- bool left_in_gear;
- // Whether the code thinks the right side is currently in gear.
- bool right_in_gear;
- // The velocity in rad/s (positive forward) the code thinks the left motor
- // is currently spinning at.
- double left_motor_speed;
- // The velocity in rad/s (positive forward) the code thinks the right motor
- // is currently spinning at.
- double right_motor_speed;
- // The velocity estimate for the left side of the robot in m/s (positive
- // forward) used for shifting.
- double left_velocity;
- // The velocity estimate for the right side of the robot in m/s (positive
- // forward) used for shifting.
- double right_velocity;
-};
-
-queue_group DrivetrainQueue {
- implements aos.control_loops.ControlLoop;
-
- message Goal {
- // Position of the steering wheel (positive = turning left when going
- // forwards).
- double steering;
- // Position of the throttle (positive forwards).
- double throttle;
- // True to shift into high, false to shift into low.
- bool highgear;
- // True to activate quickturn.
- bool quickturn;
- // True to have the closed-loop controller take over.
- bool control_loop_driving;
- // Position goal for the left side in meters when the closed-loop controller
- // is active.
- double left_goal;
- // Velocity goal for the left side in m/s when the closed-loop controller
- // is active.
- double left_velocity_goal;
- // Position goal for the right side in meters when the closed-loop
- // controller is active.
- double right_goal;
- // Velocity goal for the right side in m/s when the closed-loop controller
- // is active.
- double right_velocity_goal;
- };
-
- message Position {
- // Relative position of the left side in meters.
- double left_encoder;
- // Relative position of the right side in meters.
- double right_encoder;
- // The speed in m/s of the left side from the most recent encoder pulse,
- // or 0 if there was no edge within the last 5ms.
- double left_speed;
- // The speed in m/s of the right side from the most recent encoder pulse,
- // or 0 if there was no edge within the last 5ms.
- double right_speed;
- // Position of the left shifter (smaller = towards low gear).
- double left_shifter_position;
- // Position of the right shifter (smaller = towards low gear).
- double right_shifter_position;
- double low_left_hall;
- double high_left_hall;
- double low_right_hall;
- double high_right_hall;
- };
-
- message Output {
- // Voltage to send to the left motor(s).
- double left_voltage;
- // Voltage to send to the right motor(s).
- double right_voltage;
- // True to set the left shifter piston for high gear.
- bool left_high;
- // True to set the right shifter piston for high gear.
- bool right_high;
- };
-
- message Status {
- // Estimated speed of the center of the robot in m/s (positive forwards).
- double robot_speed;
- // Estimated relative position of the left side in meters.
- double estimated_left_position;
- // Estimated relative position of the right side in meters.
- double estimated_right_position;
- // Estimated velocity of the left side in m/s.
- double estimated_left_velocity;
- // Estimated velocity of the left side in m/s.
- double estimated_right_velocity;
-
- // The voltage we wanted to send to the left side last cycle.
- double uncapped_left_voltage;
- // The voltage we wanted to send to the right side last cycle.
- double uncapped_right_voltage;
- // True if the output voltage was capped last cycle.
- bool output_was_capped;
- };
-
- queue Goal goal;
- queue Position position;
- queue Output output;
- queue Status status;
-};
-
-queue_group DrivetrainQueue drivetrain_queue;
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..321962e
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,48 @@
+#include "y2012/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+
+ ::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true,
+ 0.0,
+ 0.4,
+ 1.0};
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.h b/y2012/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..3d85af1
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
+
+#endif // Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index ddff516..cb453f5 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -1,10 +1,14 @@
-#include "y2012/control_loops/drivetrain/drivetrain.h"
-
#include "aos/linux_code/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2012/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
int main() {
::aos::Init();
- ::y2012::control_loops::drivetrain::DrivetrainLoop drivetrain;
+ DrivetrainLoop drivetrain(
+ ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;
diff --git a/y2012/control_loops/drivetrain/polydrivetrain.cc b/y2012/control_loops/drivetrain/polydrivetrain.cc
deleted file mode 100644
index 598d635..0000000
--- a/y2012/control_loops/drivetrain/polydrivetrain.cc
+++ /dev/null
@@ -1,332 +0,0 @@
-#include "y2012/control_loops/drivetrain/polydrivetrain.h"
-
-#include "aos/common/logging/logging.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/commonmath.h"
-#include "aos/common/logging/queue_logging.h"
-#include "aos/common/logging/matrix_logging.h"
-
-#include "aos/common/messages/robot_state.q.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/coerce_goal.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-
-#define HAVE_SHIFTERS 1
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-using ::y2012::control_loops::GearLogging;
-using ::y2012::control_loops::CIMLogging;
-using ::frc971::control_loops::CoerceGoal;
-
-PolyDrivetrain::PolyDrivetrain()
- : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
- /*[*/ -1, 0 /*]*/,
- /*[*/ 0, 1 /*]*/,
- /*[*/ 0, -1 /*]]*/).finished(),
- (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
- /*[*/ 12 /*]*/,
- /*[*/ 12 /*]*/,
- /*[*/ 12 /*]]*/).finished()),
- loop_(new StateFeedbackLoop<2, 2, 2>(
- ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop())),
- ttrust_(1.1),
- wheel_(0.0),
- throttle_(0.0),
- quickturn_(false),
- stale_count_(0),
- position_time_delta_(kDt),
- left_gear_(LOW),
- right_gear_(LOW),
- counter_(0) {
- last_position_.Zero();
- position_.Zero();
-}
-
-double PolyDrivetrain::MotorSpeed(bool high_gear, double velocity) {
- if (high_gear) {
- return velocity / kHighGearRatio / kWheelRadius;
- } else {
- return velocity / kLowGearRatio / kWheelRadius;
- }
-}
-
-void PolyDrivetrain::SetGoal(double wheel, double throttle, bool quickturn,
- bool highgear) {
- const double kWheelNonLinearity = 0.3;
- // Apply a sin function that's scaled to make it feel better.
- const double angular_range = M_PI_2 * kWheelNonLinearity;
-
- wheel_ = sin(angular_range * wheel) / sin(angular_range);
- wheel_ = sin(angular_range * wheel_) / sin(angular_range);
- quickturn_ = quickturn;
-
- static const double kThrottleDeadband = 0.05;
- if (::std::abs(throttle) < kThrottleDeadband) {
- throttle_ = 0;
- } else {
- throttle_ = copysign(
- (::std::abs(throttle) - kThrottleDeadband) / (1.0 - kThrottleDeadband),
- throttle);
- }
-
- // TODO(austin): Fix the upshift logic to include states.
- Gear requested_gear = highgear ? HIGH : LOW;
-
- const Gear shift_up = HIGH;
- const Gear shift_down = LOW;
-
- if (left_gear_ != requested_gear) {
- if (IsInGear(left_gear_)) {
- if (requested_gear == HIGH) {
- left_gear_ = shift_up;
- } else {
- left_gear_ = shift_down;
- }
- } else {
- if (requested_gear == HIGH && left_gear_ == SHIFTING_DOWN) {
- left_gear_ = SHIFTING_UP;
- } else if (requested_gear == LOW && left_gear_ == SHIFTING_UP) {
- left_gear_ = SHIFTING_DOWN;
- }
- }
- }
- if (right_gear_ != requested_gear) {
- if (IsInGear(right_gear_)) {
- if (requested_gear == HIGH) {
- right_gear_ = shift_up;
- } else {
- right_gear_ = shift_down;
- }
- } else {
- if (requested_gear == HIGH && right_gear_ == SHIFTING_DOWN) {
- right_gear_ = SHIFTING_UP;
- } else if (requested_gear == LOW && right_gear_ == SHIFTING_UP) {
- right_gear_ = SHIFTING_DOWN;
- }
- }
- }
-}
-void PolyDrivetrain::SetPosition(
- const ::y2012::control_loops::DrivetrainQueue::Position *position) {
- if (position == NULL) {
- ++stale_count_;
- } else {
- last_position_ = position_;
- position_ = *position;
- position_time_delta_ = (stale_count_ + 1) * kDt;
- stale_count_ = 0;
- }
-
-#if HAVE_SHIFTERS
- if (position) {
- if (left_gear_ == LOW) {
- if (right_gear_ == LOW) {
- loop_->set_controller_index(0);
- } else {
- loop_->set_controller_index(1);
- }
- } else {
- if (right_gear_ == LOW) {
- loop_->set_controller_index(2);
- } else {
- loop_->set_controller_index(3);
- }
- }
- }
-#endif
-}
-
-double PolyDrivetrain::FilterVelocity(double throttle) {
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- constexpr int kHighGearController = 3;
- const Eigen::Matrix<double, 2, 2> FF_high =
- loop_->controller(kHighGearController).plant.B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() -
- loop_->controller(kHighGearController).plant.A());
-
- ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
- int min_FF_sum_index;
- const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
- const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
- const double high_min_FF_sum = FF_high.col(0).sum();
-
- const double adjusted_ff_voltage =
- ::aos::Clip(throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
- return (adjusted_ff_voltage +
- ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) /
- 2.0) /
- (ttrust_ * min_K_sum + min_FF_sum);
-}
-
-double PolyDrivetrain::MaxVelocity() {
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- constexpr int kHighGearController = 3;
- const Eigen::Matrix<double, 2, 2> FF_high =
- loop_->controller(kHighGearController).plant.B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() -
- loop_->controller(kHighGearController).plant.A());
-
- ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
- int min_FF_sum_index;
- const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
- // const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
- const double high_min_FF_sum = FF_high.col(0).sum();
-
- const double adjusted_ff_voltage =
- ::aos::Clip(12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
- return adjusted_ff_voltage / min_FF_sum;
-}
-
-void PolyDrivetrain::Update() {
- // TODO(austin): Observer for the current velocity instead of difference
- // calculations.
- ++counter_;
-#if HAVE_SHIFTERS
- const double current_left_velocity =
- (position_.left_encoder - last_position_.left_encoder) /
- position_time_delta_;
- const double current_right_velocity =
- (position_.right_encoder - last_position_.right_encoder) /
- position_time_delta_;
- const double left_motor_speed =
- MotorSpeed(left_gear_ == HIGH, current_left_velocity);
- const double right_motor_speed =
- MotorSpeed(right_gear_ == HIGH, current_right_velocity);
-
- {
- CIMLogging logging;
-
- // Reset the CIM model to the current conditions to be ready for when we
- // shift.
- if (IsInGear(left_gear_)) {
- logging.left_in_gear = true;
- } else {
- logging.left_in_gear = false;
- }
- logging.left_motor_speed = left_motor_speed;
- logging.left_velocity = current_left_velocity;
- if (IsInGear(right_gear_)) {
- logging.right_in_gear = true;
- } else {
- logging.right_in_gear = false;
- }
- logging.right_motor_speed = right_motor_speed;
- logging.right_velocity = current_right_velocity;
-
- LOG_STRUCT(DEBUG, "currently", logging);
- }
-#endif
-
-#if HAVE_SHIFTERS
- if (IsInGear(left_gear_) && IsInGear(right_gear_))
-#endif
- {
- // FF * X = U (steady state)
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- // Invert the plant to figure out how the velocity filter would have to
- // work
- // out in order to filter out the forwards negative inertia.
- // This math assumes that the left and right power and velocity are
- // equals,
- // and that the plant is the same on the left and right.
- const double fvel = FilterVelocity(throttle_);
-
- const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
- double steering_velocity;
- if (quickturn_) {
- steering_velocity = wheel_ * MaxVelocity();
- } else {
- steering_velocity = ::std::abs(fvel) * wheel_;
- }
- const double left_velocity = fvel - steering_velocity;
- const double right_velocity = fvel + steering_velocity;
-
- // Integrate velocity to get the position.
- // This position is used to get integral control.
- loop_->mutable_R() << left_velocity, right_velocity;
-
- if (!quickturn_) {
- // K * R = w
- Eigen::Matrix<double, 1, 2> equality_k;
- equality_k << 1 + sign_svel, -(1 - sign_svel);
- const double equality_w = 0.0;
-
- // Construct a constraint on R by manipulating the constraint on U
- ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
- U_Poly_.H() * (loop_->K() + FF),
- U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
-
- // Limit R back inside the box.
- loop_->mutable_R() =
- CoerceGoal(R_poly, equality_k, equality_w, loop_->R());
- }
-
- const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
- const Eigen::Matrix<double, 2, 1> U_ideal =
- loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
-
- for (int i = 0; i < 2; i++) {
- loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
- }
-
- // TODO(austin): Model this better.
- // TODO(austin): Feed back?
- loop_->mutable_X_hat() =
- loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
-#if HAVE_SHIFTERS
- } else {
- // Any motor is not in gear. Speed match.
- ::Eigen::Matrix<double, 1, 1> R_left;
- ::Eigen::Matrix<double, 1, 1> R_right;
- R_left(0, 0) = left_motor_speed;
- R_right(0, 0) = right_motor_speed;
-
- const double wiggle =
- (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
-
- loop_->mutable_U(0, 0) = ::aos::Clip(
- (R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle), -12.0, 12.0);
- loop_->mutable_U(1, 0) =
- ::aos::Clip((R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
- -12.0, 12.0);
- loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
-#endif
- }
-}
-
-void PolyDrivetrain::SendMotors(
- ::y2012::control_loops::DrivetrainQueue::Output *output) {
- if (output != NULL) {
- output->left_voltage = loop_->U(0, 0);
- output->right_voltage = loop_->U(1, 0);
- output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
- output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
- }
-}
-
-constexpr double PolyDrivetrain::kStallTorque;
-constexpr double PolyDrivetrain::kStallCurrent;
-constexpr double PolyDrivetrain::kFreeSpeed;
-constexpr double PolyDrivetrain::kFreeCurrent;
-constexpr double PolyDrivetrain::kWheelRadius;
-constexpr double PolyDrivetrain::kR;
-constexpr double PolyDrivetrain::Kv;
-constexpr double PolyDrivetrain::Kt;
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/polydrivetrain.h b/y2012/control_loops/drivetrain/polydrivetrain.h
deleted file mode 100644
index 73dcc8b..0000000
--- a/y2012/control_loops/drivetrain/polydrivetrain.h
+++ /dev/null
@@ -1,80 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
-
-#include "aos/common/controls/polytope.h"
-
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-class PolyDrivetrain {
- public:
- enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
- // Stall Torque in N m
- static constexpr double kStallTorque = drivetrain::kStallTorque;
- // Stall Current in Amps
- static constexpr double kStallCurrent = drivetrain::kStallCurrent;
- // Free Speed in RPM. Used number from last year.
- static constexpr double kFreeSpeed = drivetrain::kFreeSpeedRPM;
- // Free Current in Amps
- static constexpr double kFreeCurrent = drivetrain::kFreeCurrent;
- static constexpr double kWheelRadius = drivetrain::kWheelRadius;
- // Resistance of the motor, divided by the number of motors per side.
- static constexpr double kR = drivetrain::kR;
- // Motor velocity constant
- static constexpr double Kv = drivetrain::kV;
-
- // Torque constant
- static constexpr double Kt = drivetrain::kT;
-
- static constexpr double kLowGearRatio = 15.0 / 60.0 * 15.0 / 50.0;
- static constexpr double kHighGearRatio = 30.0 / 45.0 * 15.0 / 50.0;
-
- PolyDrivetrain();
-
- int controller_index() const { return loop_->controller_index(); }
-
- static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
-
- static double MotorSpeed(bool high_gear, double velocity);
-
- void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
-
- void SetPosition(
- const ::y2012::control_loops::DrivetrainQueue::Position *position);
-
- double FilterVelocity(double throttle);
-
- double MaxVelocity();
-
- void Update();
-
- void SendMotors(::y2012::control_loops::DrivetrainQueue::Output *output);
-
- private:
- const ::aos::controls::HPolytope<2> U_Poly_;
-
- ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
-
- const double ttrust_;
- double wheel_;
- double throttle_;
- bool quickturn_;
- int stale_count_;
- double position_time_delta_;
- Gear left_gear_;
- Gear right_gear_;
- ::y2012::control_loops::DrivetrainQueue::Position last_position_;
- ::y2012::control_loops::DrivetrainQueue::Position position_;
- int counter_;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
diff --git a/y2012/control_loops/drivetrain/replay_drivetrain.cc b/y2012/control_loops/drivetrain/replay_drivetrain.cc
deleted file mode 100644
index db03741..0000000
--- a/y2012/control_loops/drivetrain/replay_drivetrain.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "aos/common/controls/replay_control_loop.h"
-#include "aos/linux_code/init.h"
-
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
-
-// Reads one or more log files and sends out all the queue messages (in the
-// correct order and at the correct time) to feed a "live" drivetrain process.
-
-int main(int argc, char **argv) {
- if (argc <= 1) {
- fprintf(stderr, "Need at least one file to replay!\n");
- return EXIT_FAILURE;
- }
-
- ::aos::InitNRT();
-
- {
- ::aos::controls::ControlLoopReplayer<
- ::y2012::control_loops::DrivetrainQueue>
- replayer(&::y2012::control_loops::drivetrain_queue, "drivetrain");
-
- replayer.AddDirectQueueSender("wpilib_interface.Gyro", "sending",
- ::frc971::sensors::gyro_reading);
- for (int i = 1; i < argc; ++i) {
- replayer.ProcessFile(argv[i]);
- }
- }
- ::frc971::sensors::gyro_reading.Clear();
- ::y2012::control_loops::drivetrain_queue.goal.Clear();
- ::y2012::control_loops::drivetrain_queue.status.Clear();
- ::y2012::control_loops::drivetrain_queue.position.Clear();
- ::y2012::control_loops::drivetrain_queue.output.Clear();
-
- ::aos::Cleanup();
-}
diff --git a/y2012/control_loops/drivetrain/ssdrivetrain.cc b/y2012/control_loops/drivetrain/ssdrivetrain.cc
deleted file mode 100644
index 0dd3eb1..0000000
--- a/y2012/control_loops/drivetrain/ssdrivetrain.cc
+++ /dev/null
@@ -1,186 +0,0 @@
-#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
-
-#include "aos/common/controls/polytope.h"
-#include "aos/common/commonmath.h"
-#include "aos/common/logging/matrix_logging.h"
-
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/coerce_goal.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-using ::frc971::control_loops::DoCoerceGoal;
-
-DrivetrainMotorsSS::LimitedDrivetrainLoop::LimitedDrivetrainLoop(
- StateFeedbackLoop<4, 2, 2> &&loop)
- : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
- U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0, -1, 0, 0, 1, 0, -1)
- .finished(),
- (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0, 12.0, 12.0)
- .finished()) {
- ::aos::controls::HPolytope<0>::Init();
- T << 1, -1, 1, 1;
- T_inverse = T.inverse();
-}
-
-void DrivetrainMotorsSS::LimitedDrivetrainLoop::CapU() {
- const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
-
- if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
- mutable_U() =
- U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
- LOG_MATRIX(DEBUG, "U is now", U());
- // TODO(Austin): Figure out why the polytope stuff wasn't working and
- // remove this hack.
- output_was_capped_ = true;
- return;
-
- LOG_MATRIX(DEBUG, "U at start", U());
- LOG_MATRIX(DEBUG, "R at start", R());
- LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
-
- Eigen::Matrix<double, 2, 2> position_K;
- position_K << K(0, 0), K(0, 2), K(1, 0), K(1, 2);
- Eigen::Matrix<double, 2, 2> velocity_K;
- velocity_K << K(0, 1), K(0, 3), K(1, 1), K(1, 3);
-
- Eigen::Matrix<double, 2, 1> position_error;
- position_error << error(0, 0), error(2, 0);
- const auto drive_error = T_inverse * position_error;
- Eigen::Matrix<double, 2, 1> velocity_error;
- velocity_error << error(1, 0), error(3, 0);
- LOG_MATRIX(DEBUG, "error", error);
-
- const auto &poly = U_Poly_;
- const Eigen::Matrix<double, 4, 2> pos_poly_H = poly.H() * position_K * T;
- const Eigen::Matrix<double, 4, 1> pos_poly_k =
- poly.k() - poly.H() * velocity_K * velocity_error;
- const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
-
- Eigen::Matrix<double, 2, 1> adjusted_pos_error;
- {
- const auto &P = drive_error;
-
- Eigen::Matrix<double, 1, 2> L45;
- L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
- const double w45 = 0;
-
- Eigen::Matrix<double, 1, 2> LH;
- if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
- LH << 0, 1;
- } else {
- LH << 1, 0;
- }
- const double wh = LH.dot(P);
-
- Eigen::Matrix<double, 2, 2> standard;
- standard << L45, LH;
- Eigen::Matrix<double, 2, 1> W;
- W << w45, wh;
- const Eigen::Matrix<double, 2, 1> intersection = standard.inverse() * W;
-
- bool is_inside_h;
- const auto adjusted_pos_error_h =
- DoCoerceGoal(pos_poly, LH, wh, drive_error, &is_inside_h);
- const auto adjusted_pos_error_45 =
- DoCoerceGoal(pos_poly, L45, w45, intersection, nullptr);
- if (pos_poly.IsInside(intersection)) {
- adjusted_pos_error = adjusted_pos_error_h;
- } else {
- if (is_inside_h) {
- if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
- adjusted_pos_error = adjusted_pos_error_h;
- } else {
- adjusted_pos_error = adjusted_pos_error_45;
- }
- } else {
- adjusted_pos_error = adjusted_pos_error_45;
- }
- }
- }
-
- LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
- mutable_U() =
- velocity_K * velocity_error + position_K * T * adjusted_pos_error;
- LOG_MATRIX(DEBUG, "U is now", U());
- } else {
- output_was_capped_ = false;
- }
-}
-
-DrivetrainMotorsSS::DrivetrainMotorsSS()
- : loop_(new LimitedDrivetrainLoop(
- ::y2012::control_loops::drivetrain::MakeDrivetrainLoop())),
- filtered_offset_(0.0),
- gyro_(0.0),
- left_goal_(0.0),
- right_goal_(0.0),
- raw_left_(0.0),
- raw_right_(0.0) {
- // High gear on both.
- loop_->set_controller_index(3);
-}
-
-void DrivetrainMotorsSS::SetGoal(double left, double left_velocity,
- double right, double right_velocity) {
- left_goal_ = left;
- right_goal_ = right;
- loop_->mutable_R() << left, left_velocity, right, right_velocity;
-}
-void DrivetrainMotorsSS::SetRawPosition(double left, double right) {
- raw_right_ = right;
- raw_left_ = left;
- Eigen::Matrix<double, 2, 1> Y;
- Y << left + filtered_offset_, right - filtered_offset_;
- loop_->Correct(Y);
-}
-void DrivetrainMotorsSS::SetPosition(double left, double right, double gyro) {
- // Decay the offset quickly because this gyro is great.
- const double offset =
- (right - left - gyro * 0.5) / 2.0;
- filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
- gyro_ = gyro;
- SetRawPosition(left, right);
-}
-
-void DrivetrainMotorsSS::SetExternalMotors(double left_voltage,
- double right_voltage) {
- loop_->mutable_U() << left_voltage, right_voltage;
-}
-
-void DrivetrainMotorsSS::Update(bool stop_motors, bool enable_control_loop) {
- if (enable_control_loop) {
- loop_->Update(stop_motors);
- } else {
- if (stop_motors) {
- loop_->mutable_U().setZero();
- loop_->mutable_U_uncapped().setZero();
- }
- loop_->UpdateObserver(loop_->U());
- }
- ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
- LOG_MATRIX(DEBUG, "E", E);
-}
-
-double DrivetrainMotorsSS::GetEstimatedRobotSpeed() const {
- // lets just call the average of left and right velocities close enough
- return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
-}
-
-void DrivetrainMotorsSS::SendMotors(
- ::y2012::control_loops::DrivetrainQueue::Output *output) const {
- if (output) {
- output->left_voltage = loop_->U(0, 0);
- output->right_voltage = loop_->U(1, 0);
- output->left_high = true;
- output->right_high = true;
- }
-}
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/ssdrivetrain.h b/y2012/control_loops/drivetrain/ssdrivetrain.h
deleted file mode 100644
index 76df3fd..0000000
--- a/y2012/control_loops/drivetrain/ssdrivetrain.h
+++ /dev/null
@@ -1,84 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
-
-#include "aos/common/controls/polytope.h"
-#include "aos/common/commonmath.h"
-#include "aos/common/logging/matrix_logging.h"
-
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/coerce_goal.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-class DrivetrainMotorsSS {
- public:
- class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
- public:
- LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop);
-
- bool output_was_capped() const {
- return output_was_capped_;
- }
-
- private:
- void CapU() override;
-
- const ::aos::controls::HPolytope<2> U_Poly_;
- Eigen::Matrix<double, 2, 2> T, T_inverse;
- bool output_was_capped_ = false;;
- };
-
- DrivetrainMotorsSS();
-
- void SetGoal(double left, double left_velocity, double right,
- double right_velocity);
-
- void SetRawPosition(double left, double right);
-
- void SetPosition(double left, double right, double gyro);
-
- void SetExternalMotors(double left_voltage, double right_voltage);
-
- void Update(bool stop_motors, bool enable_control_loop);
-
- double GetEstimatedRobotSpeed() const;
-
- double GetEstimatedLeftEncoder() const {
- return loop_->X_hat(0, 0);
- }
-
- double left_velocity() const { return loop_->X_hat(1, 0); }
- double right_velocity() const { return loop_->X_hat(3, 0); }
-
- double GetEstimatedRightEncoder() const {
- return loop_->X_hat(2, 0);
- }
-
- bool OutputWasCapped() const {
- return loop_->output_was_capped();
- }
-
- void SendMotors(
- ::y2012::control_loops::DrivetrainQueue::Output *output) const;
-
- const LimitedDrivetrainLoop &loop() const { return *loop_; }
-
- private:
- ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
-
- double filtered_offset_;
- double gyro_;
- double left_goal_;
- double right_goal_;
- double raw_left_;
- double raw_right_;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
diff --git a/y2012/control_loops/python/drivetrain.py b/y2012/control_loops/python/drivetrain.py
index a57f211..f9004c0 100755
--- a/y2012/control_loops/python/drivetrain.py
+++ b/y2012/control_loops/python/drivetrain.py
@@ -4,7 +4,6 @@
from frc971.control_loops.python import controls
import numpy
import sys
-import argparse
from matplotlib import pylab
import gflags
@@ -89,8 +88,14 @@
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)
- q_pos = 0.12
- q_vel = 1.0
+ if left_low or right_low:
+ q_pos = 0.12
+ q_vel = 1.0
+ else:
+ q_pos = 0.14
+ q_vel = 0.95
+
+ # Tune the LQR controller
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -100,9 +105,9 @@
[0.0, (1.0 / (12.0 ** 2.0))]])
self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
- glog.debug('DT K %s', name)
- glog.debug(str(self.K))
+ glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, name)
glog.debug(str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+ glog.debug('K %s', repr(self.K))
self.hlp = 0.3
self.llp = 0.4
@@ -110,6 +115,7 @@
self.U_max = numpy.matrix([[12.0], [12.0]])
self.U_min = numpy.matrix([[-12.0], [-12.0]])
+
self.InitializeState()
@@ -120,12 +126,19 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
+ #
+ # The left and right positions are filtered encoder positions and are not
+ # adjusted for heading error.
+ # The turn velocity as computed by the left and right velocities is
+ # adjusted by the gyro velocity.
+ # The angular_error is the angular velocity error between the wheel speed
+ # and the gyro speed.
self.A_continuous = numpy.matrix(numpy.zeros((7, 7)))
self.B_continuous = numpy.matrix(numpy.zeros((7, 2)))
self.A_continuous[0:4,0:4] = self.unaugmented_A_continuous
@@ -170,15 +183,34 @@
self.L = self.A * self.KalmanGain
- # We need a nothing controller for the autogen code to be happy.
+ unaug_K = self.K
+
+ # Implement a nice closed loop controller for use by the closed loop
+ # controller.
self.K = numpy.matrix(numpy.zeros((self.B.shape[1], self.A.shape[0])))
+ self.K[0:2, 0:4] = unaug_K
+ self.K[0, 4] = 1.0
+ self.K[1, 5] = 1.0
+
+ self.Qff = numpy.matrix(numpy.zeros((4, 4)))
+ qff_pos = 0.005
+ qff_vel = 1.00
+ self.Qff[0, 0] = 1.0 / qff_pos ** 2.0
+ self.Qff[1, 1] = 1.0 / qff_vel ** 2.0
+ self.Qff[2, 2] = 1.0 / qff_pos ** 2.0
+ self.Qff[3, 3] = 1.0 / qff_vel ** 2.0
+ self.Kff = numpy.matrix(numpy.zeros((2, 7)))
+ self.Kff[0:2, 0:4] = controls.TwoStateFeedForwards(self.B[0:4,:], self.Qff)
+
+ self.InitializeState()
def main(argv):
argv = FLAGS(argv)
+ glog.init()
# Simulate the response of the system to a step input.
- drivetrain = Drivetrain()
+ drivetrain = Drivetrain(left_low=False, right_low=False)
simulated_left = []
simulated_right = []
for _ in xrange(100):
@@ -189,24 +221,33 @@
if FLAGS.plot:
pylab.plot(range(100), simulated_left)
pylab.plot(range(100), simulated_right)
+ pylab.suptitle('Acceleration Test')
pylab.show()
# Simulate forwards motion.
- drivetrain = Drivetrain()
+ drivetrain = Drivetrain(left_low=False, right_low=False)
close_loop_left = []
close_loop_right = []
+ left_power = []
+ right_power = []
R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
- for _ in xrange(100):
+ for _ in xrange(300):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
+ left_power.append(U[0, 0])
+ right_power.append(U[1, 0])
if FLAGS.plot:
- pylab.plot(range(100), close_loop_left)
- pylab.plot(range(100), close_loop_right)
+ pylab.plot(range(300), close_loop_left, label='left position')
+ pylab.plot(range(300), close_loop_right, label='right position')
+ pylab.plot(range(300), left_power, label='left power')
+ pylab.plot(range(300), right_power, label='right power')
+ pylab.suptitle('Linear Move')
+ pylab.legend()
pylab.show()
# Try turning in place
@@ -225,6 +266,7 @@
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
+ pylab.suptitle('Angular Move')
pylab.show()
# Try turning just one side.
@@ -243,6 +285,7 @@
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
+ pylab.suptitle('Pivot')
pylab.show()
# Write the generated constants out to a file.
@@ -296,6 +339,10 @@
drivetrain_low_low.Kv))
dog_loop_writer.AddConstant(control_loop.Constant("kT", "%f",
drivetrain_low_low.Kt))
+ dog_loop_writer.AddConstant(control_loop.Constant("kLowGearRatio", "%f",
+ drivetrain_low_low.G_low))
+ dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
+ drivetrain_high_high.G_high))
dog_loop_writer.Write(argv[1], argv[2])
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index b977672..24c1b6c 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -10,10 +10,10 @@
#include "aos/common/time.h"
#include "aos/common/actions/actions.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2012/control_loops/accessories/accessories.q.h"
-using ::y2012::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2012::control_loops::accessories_queue;
using ::aos::input::driver_station::ButtonLocation;
diff --git a/y2012/wpilib/BUILD b/y2012/wpilib/BUILD
index afb85e4..b2e6934 100644
--- a/y2012/wpilib/BUILD
+++ b/y2012/wpilib/BUILD
@@ -6,30 +6,30 @@
'wpilib_interface.cc',
],
deps = [
- '//aos/linux_code:init',
- '//aos/common:stl_mutex',
- '//aos/common/logging',
- '//third_party:wpilib',
- '//y2012/control_loops/drivetrain:drivetrain_queue',
- '//y2012/control_loops/accessories:accessories_queue',
'//aos/common/controls:control_loop',
- '//aos/common/util:log_interval',
- '//aos/common:time',
+ '//aos/common/logging',
'//aos/common/logging:queue_logging',
'//aos/common/messages:robot_state',
+ '//aos/common/util:log_interval',
'//aos/common/util:phased_loop',
'//aos/common/util:wrapping_counter',
- '//frc971/wpilib:joystick_sender',
- '//frc971/wpilib:loop_output_handler',
- '//frc971/wpilib:buffered_pcm',
- '//frc971/wpilib:gyro_sender',
- '//frc971/wpilib:dma_edge_counting',
- '//frc971/wpilib:interrupt_edge_counting',
- '//frc971/wpilib:wpilib_robot_base',
- '//frc971/wpilib:encoder_and_potentiometer',
+ '//aos/common:stl_mutex',
+ '//aos/common:time',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/control_loops:queues',
- '//frc971/wpilib:logging_queue',
- '//frc971/wpilib:wpilib_interface',
+ '//frc971/wpilib:buffered_pcm',
'//frc971/wpilib:dma',
+ '//frc971/wpilib:dma_edge_counting',
+ '//frc971/wpilib:encoder_and_potentiometer',
+ '//frc971/wpilib:gyro_sender',
+ '//frc971/wpilib:interrupt_edge_counting',
+ '//frc971/wpilib:joystick_sender',
+ '//frc971/wpilib:logging_queue',
+ '//frc971/wpilib:loop_output_handler',
+ '//frc971/wpilib:wpilib_interface',
+ '//frc971/wpilib:wpilib_robot_base',
+ '//third_party:wpilib',
+ '//y2012/control_loops/accessories:accessories_queue',
],
)
diff --git a/y2012/wpilib/wpilib_interface.cc b/y2012/wpilib/wpilib_interface.cc
index 290f067..dd0f7ca 100644
--- a/y2012/wpilib/wpilib_interface.cc
+++ b/y2012/wpilib/wpilib_interface.cc
@@ -31,26 +31,25 @@
#include "aos/linux_code/init.h"
#include "aos/common/messages/robot_state.q.h"
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
-
-#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/loop_output_handler.h"
-#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/gyro_sender.h"
-#include "frc971/wpilib/dma_edge_counting.h"
-#include "frc971/wpilib/interrupt_edge_counting.h"
-#include "frc971/wpilib/encoder_and_potentiometer.h"
-#include "frc971/wpilib/logging.q.h"
-#include "frc971/wpilib/wpilib_interface.h"
+#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/wpilib_interface.h"
+#include "y2012/control_loops/accessories/accessories.q.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
-using ::y2012::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2012::control_loops::accessories_queue;
namespace y2012 {
@@ -235,7 +234,7 @@
::std::unique_ptr<Compressor> compressor_;
- ::aos::Queue<::y2012::control_loops::DrivetrainQueue::Output> drivetrain_;
+ ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
::aos::Queue<::y2012::control_loops::AccessoriesQueue::Message> accessories_;
::std::atomic<bool> run_{true};
@@ -253,11 +252,11 @@
private:
virtual void Read() override {
- ::y2012::control_loops::drivetrain_queue.output.FetchAnother();
+ drivetrain_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::y2012::control_loops::drivetrain_queue.output;
+ auto &queue = drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_drivetrain_talon_->Set(-queue->left_voltage / 12.0);
right_drivetrain_talon_->Set(queue->right_voltage / 12.0);
diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 7413158..dae2dd2 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -120,10 +120,10 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
self.A_continuous = numpy.matrix(numpy.zeros((7, 7)))
diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
index 0dc2466..029fcbb 100755
--- a/y2014_bot3/control_loops/python/drivetrain.py
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -96,6 +96,7 @@
q_pos = 0.14
q_vel = 0.95
+ # Tune the LQR controller
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -126,10 +127,10 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
#
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 46f0600..9381eb2 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -95,6 +95,7 @@
q_pos = 0.14
q_vel = 0.95
+ # Tune the LQR controller
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -125,10 +126,10 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
#
diff --git a/y2016_bot3/control_loops/python/drivetrain.py b/y2016_bot3/control_loops/python/drivetrain.py
index 738031c..7f470d9 100755
--- a/y2016_bot3/control_loops/python/drivetrain.py
+++ b/y2016_bot3/control_loops/python/drivetrain.py
@@ -96,6 +96,7 @@
q_pos = 0.14
q_vel = 0.95
+ # Tune the LQR controller
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -126,10 +127,10 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
#