commit 2e8ac66f0b39f57300f8b8edc5aaeb3b2f81e01f
author Ravago Jones <ravagojones@gmail.com> Sat Jul 01 22:57:02 2023 -0700
committer Ravago Jones <ravagojones@gmail.com> Wed Jul 26 19:29:27 2023 -0700
tree d68252aa9a84fc7cfa661d96264c40b863204f52
parent 0adb2a1bb9716db6637ec58d51573e87d0642479

Add current control loop python

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I59639923a5e26e2ca24fbb84878d7eeab1b5067a

y2023/control_loops/python/BUILD

diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
index 561bb77..a527adc 100644
--- a/y2023/control_loops/python/BUILD
+++ b/y2023/control_loops/python/BUILD
@@ -134,7 +134,7 @@
     target_compatible_with = ["@platforms//cpu:x86_64"],
     deps = [
         ":python_init",
-        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:angular_system_current",
         "//frc971/control_loops/python:controls",
         "@pip//glog",
         "@pip//python_gflags",

y2023/control_loops/python/turret.py

diff --git a/y2023/control_loops/python/turret.py b/y2023/control_loops/python/turret.py
index 4e8f117..54c6d7f 100644
--- a/y2023/control_loops/python/turret.py
+++ b/y2023/control_loops/python/turret.py
@@ -2,7 +2,7 @@
 
 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 angular_system_current
 from frc971.control_loops.python import controls
 import numpy
 import sys
@@ -17,24 +17,25 @@
 except gflags.DuplicateFlagError:
     pass
 
-kTurret = angular_system.AngularSystemParams(name='Turret',
-                                             motor=control_loop.Falcon(),
-                                             G=0.01,
-                                             J=3.1,
-                                             q_pos=0.40,
-                                             q_vel=20.0,
-                                             kalman_q_pos=0.12,
-                                             kalman_q_vel=2.0,
-                                             kalman_q_voltage=4.0,
-                                             kalman_r_position=0.05,
-                                             radius=25 * 0.0254)
+kTurret = angular_system_current.AngularSystemCurrentParams(
+    name='Turret',
+    motor=control_loop.Falcon(),
+    G=0.01,
+    J=3.1,
+    q_pos=0.05,
+    q_vel=20.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05,
+    radius=25 * 0.0254)
 
 
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
-        angular_system.PlotKick(kTurret, R)
-        angular_system.PlotMotion(kTurret, R)
+        angular_system_current.PlotKick(kTurret, R)
+        angular_system_current.PlotMotion(kTurret, R)
         return
 
     # Write the generated constants out to a file.
@@ -44,8 +45,8 @@
         )
     else:
         namespaces = ['y2023', 'control_loops', 'superstructure', 'turret']
-        angular_system.WriteAngularSystem(kTurret, argv[1:3], argv[3:5],
-                                          namespaces)
+        angular_system_current.WriteAngularSystemCurrent(
+            kTurret, argv[1:3], argv[3:5], namespaces)
 
 
 if __name__ == '__main__':