Add y2022_bot3 folder
remove unnecessary files from y2022 for the 3rd robot
Change-Id: I79ba255b5167782530741626281f1eb5642c952a
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/y2022_bot3/control_loops/python/drivetrain.py b/y2022_bot3/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..76da623
--- /dev/null
+++ b/y2022_bot3/control_loops/python/drivetrain.py
@@ -0,0 +1,47 @@
+#!/usr/bin/python3
+
+from __future__ import print_function
+from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=6.0,
+ mass=58.0,
+ # TODO(austin): Measure radius a bit better.
+ robot_radius=0.39,
+ wheel_radius=2.5 * 0.0254,
+ motor_type=control_loop.Falcon(),
+ num_motors=3,
+ G=(14.0 / 54.0) * (22.0 / 56.0),
+ q_pos=0.24,
+ q_vel=2.5,
+ efficiency=0.80,
+ has_imu=True,
+ force=True,
+ kf_q_voltage=1.0,
+ controller_poles=[0.82, 0.82])
+
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print("Expected .h file name and .cc file name")
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2022_bot3', kDrivetrain)
+
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))