y2024/control_loops/python/drivetrain.py

#!/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=6.5,
    mass=68.0,
    # TODO(austin): Measure radius a bit better.
    robot_radius=0.32,
    wheel_radius=2 * 0.0254 * 3.7592 / 3.825,
    motor_type=control_loop.KrakenFOC(),
    num_motors=2,
    G=(14.0 / 52.0) * (36.0 / 56.0),
    q_pos=0.24,
    q_vel=2.5,
    efficiency=0.92,
    has_imu=False,
    force=True,
    kf_q_voltage=1.0,
    controller_poles=[0.82, 0.82],
    dt=0.005,
)


def main(argv):
    argv = FLAGS(argv)
    glog.init()

    if FLAGS.plot:
        drivetrain.PlotDrivetrainMotions(kDrivetrain)
    elif len(argv) != 7:
        print("Expected .h, .cc, and .json filenames")
    else:
        # Write the generated constants out to a file.
        drivetrain.WriteDrivetrain(argv[1:4], argv[4:7], "y2024", kDrivetrain)


if __name__ == "__main__":
    sys.exit(main(sys.argv))