Add drivetrain_main for 2019 robot
Needs masses and controller still tuned.
Change-Id: I29d62286b2941238abb9770a21e764148fbb688b
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..4d7e616
--- /dev/null
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -0,0 +1,81 @@
+load("//aos/build:queues.bzl", "queue_library")
+
+genrule(
+ name = "genrule_drivetrain",
+ outs = [
+ "drivetrain_dog_motor_plant.h",
+ "drivetrain_dog_motor_plant.cc",
+ "kalman_drivetrain_motor_plant.h",
+ "kalman_drivetrain_motor_plant.cc",
+ ],
+ cmd = "$(location //y2019/control_loops/python:drivetrain) $(OUTS)",
+ tools = [
+ "//y2019/control_loops/python:drivetrain",
+ ],
+)
+
+genrule(
+ name = "genrule_polydrivetrain",
+ outs = [
+ "polydrivetrain_dog_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.cc",
+ "polydrivetrain_cim_plant.h",
+ "polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
+ ],
+ cmd = "$(location //y2019/control_loops/python:polydrivetrain) $(OUTS)",
+ tools = [
+ "//y2019/control_loops/python:polydrivetrain",
+ ],
+)
+
+cc_library(
+ name = "polydrivetrain_plants",
+ srcs = [
+ "drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
+ "kalman_drivetrain_motor_plant.cc",
+ "polydrivetrain_dog_motor_plant.cc",
+ ],
+ hdrs = [
+ "drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
+ "kalman_drivetrain_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+cc_library(
+ name = "drivetrain_base",
+ srcs = [
+ "drivetrain_base.cc",
+ ],
+ hdrs = [
+ "drivetrain_base.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":polydrivetrain_plants",
+ "//frc971:shifter_hall_effect",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ ],
+)
+
+cc_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain_main.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":drivetrain_base",
+ "//aos:init",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ ],
+)
diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..0c34882
--- /dev/null
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,55 @@
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+
+#include <chrono>
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2019/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2019/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2019/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2019/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace chrono = ::std::chrono;
+
+namespace y2019 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ static DrivetrainConfig<double> kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_Y,
+
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
+
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
+
+ drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
+ kThreeStateDriveShifter, kThreeStateDriveShifter,
+ true /* default_high_gear */, 0 /* down_offset if using constants use
+ constants::GetValues().down_error */,
+ 0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+ 1.5 /* wheel_multiplier */,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2019
diff --git a/y2019/control_loops/drivetrain/drivetrain_base.h b/y2019/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..5cee1b5
--- /dev/null
+++ b/y2019/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2019_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2019_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2019 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2019
+
+#endif // Y2019_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..c872622
--- /dev/null
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+ ::aos::Init();
+ DrivetrainLoop drivetrain(
+ ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}