Add Climber Constants
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: If56eca5a6b7a97ad6c0519d232086d7b0428c9d9
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index 7e04438..9e6bafb 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -1,4 +1,5 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
+{% from 'y2024/constants/common.jinja2' import climber_zero %}
{
"robot": {
@@ -8,7 +9,16 @@
"measured_absolute_position" : 0.0
}
) %}
- "intake_pivot_zero": {{ intake_pivot_zero | tojson(indent=2)}},
+ "zeroing_constants": {{ intake_pivot_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "climber_constants": {
+ {% set _ = climber_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
}
},
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index a061f39..641783f 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -1,4 +1,5 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
+{% from 'y2024/constants/common.jinja2' import climber_zero %}
{
"cameras": [
@@ -13,7 +14,16 @@
"measured_absolute_position" : 0.0
}
) %}
- "intake_pivot_zero": {{ intake_pivot_zero | tojson(indent=2)}},
+ "zeroing_constants": {{ intake_pivot_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "climber_constants": {
+ {% set _ = climber_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
}
},
diff --git a/y2024/constants/9971.json b/y2024/constants/9971.json
index 7e04438..9e6bafb 100644
--- a/y2024/constants/9971.json
+++ b/y2024/constants/9971.json
@@ -1,4 +1,5 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
+{% from 'y2024/constants/common.jinja2' import climber_zero %}
{
"robot": {
@@ -8,7 +9,16 @@
"measured_absolute_position" : 0.0
}
) %}
- "intake_pivot_zero": {{ intake_pivot_zero | tojson(indent=2)}},
+ "zeroing_constants": {{ intake_pivot_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "climber_constants": {
+ {% set _ = climber_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
}
},
diff --git a/y2024/constants/BUILD b/y2024/constants/BUILD
index 18e506a..1f25bcb 100644
--- a/y2024/constants/BUILD
+++ b/y2024/constants/BUILD
@@ -23,6 +23,7 @@
"test_data/*.json",
]) + [
"//y2024/control_loops/superstructure/intake_pivot:intake_pivot_json",
+ "//y2024/control_loops/superstructure/climber:climber_json",
"//y2024/control_loops/drivetrain:drivetrain_config.json",
"common.json",
"common.jinja2",
@@ -43,6 +44,7 @@
"common.json",
"//y2024/constants/calib_files",
"//y2024/control_loops/drivetrain:drivetrain_config.json",
+ "//y2024/control_loops/superstructure/climber:climber_json",
"//y2024/control_loops/superstructure/intake_pivot:intake_pivot_json",
"//y2024/vision/maps",
],
diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index b260074..21b061c 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -14,3 +14,16 @@
"allowable_encoder_error": 0.9
}
%}
+
+{# TODO(Filip): Update climber values #}
+{% set climber_encoder_ratio = (1.0 / 1.0) %}
+{% set climber_radius = 0.436496 %}
+{%
+set climber_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * climber_encoder_ratio * climber_radius,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 3da88fe..c632afb 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -52,5 +52,29 @@
"transfer_roller_voltages": {
"transfer_in": 12.0,
"transfer_out": -12.0
+ },
+ "climber_set_points": {
+ "full_extend": 0.0,
+ "half_extend": 0.0,
+ "retract": 0.0
+ },
+ "climber": {
+ "zeroing_voltage": 3.0,
+ "operating_voltage": 12.0,
+ "zeroing_profile_params": {
+ "max_velocity": 0.5,
+ "max_acceleration": 3.0
+ },
+ "default_profile_params":{
+ "max_velocity": 6.0,
+ "max_acceleration": 30.0
+ },
+ "range": {
+ "lower_hard": -0.01,
+ "upper_hard": 0.5,
+ "lower": 0.003,
+ "upper": 0.4
+ },
+ "loop": {% include 'y2024/control_loops/superstructure/climber/integral_climber_plant.json' %}
}
}
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 4a40487..70bcd6d 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -36,9 +36,18 @@
retracted:double (id: 1);
}
-// Intake Constants
-table IntakeConstants {
- intake_pivot_zero:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
+// Set points for the climber in meters when:
+// fully extended, which represents meters for when ClimberGoal is FULL_EXTEND
+// partially extended, which represents meters for when ClimberGoal is HALF_EXTEND
+// and retracted, which represents meters for when ClimberGoal is RETRACT
+table ClimberSetPoints {
+ full_extend:double (id: 0);
+ half_extend:double (id: 1);
+ retract:double (id: 2);
+}
+
+table PotAndAbsEncoderConstants {
+ zeroing_constants:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
potentiometer_offset:double (id: 1);
}
@@ -60,7 +69,9 @@
}
table RobotConstants {
- intake_constants:IntakeConstants (id: 0);
+ intake_constants:PotAndAbsEncoderConstants (id: 0);
+ climber_constants:PotAndAbsEncoderConstants (id: 1);
+
}
// Common table for constants unrelated to the robot
@@ -73,6 +84,8 @@
drivetrain:frc971.control_loops.drivetrain.fbs.DrivetrainConfig (id: 5);
current_limits:CurrentLimits (id: 6);
transfer_roller_voltages:TransferRollerVoltages (id: 7);
+ climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 8);
+ climber_set_points:ClimberSetPoints (id: 9);
}
table Constants {
diff --git a/y2024/constants/test_data/test_team.json b/y2024/constants/test_data/test_team.json
index 7e04438..9e6bafb 100644
--- a/y2024/constants/test_data/test_team.json
+++ b/y2024/constants/test_data/test_team.json
@@ -1,4 +1,5 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
+{% from 'y2024/constants/common.jinja2' import climber_zero %}
{
"robot": {
@@ -8,7 +9,16 @@
"measured_absolute_position" : 0.0
}
) %}
- "intake_pivot_zero": {{ intake_pivot_zero | tojson(indent=2)}},
+ "zeroing_constants": {{ intake_pivot_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "climber_constants": {
+ {% set _ = climber_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
}
},