Add Climber Constants
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: If56eca5a6b7a97ad6c0519d232086d7b0428c9d9
diff --git a/y2024/control_loops/python/BUILD b/y2024/control_loops/python/BUILD
index f92b484..da80d87 100644
--- a/y2024/control_loops/python/BUILD
+++ b/y2024/control_loops/python/BUILD
@@ -61,6 +61,22 @@
],
)
+py_binary(
+ name = "climber",
+ srcs = [
+ "climber.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:linear_system",
+ "@pip//glog",
+ "@pip//python_gflags",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
diff --git a/y2024/control_loops/python/climber.py b/y2024/control_loops/python/climber.py
new file mode 100644
index 0000000..10aeff9
--- /dev/null
+++ b/y2024/control_loops/python/climber.py
@@ -0,0 +1,54 @@
+#!/usr/bin/python3
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import linear_system
+import numpy
+import sys
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+# TODO(Filip): Update information the climber when design is finalized.
+kClimber = linear_system.LinearSystemParams(
+ name='Climber',
+ motor=control_loop.Falcon(),
+ G=(1.0 / 4.0) * (1.0 / 3.0) * (1.0 / 3.0),
+ radius=22 * 0.25 / numpy.pi / 2.0 * 0.0254,
+ mass=2.0,
+ q_pos=0.10,
+ q_vel=1.35,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.00,
+ kalman_q_voltage=35.0,
+ kalman_r_position=0.05)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[0.2], [0.0]])
+ linear_system.PlotKick(kClimber, R, plant_params=kClimber)
+ linear_system.PlotMotion(kClimber,
+ R,
+ max_velocity=5.0,
+ plant_params=kClimber)
+
+ # Write the generated constants out to a file.
+ if len(argv) != 7:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the climber and integral climber.'
+ )
+ else:
+ namespaces = ['y2024', 'control_loops', 'superstructure', 'climber']
+ linear_system.WriteLinearSystem(kClimber, argv[1:4], argv[4:7], namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2024/control_loops/superstructure/climber/BUILD b/y2024/control_loops/superstructure/climber/BUILD
new file mode 100644
index 0000000..4a044d2
--- /dev/null
+++ b/y2024/control_loops/superstructure/climber/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+ name = "genrule_climber",
+ outs = [
+ "climber_plant.h",
+ "climber_plant.cc",
+ "climber_plant.json",
+ "integral_climber_plant.h",
+ "integral_climber_plant.cc",
+ "integral_climber_plant.json",
+ ],
+ cmd = "$(location //y2024/control_loops/python:climber) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2024/control_loops/python:climber",
+ ],
+)
+
+cc_library(
+ name = "climber_plants",
+ srcs = [
+ "climber_plant.cc",
+ "integral_climber_plant.cc",
+ ],
+ hdrs = [
+ "climber_plant.h",
+ "integral_climber_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+filegroup(
+ name = "climber_json",
+ srcs = ["integral_climber_plant.json"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 9a703e3..566c402 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -33,7 +33,7 @@
transfer_goal_(TransferRollerGoal::NONE),
intake_pivot_(
robot_constants_->common()->intake_pivot(),
- robot_constants_->robot()->intake_constants()->intake_pivot_zero()) {
+ robot_constants_->robot()->intake_constants()->zeroing_constants()) {
event_loop->SetRuntimeRealtimePriority(30);
}
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 26e75e4..710de4b 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -56,13 +56,13 @@
new CappedTestPlant(intake_pivot::MakeIntakePivotPlant()),
PositionSensorSimulator(simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()
+ ->zeroing_constants()
->one_revolution_distance()),
{.subsystem_params =
{simulated_robot_constants->common()->intake_pivot(),
simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()},
+ ->zeroing_constants()},
.potentiometer_offset = simulated_robot_constants->robot()
->intake_constants()
->potentiometer_offset()},
@@ -70,7 +70,7 @@
simulated_robot_constants->common()->intake_pivot()->range()),
simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()
+ ->zeroing_constants()
->measured_absolute_position(),
dt_) {
intake_pivot_.InitializePosition(