Shooter has now been adjusted for real data.
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 663a6b2..9cda41c 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -13,11 +13,11 @@
# Stall Current in Amps
self.stall_current = 85
# Free Speed in RPM
- self.free_speed = 19300.0
+ self.free_speed = 19300.0 - 2700.0
# Free Current in Amps
self.free_current = 1.4
# Moment of inertia of the shooter wheel in kg m^2
- self.J = 0.00161906
+ self.J = 0.0012
# Resistance of the motor, divided by 2 to account for the 2 motors
self.R = 12.0 / self.stall_current / 2
# Motor velocity constant
@@ -56,14 +56,28 @@
def main(argv):
# Simulate the response of the system to a step input.
+ shooter_data = numpy.genfromtxt('shooter/shooter_data.csv', delimiter=',')
shooter = Shooter()
simulated_x = []
- for _ in xrange(500):
- shooter.Update(numpy.matrix([[12.0]]))
+ real_x = []
+ x_vel = []
+ initial_x = shooter_data[0, 2]
+ last_x = initial_x
+ for i in xrange(shooter_data.shape[0]):
+ shooter.Update(numpy.matrix([[shooter_data[i, 1]]]))
simulated_x.append(shooter.X[0, 0])
+ x_offset = shooter_data[i, 2] - initial_x
+ real_x.append(x_offset / 2)
+ x_vel.append(shooter_data[i, 2] - last_x)
+ last_x = shooter_data[i, 2]
-# pylab.plot(range(500), simulated_x)
-# pylab.show()
+ sim_delay = 1
+ pylab.plot(range(sim_delay, shooter_data.shape[0] + sim_delay),
+ simulated_x, label='Simulation')
+ pylab.plot(range(shooter_data.shape[0]), real_x, label='Reality')
+ pylab.plot(range(shooter_data.shape[0]), x_vel, label='Velocity')
+ pylab.legend()
+ pylab.show()
# Simulate the closed loop response of the system to a step input.
shooter = Shooter()
diff --git a/frc971/control_loops/shooter/shooter_data.csv b/frc971/control_loops/shooter/shooter_data.csv
new file mode 100644
index 0000000..1c110f8
--- /dev/null
+++ b/frc971/control_loops/shooter/shooter_data.csv
@@ -0,0 +1,117 @@
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