Add shooter subsystems to the constants
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I50f0b5e547890a244ed86bfe63348fc78b8173b6
diff --git a/y2024/constants/7971.json b/y2024/constants/7971.json
index d2e766a..6ce6771 100644
--- a/y2024/constants/7971.json
+++ b/y2024/constants/7971.json
@@ -1,7 +1,15 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
{% from 'y2024/constants/common.jinja2' import climber_zero %}
+{% from 'y2024/constants/common.jinja2' import catapult_zero %}
+{% from 'y2024/constants/common.jinja2' import altitude_zero %}
+{% from 'y2024/constants/common.jinja2' import turret_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1_cam-24-00.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -17,6 +25,33 @@
) %}
"zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
+ },
+ "catapult_constants": {
+ {% set _ = catapult_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "altitude_constants": {
+ {% set _ = altitude_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "turret_constants": {
+ {% set _ = turret_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ turret_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
}
},
{% include 'y2024/constants/common.json' %}
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 9ab6ad6..6ce6771 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -1,5 +1,8 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
{% from 'y2024/constants/common.jinja2' import climber_zero %}
+{% from 'y2024/constants/common.jinja2' import catapult_zero %}
+{% from 'y2024/constants/common.jinja2' import altitude_zero %}
+{% from 'y2024/constants/common.jinja2' import turret_zero %}
{
"cameras": [
@@ -22,6 +25,33 @@
) %}
"zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
+ },
+ "catapult_constants": {
+ {% set _ = catapult_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "altitude_constants": {
+ {% set _ = altitude_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "turret_constants": {
+ {% set _ = turret_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ turret_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
}
},
{% include 'y2024/constants/common.json' %}
diff --git a/y2024/constants/9971.json b/y2024/constants/9971.json
index d2e766a..3c69701 100644
--- a/y2024/constants/9971.json
+++ b/y2024/constants/9971.json
@@ -1,7 +1,15 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
{% from 'y2024/constants/common.jinja2' import climber_zero %}
+{% from 'y2024/constants/common.jinja2' import catapult_zero %}
+{% from 'y2024/constants/common.jinja2' import altitude_zero %}
+{% from 'y2024/constants/common.jinja2' import turret_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1_cam-24-00.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -17,7 +25,35 @@
) %}
"zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
+ },
+ "catapult_constants": {
+ {% set _ = catapult_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "altitude_constants": {
+ {% set _ = altitude_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "turret_constants": {
+ {% set _ = turret_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ turret_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
}
},
{% include 'y2024/constants/common.json' %}
}
+
diff --git a/y2024/constants/BUILD b/y2024/constants/BUILD
index 1f25bcb..737b976 100644
--- a/y2024/constants/BUILD
+++ b/y2024/constants/BUILD
@@ -24,7 +24,11 @@
]) + [
"//y2024/control_loops/superstructure/intake_pivot:intake_pivot_json",
"//y2024/control_loops/superstructure/climber:climber_json",
+ "//y2024/control_loops/superstructure/catapult:catapult_json",
+ "//y2024/control_loops/superstructure/altitude:altitude_json",
+ "//y2024/control_loops/superstructure/turret:turret_json",
"//y2024/control_loops/drivetrain:drivetrain_config.json",
+ "//y2024/constants/calib_files",
"common.json",
"common.jinja2",
"//y2024/vision/maps",
@@ -44,8 +48,11 @@
"common.json",
"//y2024/constants/calib_files",
"//y2024/control_loops/drivetrain:drivetrain_config.json",
+ "//y2024/control_loops/superstructure/altitude:altitude_json",
+ "//y2024/control_loops/superstructure/catapult:catapult_json",
"//y2024/control_loops/superstructure/climber:climber_json",
"//y2024/control_loops/superstructure/intake_pivot:intake_pivot_json",
+ "//y2024/control_loops/superstructure/turret:turret_json",
"//y2024/vision/maps",
],
parameters = {},
diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index d6db5e5..bcf0362 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -1,10 +1,11 @@
{% set pi = 3.14159265 %}
+{%set zeroing_sample_size = 200 %}
+
+{# Intake #}
{# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
{% set intake_pivot_encoder_ratio = (24.0 / 15.0) %}
-{%set zeroing_sample_size = 200 %}
-
{%
set intake_pivot_zero = {
"average_filter_size": zeroing_sample_size,
@@ -27,3 +28,42 @@
"allowable_encoder_error": 0.9
}
%}
+
+{# Catapult #}
+{% set catapult_encoder_ratio = (12.0 / 24.0) %}
+
+{%
+set catapult_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * catapult_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
+
+{# Altitude #}
+{% set altitude_encoder_ratio = (16.0 / 162.0) %}
+
+{%
+set altitude_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * altitude_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
+
+{# Turret #}
+{% set turret_encoder_ratio = (22.0 / 100.0) %}
+
+{%
+set turret_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * turret_encoder_ratio,
+ "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 3fc95fe..ddd1a27 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -82,5 +82,63 @@
"loop": {% include 'y2024/control_loops/superstructure/climber/integral_climber_plant.json' %}
},
"turret_loading_position": 0.0,
- "catapult_return_position": 0.0
+ "catapult_return_position": 0.0,
+ "catapult": {
+ "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": -0.85,
+ "upper_hard": 1.85,
+ "lower": -0.400,
+ "upper": 1.57
+ },
+ "loop": {% include 'y2024/control_loops/superstructure/catapult/integral_catapult_plant.json' %}
+ },
+ // TODO: (max) update the constants for the shooter subsystems
+ "altitude": {
+ "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": -0.85,
+ "upper_hard": 1.85,
+ "lower": -0.400,
+ "upper": 1.57
+ },
+ "loop": {% include 'y2024/control_loops/superstructure/altitude/integral_altitude_plant.json' %}
+ },
+ "turret": {
+ "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": -0.85,
+ "upper_hard": 1.85,
+ "lower": -0.400,
+ "upper": 1.57
+ },
+ "loop": {% include 'y2024/control_loops/superstructure/turret/integral_turret_plant.json' %}
+ }
}
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index f7f9e36..c47f277 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -81,6 +81,9 @@
table RobotConstants {
intake_constants:frc971.zeroing.AbsoluteEncoderZeroingConstants (id: 0);
climber_constants:PotAndAbsEncoderConstants (id: 1);
+ catapult_constants:PotAndAbsEncoderConstants (id: 2);
+ altitude_constants:PotAndAbsEncoderConstants (id: 3);
+ turret_constants:PotAndAbsEncoderConstants (id: 4);
}
// Common table for constants unrelated to the robot
@@ -90,6 +93,7 @@
intake_roller_voltages:IntakeRollerVoltages (id : 2);
intake_pivot_set_points:IntakePivotSetPoints (id: 3);
intake_pivot:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 4);
+
drivetrain:frc971.control_loops.drivetrain.fbs.DrivetrainConfig (id: 5);
current_limits:CurrentLimits (id: 6);
transfer_roller_voltages:TransferRollerVoltages (id: 7);
@@ -97,6 +101,9 @@
climber_set_points:ClimberSetPoints (id: 9);
turret_loading_position: double (id: 10);
catapult_return_position: double (id: 11);
+ catapult:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 12);
+ altitude:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 13);
+ turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 14);
}
table Constants {
diff --git a/y2024/constants/test_data/test_team.json b/y2024/constants/test_data/test_team.json
index d2e766a..3c69701 100644
--- a/y2024/constants/test_data/test_team.json
+++ b/y2024/constants/test_data/test_team.json
@@ -1,7 +1,15 @@
{% from 'y2024/constants/common.jinja2' import intake_pivot_zero %}
{% from 'y2024/constants/common.jinja2' import climber_zero %}
+{% from 'y2024/constants/common.jinja2' import catapult_zero %}
+{% from 'y2024/constants/common.jinja2' import altitude_zero %}
+{% from 'y2024/constants/common.jinja2' import turret_zero %}
{
+ "cameras": [
+ {
+ "calibration": {% include 'y2024/constants/calib_files/calibration_orin-971-1_cam-24-00.json' %}
+ }
+ ],
"robot": {
{% set _ = intake_pivot_zero.update(
{
@@ -17,7 +25,35 @@
) %}
"zeroing_constants": {{ climber_zero | tojson(indent=2)}},
"potentiometer_offset": 0.0
+ },
+ "catapult_constants": {
+ {% set _ = catapult_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "altitude_constants": {
+ {% set _ = altitude_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
+ },
+ "turret_constants": {
+ {% set _ = turret_zero.update(
+ {
+ "measured_absolute_position" : 0.0
+ }
+ ) %}
+ "zeroing_constants": {{ turret_zero | tojson(indent=2)}},
+ "potentiometer_offset": 0.0
}
},
{% include 'y2024/constants/common.json' %}
}
+
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 4b4ac8d..8e719d4 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -605,4 +605,4 @@
EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
}
-} // namespace y2024::control_loops::superstructure::testing
\ No newline at end of file
+} // namespace y2024::control_loops::superstructure::testing