| #!/usr/bin/python3 |
| |
| from frc971.control_loops.python import drivetrain |
| import sys |
| |
| import gflags |
| import glog |
| |
| FLAGS = gflags.FLAGS |
| |
| kDrivetrain = drivetrain.DrivetrainParams( |
| J=8.0, |
| mass=100.0, |
| robot_radius=0.616 / 2.0, |
| wheel_radius=0.127 / 2.0 * 120.0 / 118.0, |
| G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0, |
| G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0, |
| q_pos_low=0.12, |
| q_pos_high=0.14, |
| q_vel_low=1.0, |
| q_vel_high=0.95, |
| controller_poles=[0.82, 0.82]) |
| |
| |
| def main(argv): |
| argv = FLAGS(argv) |
| glog.init() |
| |
| if len(argv) != 7: |
| glog.error("Expected .h, .cc, and .json filenames") |
| else: |
| # Write the generated constants out to a file. |
| drivetrain.WriteDrivetrain(argv[1:4], |
| argv[4:7], ['motors', 'seems_reasonable'], |
| kDrivetrain, |
| scalar_type='float') |
| |
| |
| if __name__ == '__main__': |
| sys.exit(main(sys.argv)) |