Add pivot joint codegen
Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I8b035349e44430218623c4d0dc883c2b06a605c2
diff --git a/y2023_bot3/control_loops/python/BUILD b/y2023_bot3/control_loops/python/BUILD
index fe7666f..2753020 100644
--- a/y2023_bot3/control_loops/python/BUILD
+++ b/y2023_bot3/control_loops/python/BUILD
@@ -55,3 +55,19 @@
visibility = ["//visibility:public"],
deps = ["//y2023_bot3/control_loops:python_init"],
)
+
+py_binary(
+ name = "pivot_joint",
+ srcs = [
+ "pivot_joint.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ "@pip//glog",
+ "@pip//python_gflags",
+ ],
+)
diff --git a/y2023_bot3/control_loops/python/pivot_joint.py b/y2023_bot3/control_loops/python/pivot_joint.py
new file mode 100644
index 0000000..c2d94ba
--- /dev/null
+++ b/y2023_bot3/control_loops/python/pivot_joint.py
@@ -0,0 +1,59 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kPivotJoint = angular_system.AngularSystemParams(
+ name='PivotJoint',
+ motor=control_loop.BAG(),
+ G=(6.0 / 48.0) * (20.0 / 100.0) * (18.0 / 24.0) * (24.0 / 44.0),
+ # Use parallel axis theorem to get the moment of inertia around
+ # the joint (I = I_cm + mh^2 = 0.001877 + 0.8332 * 0.0407162^2)
+ J=0.003258,
+ q_pos=0.80,
+ q_vel=80.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=0.5,
+ kalman_r_position=0.05,
+ radius=5.71 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kPivotJoint, R)
+ angular_system.PlotMotion(kPivotJoint, R)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the pivot joint and integral pivot joint.'
+ )
+ else:
+ namespaces = [
+ 'y2023_bot3', 'control_loops', 'superstructure', 'pivot_joint'
+ ]
+ angular_system.WriteAngularSystem(kPivotJoint, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2023_bot3/control_loops/superstructure/pivot_joint/BUILD b/y2023_bot3/control_loops/superstructure/pivot_joint/BUILD
new file mode 100644
index 0000000..ae413ab
--- /dev/null
+++ b/y2023_bot3/control_loops/superstructure/pivot_joint/BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//y2023_bot3:__subpackages__"])
+
+genrule(
+ name = "genrule_pivot_joint",
+ outs = [
+ "pivot_joint_plant.h",
+ "pivot_joint_plant.cc",
+ "integral_pivot_joint_plant.h",
+ "integral_pivot_joint_plant.cc",
+ ],
+ cmd = "$(location //y2023_bot3/control_loops/python:pivot_joint) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023_bot3/control_loops/python:pivot_joint",
+ ],
+)
+
+cc_library(
+ name = "pivot_joint_plants",
+ srcs = [
+ "integral_pivot_joint_plant.cc",
+ "pivot_joint_plant.cc",
+ ],
+ hdrs = [
+ "integral_pivot_joint_plant.h",
+ "pivot_joint_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",
+ ],
+)
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.cc b/y2023_bot3/control_loops/superstructure/superstructure.cc
index 4bc6a5d..3e88a6c 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure.cc
@@ -15,7 +15,6 @@
using ::aos::monotonic_clock;
-using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::RelativeEncoderProfiledJointStatus;
@@ -53,6 +52,7 @@
}
Status::Builder status_builder = status->MakeBuilder<Status>();
+
status_builder.add_zeroed(true);
status_builder.add_end_effector_state(end_effector_.state());
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.h b/y2023_bot3/control_loops/superstructure/superstructure.h
index 808ff3b..212ced8 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.h
+++ b/y2023_bot3/control_loops/superstructure/superstructure.h
@@ -22,6 +22,11 @@
class Superstructure
: public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
public:
+ using PotAndAbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+
explicit Superstructure(::aos::EventLoop *event_loop,
std::shared_ptr<const constants::Values> values,
const ::std::string &name = "/superstructure");