Factor out drivetrain functionality from y2016 auton actor
I hope that we can re-use this in the y2017 auton actor.
Change-Id: I1258a5ef99a706ebefaba8e2238bb80df68d586f
diff --git a/y2016/BUILD b/y2016/BUILD
index f91ba02..d3c4a9e 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -112,6 +112,7 @@
'//aos/common/util:wrapping_counter',
'//aos/linux_code:init',
'//third_party:wpilib',
+ '//frc971/autonomous:auto_queue',
'//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/control_loops:queues',
'//frc971/wpilib:joystick_sender',
@@ -131,6 +132,5 @@
'//y2016/control_loops/shooter:shooter_queue',
'//y2016/control_loops/superstructure:superstructure_queue',
'//y2016/queues:ball_detector',
- '//y2016/actors:autonomous_action_queue',
],
)
diff --git a/y2016/actors/BUILD b/y2016/actors/BUILD
index cfbeb2b..6e7db6e 100644
--- a/y2016/actors/BUILD
+++ b/y2016/actors/BUILD
@@ -49,16 +49,6 @@
],
)
-queue_library(
- name = 'autonomous_action_queue',
- srcs = [
- 'autonomous_action.q',
- ],
- deps = [
- '//aos/common/actions:action_queue',
- ],
-)
-
cc_library(
name = 'autonomous_action_lib',
srcs = [
@@ -68,11 +58,11 @@
'autonomous_actor.h',
],
deps = [
- ':autonomous_action_queue',
':vision_align_action_lib',
'//aos/common/util:phased_loop',
'//aos/common/logging',
'//aos/common/actions:action_lib',
+ '//frc971/autonomous:base_autonomous_actor',
'//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2016/queues:ball_detector',
'//y2016/control_loops/superstructure:superstructure_queue',
@@ -90,7 +80,6 @@
],
deps = [
':autonomous_action_lib',
- ':autonomous_action_queue',
'//aos/linux_code:init',
],
)
diff --git a/y2016/actors/autonomous_action.q b/y2016/actors/autonomous_action.q
deleted file mode 100644
index 5f87a8a..0000000
--- a/y2016/actors/autonomous_action.q
+++ /dev/null
@@ -1,29 +0,0 @@
-package y2016.actors;
-
-import "aos/common/actions/actions.q";
-
-message AutonomousMode {
- // Mode read from the mode setting sensors.
- int32_t mode;
-};
-
-queue AutonomousMode auto_mode;
-
-struct AutonomousActionParams {
- // The mode from the sensors when auto starts.
- int32_t mode;
-};
-
-queue_group AutonomousActionQueueGroup {
- implements aos.common.actions.ActionQueueGroup;
-
- message Goal {
- uint32_t run;
- AutonomousActionParams params;
- };
-
- queue Goal goal;
- queue aos.common.actions.Status status;
-};
-
-queue_group AutonomousActionQueueGroup autonomous_action;
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 5194b2d..4646cde 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -12,7 +12,6 @@
#include "y2016/control_loops/drivetrain/drivetrain_base.h"
#include "y2016/control_loops/shooter/shooter.q.h"
#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/actors/autonomous_action.q.h"
#include "y2016/queues/ball_detector.q.h"
#include "y2016/vision/vision.q.h"
@@ -50,256 +49,13 @@
}
} // namespace
-AutonomousActor::AutonomousActor(actors::AutonomousActionQueueGroup *s)
- : aos::common::actions::ActorBase<actors::AutonomousActionQueueGroup>(s),
- dt_config_(control_loops::drivetrain::GetDrivetrainConfig()),
- initial_drivetrain_({0.0, 0.0}) {}
-
-void AutonomousActor::ResetDrivetrain() {
- LOG(INFO, "resetting the drivetrain\n");
- drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
- .highgear(true)
- .steering(0.0)
- .throttle(0.0)
- .left_goal(initial_drivetrain_.left)
- .left_velocity_goal(0)
- .right_goal(initial_drivetrain_.right)
- .right_velocity_goal(0)
- .Send();
-}
-
-void AutonomousActor::StartDrive(double distance, double angle,
- ProfileParameters linear,
- ProfileParameters angular) {
- {
- LOG(INFO, "Driving distance %f, angle %f\n", distance, angle);
- {
- const double dangle = angle * dt_config_.robot_radius;
- initial_drivetrain_.left += distance - dangle;
- initial_drivetrain_.right += distance + dangle;
- }
-
- auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
- drivetrain_message->control_loop_driving = true;
- drivetrain_message->highgear = true;
- drivetrain_message->steering = 0.0;
- drivetrain_message->throttle = 0.0;
- drivetrain_message->left_goal = initial_drivetrain_.left;
- drivetrain_message->left_velocity_goal = 0;
- drivetrain_message->right_goal = initial_drivetrain_.right;
- drivetrain_message->right_velocity_goal = 0;
- drivetrain_message->linear = linear;
- drivetrain_message->angular = angular;
-
- LOG_STRUCT(DEBUG, "drivetrain_goal", *drivetrain_message);
-
- drivetrain_message.Send();
- }
-}
-
-void AutonomousActor::InitializeEncoders() {
- drivetrain_queue.status.FetchAnother();
- initial_drivetrain_.left = drivetrain_queue.status->estimated_left_position;
- initial_drivetrain_.right = drivetrain_queue.status->estimated_right_position;
-}
-
-void AutonomousActor::WaitUntilDoneOrCanceled(
- ::std::unique_ptr<aos::common::actions::Action> action) {
- if (!action) {
- LOG(ERROR, "No action, not waiting\n");
- return;
- }
-
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- while (true) {
- // Poll the running bit and see if we should cancel.
- phased_loop.SleepUntilNext();
- if (!action->Running() || ShouldCancel()) {
- return;
- }
- }
-}
+AutonomousActor::AutonomousActor(
+ ::frc971::autonomous::AutonomousActionQueueGroup *s)
+ : frc971::autonomous::BaseAutonomousActor(
+ s, control_loops::drivetrain::GetDrivetrainConfig()) {}
constexpr double kDoNotTurnCare = 2.0;
-bool AutonomousActor::WaitForDriveNear(double distance, double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- constexpr double kPositionTolerance = 0.02;
- constexpr double kProfileTolerance = 0.001;
-
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (drivetrain_queue.status.get()) {
- const double left_profile_error =
- (initial_drivetrain_.left -
- drivetrain_queue.status->profiled_left_position_goal);
- const double right_profile_error =
- (initial_drivetrain_.right -
- drivetrain_queue.status->profiled_right_position_goal);
-
- const double left_error =
- (initial_drivetrain_.left -
- drivetrain_queue.status->estimated_left_position);
- const double right_error =
- (initial_drivetrain_.right -
- drivetrain_queue.status->estimated_right_position);
-
- const double profile_distance_to_go =
- (left_profile_error + right_profile_error) / 2.0;
- const double profile_angle_to_go =
- (right_profile_error - left_profile_error) /
- (dt_config_.robot_radius * 2.0);
-
- const double distance_to_go = (left_error + right_error) / 2.0;
- const double angle_to_go =
- (right_error - left_error) / (dt_config_.robot_radius * 2.0);
-
- if (::std::abs(profile_distance_to_go) < distance + kProfileTolerance &&
- ::std::abs(profile_angle_to_go) < angle + kProfileTolerance &&
- ::std::abs(distance_to_go) < distance + kPositionTolerance &&
- ::std::abs(angle_to_go) < angle + kPositionTolerance) {
- LOG(INFO, "Closer than %f distance, %f angle\n", distance, angle);
- return true;
- }
- }
- }
-}
-
-bool AutonomousActor::WaitForDriveProfileDone() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- constexpr double kProfileTolerance = 0.001;
-
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (drivetrain_queue.status.get()) {
- if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
- initial_drivetrain_.left) < kProfileTolerance &&
- ::std::abs(drivetrain_queue.status->profiled_right_position_goal -
- initial_drivetrain_.right) < kProfileTolerance) {
- LOG(INFO, "Finished drive\n");
- return true;
- }
- }
- }
-}
-
-bool AutonomousActor::WaitForMaxBy(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- double max_angle = -M_PI;
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (IsDriveDone()) {
- return true;
- }
- if (drivetrain_queue.status.get()) {
- if (drivetrain_queue.status->ground_angle > max_angle) {
- max_angle = drivetrain_queue.status->ground_angle;
- }
- if (drivetrain_queue.status->ground_angle < max_angle - angle) {
- return true;
- }
- }
- }
-}
-
-bool AutonomousActor::WaitForAboveAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (IsDriveDone()) {
- return true;
- }
- if (drivetrain_queue.status.get()) {
- if (drivetrain_queue.status->ground_angle > angle) {
- return true;
- }
- }
- }
-}
-
-bool AutonomousActor::WaitForBelowAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (IsDriveDone()) {
- return true;
- }
- if (drivetrain_queue.status.get()) {
- if (drivetrain_queue.status->ground_angle < angle) {
- return true;
- }
- }
- }
-}
-
-bool AutonomousActor::IsDriveDone() {
- constexpr double kPositionTolerance = 0.02;
- constexpr double kVelocityTolerance = 0.10;
- constexpr double kProfileTolerance = 0.001;
-
- if (drivetrain_queue.status.get()) {
- if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
- initial_drivetrain_.left) < kProfileTolerance &&
- ::std::abs(drivetrain_queue.status->profiled_right_position_goal -
- initial_drivetrain_.right) < kProfileTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_left_position -
- initial_drivetrain_.left) < kPositionTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_right_position -
- initial_drivetrain_.right) < kPositionTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_left_velocity) <
- kVelocityTolerance &&
- ::std::abs(drivetrain_queue.status->estimated_right_velocity) <
- kVelocityTolerance) {
- LOG(INFO, "Finished drive\n");
- return true;
- }
- }
- return false;
-}
-
-bool AutonomousActor::WaitForDriveDone() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- ::std::chrono::milliseconds(5) / 2);
-
- while (true) {
- if (ShouldCancel()) {
- return false;
- }
- phased_loop.SleepUntilNext();
- drivetrain_queue.status.FetchLatest();
- if (IsDriveDone()) {
- return true;
- }
- }
-}
-
void AutonomousActor::MoveSuperstructure(
double intake, double shoulder, double wrist,
const ProfileParameters intake_params,
@@ -461,7 +217,7 @@
::y2016::vision::vision_status.FetchLatest();
if (::y2016::vision::vision_status.get()) {
vision_valid = (::y2016::vision::vision_status->left_image_valid &&
- ::y2016::vision::vision_status->right_image_valid);
+ ::y2016::vision::vision_status->right_image_valid);
last_angle = ::y2016::vision::vision_status->horizontal_angle;
}
@@ -641,10 +397,8 @@
void AutonomousActor::BackLongShotTwoBallFinish() {
LOG(INFO, "Expanding for back long shot\n");
- MoveSuperstructure(
- 0.00, M_PI / 2.0 - 0.2, -0.625 + 0.03, {7.0, 40.0},
- {4.0, 6.0},
- {10.0, 25.0}, false, 0.0);
+ MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625 + 0.03, {7.0, 40.0},
+ {4.0, 6.0}, {10.0, 25.0}, false, 0.0);
}
void AutonomousActor::BackLongShot() {
@@ -1033,7 +787,8 @@
if (!WaitForDriveDone()) return;
}
-bool AutonomousActor::RunAction(const actors::AutonomousActionParams ¶ms) {
+bool AutonomousActor::RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) {
monotonic_clock::time_point start_time = monotonic_clock::now();
LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
@@ -1189,11 +944,5 @@
return true;
}
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
- const ::y2016::actors::AutonomousActionParams ¶ms) {
- return ::std::unique_ptr<AutonomousAction>(
- new AutonomousAction(&::y2016::actors::autonomous_action, params));
-}
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/autonomous_actor.h b/y2016/actors/autonomous_actor.h
index 7cf932a..24df091 100644
--- a/y2016/actors/autonomous_actor.h
+++ b/y2016/actors/autonomous_actor.h
@@ -6,58 +6,27 @@
#include "aos/common/actions/actions.h"
#include "aos/common/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2016/actors/autonomous_action.q.h"
#include "y2016/actors/vision_align_actor.h"
namespace y2016 {
namespace actors {
using ::frc971::ProfileParameters;
-class AutonomousActor
- : public ::aos::common::actions::ActorBase<AutonomousActionQueueGroup> {
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
public:
- explicit AutonomousActor(AutonomousActionQueueGroup *s);
+ explicit AutonomousActor(::frc971::autonomous::AutonomousActionQueueGroup *s);
- bool RunAction(const actors::AutonomousActionParams ¶ms) override;
+ bool RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
private:
- void ResetDrivetrain();
- void InitializeEncoders();
- void WaitUntilDoneOrCanceled(::std::unique_ptr<aos::common::actions::Action>
- action);
- void StartDrive(double distance, double angle,
- ::frc971::ProfileParameters linear,
- ::frc971::ProfileParameters angular);
- // Waits for the drive motion to finish. Returns true if it succeeded, and
- // false if it cancels.
- bool WaitForDriveDone();
void WaitForBallOrDriveDone();
void StealAndMoveOverBy(double distance);
- // Returns true if the drive has finished.
- bool IsDriveDone();
- // Waits until the robot is pitched up above the specified angle, or the move
- // finishes. Returns true on success, and false if it cancels.
- bool WaitForAboveAngle(double angle);
- bool WaitForBelowAngle(double angle);
- bool WaitForMaxBy(double angle);
-
- // Waits until the profile and distance is within distance and angle of the
- // goal. Returns true on success, and false when canceled.
- bool WaitForDriveNear(double distance, double angle);
-
- const ::frc971::control_loops::drivetrain::DrivetrainConfig dt_config_;
-
- // Initial drivetrain positions.
- struct InitialDrivetrain {
- double left;
- double right;
- };
- InitialDrivetrain initial_drivetrain_;
-
// Internal struct holding superstructure goals sent by autonomous to the
// loop.
struct SuperstructureGoal {
@@ -77,7 +46,6 @@
void WaitForSuperstructureLow();
void WaitForIntake();
bool IntakeDone();
- bool WaitForDriveProfileDone();
void FrontLongShot();
void FrontMiddleShot();
@@ -118,13 +86,6 @@
::std::unique_ptr<actors::VisionAlignAction> vision_action_;
};
-typedef ::aos::common::actions::TypedAction<AutonomousActionQueueGroup>
- AutonomousAction;
-
-// Makes a new AutonomousActor action.
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
- const ::y2016::actors::AutonomousActionParams ¶ms);
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/autonomous_actor_main.cc b/y2016/actors/autonomous_actor_main.cc
index 6f01e65..f5520bc 100644
--- a/y2016/actors/autonomous_actor_main.cc
+++ b/y2016/actors/autonomous_actor_main.cc
@@ -1,14 +1,13 @@
#include <stdio.h>
#include "aos/linux_code/init.h"
-#include "y2016/actors/autonomous_action.q.h"
#include "y2016/actors/autonomous_actor.h"
int main(int /*argc*/, char * /*argv*/ []) {
::aos::Init(-1);
::y2016::actors::AutonomousActor autonomous(
- &::y2016::actors::autonomous_action);
+ &::frc971::autonomous::autonomous_action);
autonomous.Run();
::aos::Cleanup();
diff --git a/y2016/dashboard/BUILD b/y2016/dashboard/BUILD
index fd2fdbb..ce3df07 100644
--- a/y2016/dashboard/BUILD
+++ b/y2016/dashboard/BUILD
@@ -28,8 +28,8 @@
'//aos/common/logging',
'//aos/common/util:phased_loop',
'//aos/common:time',
+ '//frc971/autonomous:auto_queue',
'//third_party/seasocks',
- '//y2016/actors:autonomous_action_queue',
'//y2016/vision:vision_queue',
'//y2016/control_loops/superstructure:superstructure_queue',
'//y2016/queues:ball_detector',
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 798c08b..4b4c0e9 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -16,7 +16,8 @@
#include "aos/common/util/phased_loop.h"
#include "aos/common/mutex.h"
-#include "y2016/actors/autonomous_action.q.h"
+#include "frc971/autonomous/auto.q.h"
+
#include "y2016/vision/vision.q.h"
#include "y2016/control_loops/superstructure/superstructure.q.h"
#include "y2016/queues/ball_detector.q.h"
@@ -80,7 +81,7 @@
// gone wrong with reading the auto queue.
int auto_mode_indicator = -1;
- ::y2016::actors::auto_mode.FetchLatest();
+ ::frc971::autonomous::auto_mode.FetchLatest();
::y2016::control_loops::superstructure_queue.status.FetchLatest();
::y2016::sensors::ball_detector.FetchLatest();
::y2016::vision::vision_status.FetchLatest();
@@ -121,8 +122,8 @@
}
}
- if (::y2016::actors::auto_mode.get()) {
- auto_mode_indicator = ::y2016::actors::auto_mode->mode;
+ if (::frc971::autonomous::auto_mode.get()) {
+ auto_mode_indicator = ::frc971::autonomous::auto_mode->mode;
}
AddPoint("big indicator", big_indicator);
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index af01a8b..addfa7f 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -430,15 +430,16 @@
void StartAuto() {
LOG(INFO, "Starting auto mode\n");
- actors::AutonomousActionParams params;
- actors::auto_mode.FetchLatest();
- if (actors::auto_mode.get() != nullptr) {
- params.mode = actors::auto_mode->mode;
+ ::frc971::autonomous::AutonomousActionParams params;
+ ::frc971::autonomous::auto_mode.FetchLatest();
+ if (::frc971::autonomous::auto_mode.get() != nullptr) {
+ params.mode = ::frc971::autonomous::auto_mode->mode;
} else {
LOG(WARNING, "no auto mode values\n");
params.mode = 0;
}
- action_queue_.EnqueueAction(actors::MakeAutonomousAction(params));
+ action_queue_.EnqueueAction(
+ ::frc971::autonomous::MakeAutonomousAction(params));
}
void StopAuto() {
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index c998a3a..5e98b52 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -32,6 +32,7 @@
#include "aos/common/messages/robot_state.q.h"
#include "aos/common/commonmath.h"
+#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2016/control_loops/shooter/shooter.q.h"
@@ -40,7 +41,6 @@
#include "y2016/control_loops/shooter/shooter.q.h"
#include "y2016/control_loops/superstructure/superstructure.q.h"
#include "y2016/queues/ball_detector.q.h"
-#include "y2016/actors/autonomous_action.q.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/loop_output_handler.h"
@@ -358,7 +358,7 @@
}
{
- auto auto_mode_message = ::y2016::actors::auto_mode.MakeMessage();
+ auto auto_mode_message = ::frc971::autonomous::auto_mode.MakeMessage();
auto_mode_message->mode = 0;
for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
if (autonomous_modes_[i]->Get()) {