Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 1649dd2..e836d1a 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -4,6 +4,7 @@
class Constant(object):
+
def __init__(self, name, formatt, value, comment=None):
self.name = name
self.formatt = formatt
@@ -25,6 +26,7 @@
class ControlLoopWriter(object):
+
def __init__(self,
gain_schedule_name,
loops,
@@ -76,8 +78,9 @@
return self._namespaces[0]
def _HeaderGuard(self, header_file):
- return ('_'.join([namespace.upper() for namespace in self._namespaces])
- + '_' + os.path.basename(header_file).upper().replace(
+ return ('_'.join([namespace.upper()
+ for namespace in self._namespaces]) + '_' +
+ os.path.basename(header_file).upper().replace(
'.', '_').replace('/', '_') + '_')
def Write(self, header_file, cc_file):
@@ -163,17 +166,17 @@
fd.write(loop.DumpObserverHeader(self._ObserverCoeffType()))
fd.write('\n')
- fd.write('%s Make%sPlant();\n\n' % (self._PlantType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sPlant();\n\n' %
+ (self._PlantType(), self._gain_schedule_name))
- fd.write('%s Make%sController();\n\n' % (self._ControllerType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sController();\n\n' %
+ (self._ControllerType(), self._gain_schedule_name))
- fd.write('%s Make%sObserver();\n\n' % (self._ObserverType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sObserver();\n\n' %
+ (self._ObserverType(), self._gain_schedule_name))
- fd.write('%s Make%sLoop();\n\n' % (self._LoopType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sLoop();\n\n' %
+ (self._LoopType(), self._gain_schedule_name))
fd.write(self._namespace_end)
fd.write('\n\n')
@@ -182,8 +185,8 @@
def WriteCC(self, header_file_name, cc_file):
"""Writes the cc file to the file named cc_file."""
with open(cc_file, 'w') as fd:
- fd.write('#include \"%s/%s\"\n' % (os.path.join(*self._namespaces),
- header_file_name))
+ fd.write('#include \"%s/%s\"\n' %
+ (os.path.join(*self._namespaces), header_file_name))
fd.write('\n')
fd.write('#include <chrono>\n')
fd.write('#include <vector>\n')
@@ -208,19 +211,20 @@
self._scalar_type))
fd.write('\n')
- fd.write('%s Make%sPlant() {\n' % (self._PlantType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sPlant() {\n' %
+ (self._PlantType(), self._gain_schedule_name))
fd.write(' ::std::vector< ::std::unique_ptr<%s>> plants(%d);\n' %
(self._PlantCoeffType(), len(self._loops)))
for index, loop in enumerate(self._loops):
- fd.write(' plants[%d] = ::std::unique_ptr<%s>(new %s(%s));\n'
- % (index, self._PlantCoeffType(),
- self._PlantCoeffType(), loop.PlantFunction()))
+ fd.write(
+ ' plants[%d] = ::std::unique_ptr<%s>(new %s(%s));\n' %
+ (index, self._PlantCoeffType(), self._PlantCoeffType(),
+ loop.PlantFunction()))
fd.write(' return %s(std::move(plants));\n' % self._PlantType())
fd.write('}\n\n')
- fd.write('%s Make%sController() {\n' % (self._ControllerType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sController() {\n' %
+ (self._ControllerType(), self._gain_schedule_name))
fd.write(
' ::std::vector< ::std::unique_ptr<%s>> controllers(%d);\n' %
(self._ControllerCoeffType(), len(self._loops)))
@@ -233,21 +237,22 @@
self._ControllerType())
fd.write('}\n\n')
- fd.write('%s Make%sObserver() {\n' % (self._ObserverType(),
- self._gain_schedule_name))
- fd.write(' ::std::vector< ::std::unique_ptr<%s>> observers(%d);\n'
- % (self._ObserverCoeffType(), len(self._loops)))
+ fd.write('%s Make%sObserver() {\n' %
+ (self._ObserverType(), self._gain_schedule_name))
+ fd.write(
+ ' ::std::vector< ::std::unique_ptr<%s>> observers(%d);\n' %
+ (self._ObserverCoeffType(), len(self._loops)))
for index, loop in enumerate(self._loops):
fd.write(
- ' observers[%d] = ::std::unique_ptr<%s>(new %s(%s));\n'
- % (index, self._ObserverCoeffType(),
- self._ObserverCoeffType(), loop.ObserverFunction()))
- fd.write(
- ' return %s(std::move(observers));\n' % self._ObserverType())
+ ' observers[%d] = ::std::unique_ptr<%s>(new %s(%s));\n' %
+ (index, self._ObserverCoeffType(),
+ self._ObserverCoeffType(), loop.ObserverFunction()))
+ fd.write(' return %s(std::move(observers));\n' %
+ self._ObserverType())
fd.write('}\n\n')
- fd.write('%s Make%sLoop() {\n' % (self._LoopType(),
- self._gain_schedule_name))
+ fd.write('%s Make%sLoop() {\n' %
+ (self._LoopType(), self._gain_schedule_name))
fd.write(
' return %s(Make%sPlant(), Make%sController(), Make%sObserver());\n'
% (self._LoopType(), self._gain_schedule_name,
@@ -259,6 +264,7 @@
class ControlLoop(object):
+
def __init__(self, name):
"""Constructs a control loop object.
@@ -291,7 +297,8 @@
self.X = numpy.matrix(numpy.zeros((self.A.shape[0], 1)))
self.Y = self.C * self.X
self.X_hat = numpy.matrix(numpy.zeros((self.A.shape[0], 1)))
- self.last_U = numpy.matrix(numpy.zeros((self.B.shape[1], max(1, self.delayed_u))))
+ self.last_U = numpy.matrix(
+ numpy.zeros((self.B.shape[1], max(1, self.delayed_u))))
def PlaceControllerPoles(self, poles):
"""Places the controller poles.
@@ -368,8 +375,8 @@
if '.' not in write_type and 'e' not in write_type:
write_type += '.0'
write_type += 'f'
- ans.append(
- ' %s(%d, %d) = %s;\n' % (matrix_name, x, y, write_type))
+ ans.append(' %s(%d, %d) = %s;\n' %
+ (matrix_name, x, y, write_type))
return ''.join(ans)
@@ -389,8 +396,8 @@
string, The function which will create the object.
"""
ans = [
- '%s Make%sPlantCoefficients() {\n' % (plant_coefficient_type,
- self._name)
+ '%s Make%sPlantCoefficients() {\n' %
+ (plant_coefficient_type, self._name)
]
ans.append(self._DumpMatrix('C', self.C, scalar_type))
@@ -402,11 +409,11 @@
if plant_coefficient_type.startswith('StateFeedbackPlant'):
ans.append(self._DumpMatrix('A', self.A, scalar_type))
ans.append(self._DumpMatrix('B', self.B, scalar_type))
- ans.append(
- ' const std::chrono::nanoseconds dt(%d);\n' % (self.dt * 1e9))
- ans.append(
- ' return %s'
- '(A, B, C, D, U_max, U_min, dt, %s);\n' % (plant_coefficient_type, delayed_u_string))
+ ans.append(' const std::chrono::nanoseconds dt(%d);\n' %
+ (self.dt * 1e9))
+ ans.append(' return %s'
+ '(A, B, C, D, U_max, U_min, dt, %s);\n' %
+ (plant_coefficient_type, delayed_u_string))
elif plant_coefficient_type.startswith('StateFeedbackHybridPlant'):
ans.append(
self._DumpMatrix('A_continuous', self.A_continuous,
@@ -414,9 +421,10 @@
ans.append(
self._DumpMatrix('B_continuous', self.B_continuous,
scalar_type))
- ans.append(' return %s'
- '(A_continuous, B_continuous, C, D, U_max, U_min, %s);\n' %
- (plant_coefficient_type, delayed_u_string))
+ ans.append(
+ ' return %s'
+ '(A_continuous, B_continuous, C, D, U_max, U_min, %s);\n' %
+ (plant_coefficient_type, delayed_u_string))
else:
glog.fatal('Unsupported plant type %s', plant_coefficient_type)
@@ -521,8 +529,8 @@
self._DumpMatrix('P_steady_state', self.P_steady_state,
scalar_type))
ans.append(
- ' return %s(Q_continuous, R_continuous, P_steady_state, %s);\n' %
- (observer_coefficient_type, delayed_u_string))
+ ' return %s(Q_continuous, R_continuous, P_steady_state, %s);\n'
+ % (observer_coefficient_type, delayed_u_string))
else:
glog.fatal('Unsupported observer type %s',
observer_coefficient_type)
@@ -532,6 +540,7 @@
class HybridControlLoop(ControlLoop):
+
def __init__(self, name):
super(HybridControlLoop, self).__init__(name=name)
@@ -569,6 +578,7 @@
class CIM(object):
+
def __init__(self):
# Stall Torque in N m
self.stall_torque = 2.42
@@ -581,13 +591,14 @@
# Resistance of the motor
self.resistance = 12.0 / self.stall_current
# Motor velocity constant
- self.Kv = (
- self.free_speed / (12.0 - self.resistance * self.free_current))
+ self.Kv = (self.free_speed /
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
class MiniCIM(object):
+
def __init__(self):
# Stall Torque in N m
self.stall_torque = 1.41
@@ -600,8 +611,8 @@
# Resistance of the motor
self.resistance = 12.0 / self.stall_current
# Motor velocity constant
- self.Kv = (
- self.free_speed / (12.0 - self.resistance * self.free_current))
+ self.Kv = (self.free_speed /
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
@@ -610,6 +621,7 @@
class NMotor(object):
+
def __init__(self, motor, n):
"""Gangs together n motors."""
self.motor = motor
@@ -625,6 +637,7 @@
class Vex775Pro(object):
+
def __init__(self):
# Stall Torque in N m
self.stall_torque = 0.71
@@ -637,8 +650,8 @@
# Resistance of the motor
self.resistance = 12.0 / self.stall_current
# Motor velocity constant
- self.Kv = (
- self.free_speed / (12.0 - self.resistance * self.free_current))
+ self.Kv = (self.free_speed /
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Motor inertia in kg m^2
@@ -659,8 +672,8 @@
# Resistance of the motor (Ohms)
self.resistance = 12.0 / self.stall_current
# Motor velocity constant (radians / (sec * volt))
- self.Kv = (
- self.free_speed / (12.0 - self.resistance * self.free_current))
+ self.Kv = (self.free_speed /
+ (12.0 - self.resistance * self.free_current))
# Torque constant (N * m / A)
self.Kt = self.stall_torque / self.stall_current
# Motor inertia in kg m^2
@@ -668,6 +681,7 @@
class MN3510(object):
+
def __init__(self):
# http://www.robotshop.com/en/t-motor-navigator-mn3510-360kv-brushless-motor.html#Specifications
# Free Current in Amps
@@ -702,8 +716,8 @@
# Resistance of the motor, divided by 2 to account for the 2 motors
self.resistance = 12.0 / self.stall_current
# Motor velocity constant
- self.Kv = (
- self.free_speed / (12.0 - self.resistance * self.free_current))
+ self.Kv = (self.free_speed /
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Motor inertia in kg m^2