Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index bb6871c..54ec9d3 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -20,20 +20,19 @@
# Gear ratio to the final wheel.
G = (30.0 / 40.0) * numpy.power(G_per_wheel, 3.0)
# Overall flywheel inertia.
-J = J_wheel * (
- 1.0 + numpy.power(G_per_wheel, -2.0) + numpy.power(G_per_wheel, -4.0) + numpy.power(G_per_wheel, -6.0))
+J = J_wheel * (1.0 + numpy.power(G_per_wheel, -2.0) +
+ numpy.power(G_per_wheel, -4.0) + numpy.power(G_per_wheel, -6.0))
# The position and velocity are measured for the final wheel.
-kAccelerator = flywheel.FlywheelParams(
- name='Accelerator',
- motor=control_loop.Falcon(),
- G=G,
- J=J * 1.3,
- q_pos=0.01,
- q_vel=40.0,
- q_voltage=1.0,
- r_pos=0.03,
- controller_poles=[.89])
+kAccelerator = flywheel.FlywheelParams(name='Accelerator',
+ motor=control_loop.Falcon(),
+ G=G,
+ J=J * 1.3,
+ q_pos=0.01,
+ q_vel=40.0,
+ q_voltage=1.0,
+ r_pos=0.03,
+ controller_poles=[.89])
def main(argv):
diff --git a/y2020/control_loops/python/control_panel.py b/y2020/control_loops/python/control_panel.py
index 7a5bdf9..6bda841 100644
--- a/y2020/control_loops/python/control_panel.py
+++ b/y2020/control_loops/python/control_panel.py
@@ -17,17 +17,16 @@
except gflags.DuplicateFlagError:
pass
-kControlPanel = angular_system.AngularSystemParams(
- name='ControlPanel',
- motor=control_loop.BAG(),
- G=1.0,
- J=0.000009,
- q_pos=0.20,
- q_vel=5.0,
- kalman_q_pos=0.12,
- kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
- kalman_r_position=0.05)
+kControlPanel = angular_system.AngularSystemParams(name='ControlPanel',
+ motor=control_loop.BAG(),
+ G=1.0,
+ J=0.000009,
+ q_pos=0.20,
+ q_vel=5.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05)
def main(argv):
@@ -42,7 +41,9 @@
'Expected .h file name and .cc file name for the control_panel and integral control_panel.'
)
else:
- namespaces = ['y2020', 'control_loops', 'superstructure', 'control_panel']
+ namespaces = [
+ 'y2020', 'control_loops', 'superstructure', 'control_panel'
+ ]
angular_system.WriteAngularSystem(kControlPanel, argv[1:3], argv[3:5],
namespaces)
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 8c33cc3..7e703fc 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -22,14 +22,17 @@
J = 0.00507464
J = 0.0035
+
def AddResistance(motor, resistance):
motor.resistance += resistance
return motor
+
def ScaleKv(motor, scale):
motor.Kv *= scale
return motor
+
# The position and velocity are measured for the final wheel.
kFinisher = flywheel.FlywheelParams(
name='Finisher',
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index 6f41a17..9153bc6 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -7,6 +7,7 @@
class FlywheelParams(object):
+
def __init__(self,
name,
motor,
@@ -31,6 +32,7 @@
class VelocityFlywheel(control_loop.HybridControlLoop):
+
def __init__(self, params, name="Flywheel"):
super(VelocityFlywheel, self).__init__(name=name)
self.params = params
@@ -76,6 +78,7 @@
class Flywheel(VelocityFlywheel):
+
def __init__(self, params, name="Flywheel"):
super(Flywheel, self).__init__(params, name=name)
@@ -112,6 +115,7 @@
class IntegralFlywheel(Flywheel):
+
def __init__(self, params, name="IntegralFlywheel"):
super(IntegralFlywheel, self).__init__(params, name=name)
@@ -125,7 +129,6 @@
self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
-
# states
# [position, velocity, voltage_error]
self.C_unaugmented = self.C
@@ -146,24 +149,26 @@
q_vel = self.params.q_vel
q_voltage = self.params.q_voltage
self.Q_continuous = numpy.matrix([[(q_pos**2.0), 0.0, 0.0],
- [0.0, (q_vel**2.0), 0.0],
- [0.0, 0.0, (q_voltage**2.0)]])
+ [0.0, (q_vel**2.0), 0.0],
+ [0.0, 0.0, (q_voltage**2.0)]])
r_pos = self.params.r_pos
self.R_continuous = numpy.matrix([[(r_pos**2.0)]])
- _, _, self.Q, self.R = controls.kalmd(
- A_continuous=self.A_continuous,
- B_continuous=self.B_continuous,
- Q_continuous=self.Q_continuous,
- R_continuous=self.R_continuous,
- dt=self.dt)
+ _, _, self.Q, self.R = controls.kalmd(A_continuous=self.A_continuous,
+ B_continuous=self.B_continuous,
+ Q_continuous=self.Q_continuous,
+ R_continuous=self.R_continuous,
+ dt=self.dt)
glog.debug('Q_discrete %s' % (str(self.Q)))
glog.debug('R_discrete %s' % (str(self.R)))
- self.KalmanGain, self.P_steady_state = controls.kalman(
- A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+ self.KalmanGain, self.P_steady_state = controls.kalman(A=self.A,
+ B=self.B,
+ C=self.C,
+ Q=self.Q,
+ R=self.R)
self.L = self.A * self.KalmanGain
self.K_unaugmented = self.K
@@ -283,34 +288,32 @@
for index, param in enumerate(params):
flywheels.append(Flywheel(param, name=param.name + str(index)))
integral_flywheels.append(
- IntegralFlywheel(
- param, name='Integral' + param.name + str(index)))
+ IntegralFlywheel(param,
+ name='Integral' + param.name + str(index)))
else:
name = params.name
flywheels.append(Flywheel(params, params.name))
integral_flywheels.append(
IntegralFlywheel(params, name='Integral' + params.name))
- loop_writer = control_loop.ControlLoopWriter(
- name, flywheels, namespaces=namespace)
+ loop_writer = control_loop.ControlLoopWriter(name,
+ flywheels,
+ namespaces=namespace)
loop_writer.AddConstant(
- control_loop.Constant('kOutputRatio', '%f',
- flywheels[0].G))
+ control_loop.Constant('kOutputRatio', '%f', flywheels[0].G))
loop_writer.AddConstant(
control_loop.Constant('kFreeSpeed', '%f',
flywheels[0].motor.free_speed))
loop_writer.AddConstant(
- control_loop.Constant(
- 'kBemf',
- '%f',
- flywheels[0].motor.Kv * flywheels[0].G,
- comment="// Radians/sec / volt"))
+ control_loop.Constant('kBemf',
+ '%f',
+ flywheels[0].motor.Kv * flywheels[0].G,
+ comment="// Radians/sec / volt"))
loop_writer.AddConstant(
- control_loop.Constant(
- 'kResistance',
- '%f',
- flywheels[0].motor.resistance,
- comment="// Ohms"))
+ control_loop.Constant('kResistance',
+ '%f',
+ flywheels[0].motor.resistance,
+ comment="// Ohms"))
loop_writer.Write(plant_files[0], plant_files[1])
integral_loop_writer = control_loop.ControlLoopWriter(
diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index eacb7fd..8125f8b 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -29,17 +29,17 @@
radians_per_turn_of_motor = 12.0 / 60.0 * radians_per_turn
-kHood = angular_system.AngularSystemParams(
- name='Hood',
- motor=control_loop.BAG(),
- G=radians_per_turn_of_motor / (2.0 * numpy.pi),
- J=0.1,
- q_pos=0.15,
- q_vel=10.0,
- kalman_q_pos=0.12,
- kalman_q_vel=10.0,
- kalman_q_voltage=30.0,
- kalman_r_position=0.02)
+kHood = angular_system.AngularSystemParams(name='Hood',
+ motor=control_loop.BAG(),
+ G=radians_per_turn_of_motor /
+ (2.0 * numpy.pi),
+ J=0.1,
+ q_pos=0.15,
+ q_vel=10.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=10.0,
+ kalman_q_voltage=30.0,
+ kalman_r_position=0.02)
def main(argv):
diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
index 1035070..87896dd 100644
--- a/y2020/control_loops/python/intake.py
+++ b/y2020/control_loops/python/intake.py
@@ -17,17 +17,17 @@
except gflags.DuplicateFlagError:
pass
-kIntake = angular_system.AngularSystemParams(
- name='Intake',
- motor=control_loop.BAG(),
- G=(12.0 / 24.0) * (1.0 / 5.0) * (1.0 / 5.0) * (16.0 / 32.0),
- J=8 * 0.139 * 0.139,
- q_pos=0.40,
- q_vel=20.0,
- kalman_q_pos=0.12,
- kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
- kalman_r_position=0.05)
+kIntake = angular_system.AngularSystemParams(name='Intake',
+ motor=control_loop.BAG(),
+ G=(12.0 / 24.0) * (1.0 / 5.0) *
+ (1.0 / 5.0) * (16.0 / 32.0),
+ J=8 * 0.139 * 0.139,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05)
def main(argv):
diff --git a/y2020/control_loops/python/polydrivetrain.py b/y2020/control_loops/python/polydrivetrain.py
index dad06b0..dbd5268 100644
--- a/y2020/control_loops/python/polydrivetrain.py
+++ b/y2020/control_loops/python/polydrivetrain.py
@@ -12,20 +12,22 @@
FLAGS = gflags.FLAGS
try:
- gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
except gflags.DuplicateFlagError:
- pass
+ pass
+
def main(argv):
- if FLAGS.plot:
- polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 7:
- glog.fatal('Expected .h file name and .cc file name')
- else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2020',
- drivetrain.kDrivetrain)
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 7:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+ 'y2020', drivetrain.kDrivetrain)
+
if __name__ == '__main__':
- argv = FLAGS(sys.argv)
- glog.init()
- sys.exit(main(argv))
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index 6f15057..5f77f84 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -18,17 +18,18 @@
except gflags.DuplicateFlagError:
pass
-kTurret = angular_system.AngularSystemParams(
- name='Turret',
- motor=control_loop.MiniCIM(),
- G=(26.0 / 150.0) * (14.0 / 60.0) * (20.0 / 60.0),
- J=0.20,
- q_pos=0.30,
- q_vel=4.5,
- kalman_q_pos=0.12,
- kalman_q_vel=10.0,
- kalman_q_voltage=20.0,
- kalman_r_position=0.05)
+kTurret = angular_system.AngularSystemParams(name='Turret',
+ motor=control_loop.MiniCIM(),
+ G=(26.0 / 150.0) * (14.0 / 60.0) *
+ (20.0 / 60.0),
+ J=0.20,
+ q_pos=0.30,
+ q_vel=4.5,
+ kalman_q_pos=0.12,
+ kalman_q_vel=10.0,
+ kalman_q_voltage=20.0,
+ kalman_r_position=0.05)
+
def main(argv):
if FLAGS.plot:
@@ -38,13 +39,11 @@
# Write the generated constants out to a file.
if len(argv) != 5:
- glog.fatal(
- 'Expected .h file name and .cc file name for the turret.'
- )
+ glog.fatal('Expected .h file name and .cc file name for the turret.')
else:
namespaces = ['y2020', 'control_loops', 'superstructure', 'turret']
- angular_system.WriteAngularSystem([kTurret],
- argv[1:3], argv[3:5], namespaces)
+ angular_system.WriteAngularSystem([kTurret], argv[1:3], argv[3:5],
+ namespaces)
if __name__ == '__main__':