Make a mutual drivetrain between robots.
Change-Id: I23cc9634d9af5d0482dc5a5501dccc064b7b53d3
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..369de78
--- /dev/null
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -0,0 +1,121 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+cc_binary(
+ name = 'replay_drivetrain',
+ srcs = [
+ 'replay_drivetrain.cc',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//aos/common/controls:replay_control_loop',
+ '//aos/linux_code:init',
+ '//frc971/queues:gyro',
+ ],
+)
+
+queue_library(
+ name = 'drivetrain_queue',
+ srcs = [
+ 'drivetrain.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_config',
+ hdrs = [
+ 'drivetrain_config.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971:shifter_hall_effect',
+ ],
+)
+
+cc_library(
+ name = 'ssdrivetrain',
+ srcs = [
+ 'ssdrivetrain.cc',
+ ],
+ hdrs = [
+ 'ssdrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':drivetrain_config',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//frc971:shifter_hall_effect',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':drivetrain_config',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_lib',
+ srcs = [
+ 'drivetrain.cc',
+ ],
+ hdrs = [
+ 'drivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':polydrivetrain',
+ ':ssdrivetrain',
+ '//aos/common/controls:control_loop',
+ '//frc971/queues:gyro',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_test(
+ name = 'drivetrain_lib_test',
+ srcs = [
+ 'drivetrain_lib_test.cc',
+ ],
+ deps = [
+ '//aos/testing:googletest',
+ ':drivetrain_queue',
+ ':drivetrain_lib',
+ ':drivetrain_config',
+ '//aos/common/controls:control_loop_test',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/queues:gyro',
+ '//aos/common:queues',
+ '//y2014:constants',
+ '//y2014/control_loops/drivetrain:polydrivetrain_plants',
+ ],
+)
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
new file mode 100644
index 0000000..ca395cb
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -0,0 +1,146 @@
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+
+#include <stdio.h>
+#include <sched.h>
+#include <cmath>
+#include <memory>
+#include "Eigen/Dense"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain.h"
+#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/queues/gyro.q.h"
+#include "frc971/shifter_hall_effect.h"
+
+using frc971::sensors::gyro_reading;
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+DrivetrainLoop::DrivetrainLoop(
+ const DrivetrainConfig &dt_config,
+ ::frc971::control_loops::DrivetrainQueue *my_drivetrain)
+ : aos::controls::ControlLoop<::frc971::control_loops::DrivetrainQueue>(
+ my_drivetrain),
+ dt_config_(dt_config),
+ kf_(dt_config_.make_kf_drivetrain_loop()) {
+ ::aos::controls::HPolytope<0>::Init();
+}
+
+void DrivetrainLoop::RunIteration(
+ const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
+ const ::frc971::control_loops::DrivetrainQueue::Position *position,
+ ::frc971::control_loops::DrivetrainQueue::Output *output,
+ ::frc971::control_loops::DrivetrainQueue::Status *status) {
+ bool bad_pos = false;
+ if (position == nullptr) {
+ LOG_INTERVAL(no_position_);
+ bad_pos = true;
+ }
+ no_position_.Print();
+
+ kf_.set_controller_index(dt_openloop_.controller_index());
+
+ {
+ Eigen::Matrix<double, 3, 1> Y;
+ Y << position->left_encoder, position->right_encoder, last_gyro_rate_;
+ kf_.Correct(Y);
+ integrated_kf_heading_ += dt_config_.dt *
+ (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) /
+ (dt_config_.robot_radius * 2.0);
+ }
+
+ bool control_loop_driving = false;
+ if (goal) {
+ double wheel = goal->steering;
+ double throttle = goal->throttle;
+ bool quickturn = goal->quickturn;
+ bool highgear = goal->highgear;
+
+ control_loop_driving = goal->control_loop_driving;
+ double left_goal = goal->left_goal;
+ double right_goal = goal->right_goal;
+
+ dt_closedloop_.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+ goal->right_velocity_goal);
+ dt_openloop_.SetGoal(wheel, throttle, quickturn, highgear);
+ }
+
+ if (!bad_pos) {
+ const double left_encoder = position->left_encoder;
+ const double right_encoder = position->right_encoder;
+ if (gyro_reading.FetchLatest()) {
+ LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
+ dt_closedloop_.SetPosition(left_encoder, right_encoder,
+ gyro_reading->angle);
+ last_gyro_heading_ = gyro_reading->angle;
+ last_gyro_rate_ = gyro_reading->velocity;
+ } else {
+ dt_closedloop_.SetRawPosition(left_encoder, right_encoder);
+ }
+ }
+ dt_openloop_.SetPosition(position);
+ dt_openloop_.Update();
+
+ if (control_loop_driving) {
+ dt_closedloop_.Update(output == NULL, true);
+ dt_closedloop_.SendMotors(output);
+ } else {
+ dt_openloop_.SendMotors(output);
+ if (output) {
+ dt_closedloop_.SetExternalMotors(output->left_voltage,
+ output->right_voltage);
+ }
+ dt_closedloop_.Update(output == NULL, false);
+ }
+
+ // set the output status of the control loop state
+ if (status) {
+ status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
+ status->filtered_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
+ status->filtered_right_position = dt_closedloop_.GetEstimatedRightEncoder();
+
+ status->filtered_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
+ status->filtered_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
+ status->output_was_capped = dt_closedloop_.OutputWasCapped();
+ status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
+ status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);
+ }
+
+ double left_voltage = 0.0;
+ double right_voltage = 0.0;
+ if (output) {
+ left_voltage = output->left_voltage;
+ right_voltage = output->right_voltage;
+ }
+
+ const double scalar = ::aos::robot_state->voltage_battery / 12.0;
+
+ left_voltage *= scalar;
+ right_voltage *= scalar;
+
+ // To validate, look at the following:
+
+ // Observed - dx/dt velocity for left, right.
+
+ // Angular velocity error compared to the gyro
+ // Gyro heading vs left-right
+ // Voltage error.
+
+ Eigen::Matrix<double, 2, 1> U;
+ U << last_left_voltage_, last_right_voltage_;
+ last_left_voltage_ = left_voltage;
+ last_right_voltage_ = right_voltage;
+
+ kf_.UpdateObserver(U);
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
new file mode 100644
index 0000000..22a6c32
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -0,0 +1,58 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "Eigen/Dense"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain.h"
+#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "aos/common/util/log_interval.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+class DrivetrainLoop : public aos::controls::ControlLoop<
+ ::frc971::control_loops::DrivetrainQueue> {
+ public:
+ // Constructs a control loop which can take a Drivetrain or defaults to the
+ // drivetrain at frc971::control_loops::drivetrain
+ explicit DrivetrainLoop(const DrivetrainConfig &dt_config,
+ ::frc971::control_loops::DrivetrainQueue *my_drivetrain =
+ &::frc971::control_loops::drivetrain_queue);
+
+ protected:
+ // Executes one cycle of the control loop.
+ virtual void RunIteration(
+ const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
+ const ::frc971::control_loops::DrivetrainQueue::Position *position,
+ ::frc971::control_loops::DrivetrainQueue::Output *output,
+ ::frc971::control_loops::DrivetrainQueue::Status *status);
+
+ typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
+ SimpleLogInterval no_position_ = SimpleLogInterval(
+ ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
+ double last_gyro_heading_ = 0.0;
+ double last_gyro_rate_ = 0.0;
+
+ const DrivetrainConfig dt_config_;
+
+ PolyDrivetrain dt_openloop_{dt_config_};
+ DrivetrainMotorsSS dt_closedloop_{dt_config_};
+ StateFeedbackLoop<7, 2, 3> kf_;
+
+ double last_left_voltage_ = 0;
+ double last_right_voltage_ = 0;
+
+ double integrated_kf_heading_ = 0;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..b4a71ec
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,126 @@
+package frc971.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+// For logging information about what the code is doing with the shifters.
+struct GearLogging {
+ // Which controller is being used.
+ int8_t controller_index;
+ // Whether the left loop is the high-gear one.
+ bool left_loop_high;
+ // Whether the right loop is the high-gear one.
+ bool right_loop_high;
+ // The state of the left shifter.
+ int8_t left_state;
+ // The state of the right shifter.
+ int8_t right_state;
+};
+
+// For logging information about the state of the shifters.
+struct CIMLogging {
+ // Whether the code thinks the left side is currently in gear.
+ bool left_in_gear;
+ // Whether the code thinks the right side is currently in gear.
+ bool right_in_gear;
+ // The velocity in rad/s (positive forward) the code thinks the left motor
+ // is currently spinning at.
+ double left_motor_speed;
+ // The velocity in rad/s (positive forward) the code thinks the right motor
+ // is currently spinning at.
+ double right_motor_speed;
+ // The velocity estimate for the left side of the robot in m/s (positive
+ // forward) used for shifting.
+ double left_velocity;
+ // The velocity estimate for the right side of the robot in m/s (positive
+ // forward) used for shifting.
+ double right_velocity;
+};
+
+queue_group DrivetrainQueue {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ // Position of the steering wheel (positive = turning left when going
+ // forwards).
+ double steering;
+ // Position of the throttle (positive forwards).
+ double throttle;
+ // True to shift into high, false to shift into low.
+ bool highgear;
+ // True to activate quickturn.
+ bool quickturn;
+ // True to have the closed-loop controller take over.
+ bool control_loop_driving;
+ // Position goal for the left side in meters when the closed-loop controller
+ // is active.
+ double left_goal;
+ // Velocity goal for the left side in m/s when the closed-loop controller
+ // is active.
+ double left_velocity_goal;
+ // Position goal for the right side in meters when the closed-loop
+ // controller is active.
+ double right_goal;
+ // Velocity goal for the right side in m/s when the closed-loop controller
+ // is active.
+ double right_velocity_goal;
+ };
+
+ message Position {
+ // Relative position of the left side in meters.
+ double left_encoder;
+ // Relative position of the right side in meters.
+ double right_encoder;
+ // The speed in m/s of the left side from the most recent encoder pulse,
+ // or 0 if there was no edge within the last 5ms.
+ double left_speed;
+ // The speed in m/s of the right side from the most recent encoder pulse,
+ // or 0 if there was no edge within the last 5ms.
+ double right_speed;
+ // Position of the left shifter (smaller = towards low gear).
+ double left_shifter_position;
+ // Position of the right shifter (smaller = towards low gear).
+ double right_shifter_position;
+ double low_left_hall;
+ double high_left_hall;
+ double low_right_hall;
+ double high_right_hall;
+ };
+
+ message Output {
+ // Voltage to send to the left motor(s).
+ double left_voltage;
+ // Voltage to send to the right motor(s).
+ double right_voltage;
+ // True to set the left shifter piston for high gear.
+ bool left_high;
+ // True to set the right shifter piston for high gear.
+ bool right_high;
+ };
+
+ message Status {
+ // Estimated speed of the center of the robot in m/s (positive forwards).
+ double robot_speed;
+ // Estimated relative position of the left side in meters.
+ double filtered_left_position;
+ // Estimated relative position of the right side in meters.
+ double filtered_right_position;
+ // Estimated velocity of the left side in m/s.
+ double filtered_left_velocity;
+ // Estimated velocity of the left side in m/s.
+ double filtered_right_velocity;
+
+ // The voltage we wanted to send to the left side last cycle.
+ double uncapped_left_voltage;
+ // The voltage we wanted to send to the right side last cycle.
+ double uncapped_right_voltage;
+ // True if the output voltage was capped last cycle.
+ bool output_was_capped;
+ };
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group DrivetrainQueue drivetrain_queue;
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
new file mode 100644
index 0000000..07fbe93
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -0,0 +1,54 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
+
+#include <functional>
+
+#include "frc971/shifter_hall_effect.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+enum class ShifterType : int32_t {
+ HALL_EFFECT_SHIFTER = 0, // Detect when inbetween gears.
+ SIMPLE_SHIFTER = 1, // Switch gears without speedmatch logic.
+};
+
+struct DrivetrainConfig {
+ // Shifting method we are using.
+ ShifterType shifter_type;
+
+ // Polydrivetrain functions returning various controller loops with plants.
+ ::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
+ ::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
+ ::std::function<StateFeedbackLoop<7, 2, 3>()> make_kf_drivetrain_loop;
+
+ double dt; // Control loop time step.
+ double stall_torque; // Stall torque in N m.
+ double stall_current; // Stall current in amps.
+ double free_speed_rpm; // Free speed in rpm.
+ double free_current; // Free current in amps.
+ double j; // CIM moment of inertia in kg m^2.
+ double mass; // Mass of the robot.
+ double robot_radius; // Robot radius, in meters.
+ double wheel_radius; // Wheel radius, in meters.
+ double r; // Motor resistance.
+ double v; // Motor velocity constant.
+ double t; // Torque constant.
+
+ double turn_width; // Robot turn width, in meters.
+ // Gear ratios, from encoder shaft to transmission output.
+ double high_gear_ratio;
+ double low_gear_ratio;
+
+ // Hall effect constants. Unused if not applicable to shifter type.
+ constants::ShifterHallEffect left_drive;
+ constants::ShifterHallEffect right_drive;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
new file mode 100644
index 0000000..9db00b5
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -0,0 +1,332 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/network/team_number.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop_test.h"
+
+#include "y2014/constants.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "frc971/queues/gyro.q.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+namespace testing {
+
+using ::y2014::control_loops::drivetrain::MakeDrivetrainPlant;
+
+// TODO(Comran): Make one that doesn't depend on the actual values for a
+// specific robot.
+const DrivetrainConfig kDrivetrainConfig {
+ ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+
+ ::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ ::y2014::control_loops::drivetrain::kDt,
+ ::y2014::control_loops::drivetrain::kStallTorque,
+ ::y2014::control_loops::drivetrain::kStallCurrent,
+ ::y2014::control_loops::drivetrain::kFreeSpeedRPM,
+ ::y2014::control_loops::drivetrain::kFreeCurrent,
+ ::y2014::control_loops::drivetrain::kJ,
+ ::y2014::control_loops::drivetrain::kMass,
+ ::y2014::control_loops::drivetrain::kRobotRadius,
+ ::y2014::control_loops::drivetrain::kWheelRadius,
+ ::y2014::control_loops::drivetrain::kR,
+ ::y2014::control_loops::drivetrain::kV,
+ ::y2014::control_loops::drivetrain::kT,
+
+ ::y2014::constants::GetValuesForTeam(971).turn_width,
+ ::y2014::constants::GetValuesForTeam(971).high_gear_ratio,
+ ::y2014::constants::GetValuesForTeam(971).low_gear_ratio,
+ ::y2014::constants::GetValuesForTeam(971).left_drive,
+ ::y2014::constants::GetValuesForTeam(971).right_drive
+};
+
+class Environment : public ::testing::Environment {
+ public:
+ virtual ~Environment() {}
+ // how to set up the environment.
+ virtual void SetUp() {
+ aos::controls::HPolytope<0>::Init();
+ }
+};
+::testing::Environment* const holder_env =
+ ::testing::AddGlobalTestEnvironment(new Environment);
+
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+ // Override this to define how to set up the environment.
+ virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
+};
+
+::testing::Environment* const team_number_env =
+ ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
+
+// Class which simulates the drivetrain and sends out queue messages containing
+// the position.
+class DrivetrainSimulation {
+ public:
+ // Constructs a motor simulation.
+ // TODO(aschuh) Do we want to test the clutch one too?
+ DrivetrainSimulation()
+ : drivetrain_plant_(
+ new StateFeedbackPlant<4, 2, 2>(MakeDrivetrainPlant())),
+ my_drivetrain_queue_(".frc971.control_loops.drivetrain",
+ 0x8a8dde77, ".frc971.control_loops.drivetrain.goal",
+ ".frc971.control_loops.drivetrain.position",
+ ".frc971.control_loops.drivetrain.output",
+ ".frc971.control_loops.drivetrain.status") {
+ Reinitialize();
+ }
+
+ // Resets the plant.
+ void Reinitialize() {
+ drivetrain_plant_->mutable_X(0, 0) = 0.0;
+ drivetrain_plant_->mutable_X(1, 0) = 0.0;
+ drivetrain_plant_->mutable_Y() =
+ drivetrain_plant_->C() * drivetrain_plant_->X();
+ last_left_position_ = drivetrain_plant_->Y(0, 0);
+ last_right_position_ = drivetrain_plant_->Y(1, 0);
+ }
+
+ // Returns the position of the drivetrain.
+ double GetLeftPosition() const { return drivetrain_plant_->Y(0, 0); }
+ double GetRightPosition() const { return drivetrain_plant_->Y(1, 0); }
+
+ // Sends out the position queue messages.
+ void SendPositionMessage() {
+ const double left_encoder = GetLeftPosition();
+ const double right_encoder = GetRightPosition();
+
+ ::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Position>
+ position = my_drivetrain_queue_.position.MakeMessage();
+ position->left_encoder = left_encoder;
+ position->right_encoder = right_encoder;
+ position.Send();
+ }
+
+ // Simulates the drivetrain moving for one timestep.
+ void Simulate() {
+ last_left_position_ = drivetrain_plant_->Y(0, 0);
+ last_right_position_ = drivetrain_plant_->Y(1, 0);
+ EXPECT_TRUE(my_drivetrain_queue_.output.FetchLatest());
+ drivetrain_plant_->mutable_U() << my_drivetrain_queue_.output->left_voltage,
+ my_drivetrain_queue_.output->right_voltage;
+ drivetrain_plant_->Update();
+ }
+
+ ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> drivetrain_plant_;
+ private:
+ ::frc971::control_loops::DrivetrainQueue my_drivetrain_queue_;
+ double last_left_position_;
+ double last_right_position_;
+};
+
+class DrivetrainTest : public ::aos::testing::ControlLoopTest {
+ protected:
+ // Create a new instance of the test queue so that it invalidates the queue
+ // that it points to. Otherwise, we will have a pointer to shared memory that
+ // is no longer valid.
+ ::frc971::control_loops::DrivetrainQueue my_drivetrain_queue_;
+
+ // Create a loop and simulation plant.
+ DrivetrainLoop drivetrain_motor_;
+ DrivetrainSimulation drivetrain_motor_plant_;
+
+ DrivetrainTest() : my_drivetrain_queue_(".frc971.control_loops.drivetrain",
+ 0x8a8dde77,
+ ".frc971.control_loops.drivetrain.goal",
+ ".frc971.control_loops.drivetrain.position",
+ ".frc971.control_loops.drivetrain.output",
+ ".frc971.control_loops.drivetrain.status"),
+ drivetrain_motor_(kDrivetrainConfig, &my_drivetrain_queue_),
+ drivetrain_motor_plant_() {
+ ::frc971::sensors::gyro_reading.Clear();
+ }
+
+ void VerifyNearGoal() {
+ my_drivetrain_queue_.goal.FetchLatest();
+ my_drivetrain_queue_.position.FetchLatest();
+ EXPECT_NEAR(my_drivetrain_queue_.goal->left_goal,
+ drivetrain_motor_plant_.GetLeftPosition(),
+ 1e-2);
+ EXPECT_NEAR(my_drivetrain_queue_.goal->right_goal,
+ drivetrain_motor_plant_.GetRightPosition(),
+ 1e-2);
+ }
+
+ virtual ~DrivetrainTest() {
+ ::frc971::sensors::gyro_reading.Clear();
+ }
+};
+
+// Tests that the drivetrain converges on a goal.
+TEST_F(DrivetrainTest, ConvergesCorrectly) {
+ my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
+ .left_goal(-1.0)
+ .right_goal(1.0).Send();
+ for (int i = 0; i < 200; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ SimulateTimestep(true);
+ }
+ VerifyNearGoal();
+}
+
+// Tests that it survives disabling.
+TEST_F(DrivetrainTest, SurvivesDisabling) {
+ my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
+ .left_goal(-1.0)
+ .right_goal(1.0).Send();
+ for (int i = 0; i < 500; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ if (i > 20 && i < 200) {
+ SimulateTimestep(false);
+ } else {
+ SimulateTimestep(true);
+ }
+ }
+ VerifyNearGoal();
+}
+
+// Tests that never having a goal doesn't break.
+TEST_F(DrivetrainTest, NoGoalStart) {
+ for (int i = 0; i < 20; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ }
+}
+
+// Tests that never having a goal, but having driver's station messages, doesn't
+// break.
+TEST_F(DrivetrainTest, NoGoalWithRobotState) {
+ for (int i = 0; i < 20; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ SimulateTimestep(true);
+ }
+}
+
+::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
+ double x2_min, double x2_max) {
+ Eigen::Matrix<double, 4, 2> box_H;
+ box_H << /*[[*/ 1.0, 0.0 /*]*/,
+ /*[*/-1.0, 0.0 /*]*/,
+ /*[*/ 0.0, 1.0 /*]*/,
+ /*[*/ 0.0,-1.0 /*]]*/;
+ Eigen::Matrix<double, 4, 1> box_k;
+ box_k << /*[[*/ x1_max /*]*/,
+ /*[*/-x1_min /*]*/,
+ /*[*/ x2_max /*]*/,
+ /*[*/-x2_min /*]]*/;
+ ::aos::controls::HPolytope<2> t_poly(box_H, box_k);
+ return t_poly;
+}
+
+class CoerceGoalTest : public ::testing::Test {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+// WHOOOHH!
+TEST_F(CoerceGoalTest, Inside) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << /*[[*/ 1, -1 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << /*[[*/ 1.5, 1.5 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(R(0, 0), output(0, 0));
+ EXPECT_EQ(R(1, 0), output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_no_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(3, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(3.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Middle_Of_Edge) {
+ ::aos::controls::HPolytope<2> box = MakeBox(0, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << -1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, PerpendicularLine) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(1.0, output(0, 0));
+ EXPECT_EQ(1.0, output(1, 0));
+}
+
+} // namespace testing
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
new file mode 100644
index 0000000..dd9354e
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -0,0 +1,373 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain.h"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "aos/common/messages/robot_state.q.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::control_loops::GearLogging;
+using ::frc971::control_loops::CIMLogging;
+using ::frc971::control_loops::CoerceGoal;
+
+PolyDrivetrain::PolyDrivetrain(const DrivetrainConfig &dt_config)
+ : kf_(dt_config.make_kf_drivetrain_loop()),
+ U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+ /*[*/ -1, 0 /*]*/,
+ /*[*/ 0, 1 /*]*/,
+ /*[*/ 0, -1 /*]]*/).finished(),
+ (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]]*/).finished()),
+ loop_(new StateFeedbackLoop<2, 2, 2>(dt_config.make_v_drivetrain_loop())),
+ ttrust_(1.1),
+ wheel_(0.0),
+ throttle_(0.0),
+ quickturn_(false),
+ stale_count_(0),
+ position_time_delta_(dt_config.dt),
+ left_gear_(LOW),
+ right_gear_(LOW),
+ counter_(0),
+ dt_config_(dt_config) {
+ last_position_.Zero();
+ position_.Zero();
+}
+
+double PolyDrivetrain::MotorSpeed(
+ const constants::ShifterHallEffect &hall_effect, double shifter_position,
+ double velocity) {
+ const double avg_hall_effect =
+ (hall_effect.clear_high + hall_effect.clear_low) / 2.0;
+
+ if (shifter_position > avg_hall_effect) {
+ return velocity / dt_config_.high_gear_ratio / dt_config_.wheel_radius;
+ } else {
+ return velocity / dt_config_.low_gear_ratio / dt_config_.wheel_radius;
+ }
+}
+
+PolyDrivetrain::Gear PolyDrivetrain::UpdateSingleGear(Gear requested_gear,
+ Gear current_gear) {
+ const Gear shift_up =
+ (dt_config_.shifter_type == ShifterType::HALL_EFFECT_SHIFTER)
+ ? SHIFTING_UP
+ : HIGH;
+ const Gear shift_down =
+ (dt_config_.shifter_type == ShifterType::HALL_EFFECT_SHIFTER)
+ ? SHIFTING_DOWN
+ : LOW;
+ if (current_gear != requested_gear) {
+ if (IsInGear(current_gear)) {
+ if (requested_gear == HIGH) {
+ if (current_gear != HIGH) {
+ current_gear = shift_up;
+ }
+ } else {
+ if (current_gear != LOW) {
+ current_gear = shift_down;
+ }
+ }
+ } else {
+ if (requested_gear == HIGH && current_gear == SHIFTING_DOWN) {
+ current_gear = SHIFTING_UP;
+ } else if (requested_gear == LOW && current_gear == SHIFTING_UP) {
+ current_gear = SHIFTING_DOWN;
+ }
+ }
+ }
+ return current_gear;
+}
+
+void PolyDrivetrain::UpdateGears(Gear requested_gear) {
+ left_gear_ = UpdateSingleGear(requested_gear, left_gear_);
+ right_gear_ = UpdateSingleGear(requested_gear, right_gear_);
+}
+
+void PolyDrivetrain::SetGoal(double wheel, double throttle, bool quickturn,
+ bool highgear) {
+ const double kWheelNonLinearity = 0.3;
+ // Apply a sin function that's scaled to make it feel better.
+ const double angular_range = M_PI_2 * kWheelNonLinearity;
+
+ if (dt_config_.shifter_type == ShifterType::SIMPLE_SHIFTER) {
+ // Force the right controller for simple shifters since we assume that
+ // gear switching is instantaneous.
+ if (highgear) {
+ loop_->set_controller_index(3);
+ } else {
+ loop_->set_controller_index(0);
+ }
+ }
+
+ wheel_ = sin(angular_range * wheel) / sin(angular_range);
+ wheel_ = sin(angular_range * wheel_) / sin(angular_range);
+ quickturn_ = quickturn;
+
+ static const double kThrottleDeadband = 0.05;
+ if (::std::abs(throttle) < kThrottleDeadband) {
+ throttle_ = 0;
+ } else {
+ throttle_ = copysign(
+ (::std::abs(throttle) - kThrottleDeadband) / (1.0 - kThrottleDeadband),
+ throttle);
+ }
+
+ UpdateGears(highgear ? HIGH : LOW);
+}
+
+void PolyDrivetrain::SetPosition(
+ const ::frc971::control_loops::DrivetrainQueue::Position *position) {
+ if (position == NULL) {
+ ++stale_count_;
+ } else {
+ last_position_ = position_;
+ position_ = *position;
+ position_time_delta_ = (stale_count_ + 1) * dt_config_.dt;
+ stale_count_ = 0;
+ }
+
+ if (dt_config_.shifter_type == ShifterType::HALL_EFFECT_SHIFTER && position) {
+ GearLogging gear_logging;
+ // Switch to the correct controller.
+ const double left_middle_shifter_position =
+ (dt_config_.left_drive.clear_high + dt_config_.left_drive.clear_low) /
+ 2.0;
+ const double right_middle_shifter_position =
+ (dt_config_.right_drive.clear_high + dt_config_.right_drive.clear_low) /
+ 2.0;
+
+ if (position->left_shifter_position < left_middle_shifter_position ||
+ left_gear_ == LOW) {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 0);
+ } else {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 1);
+ }
+ } else {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 2);
+ } else {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 3);
+ }
+ }
+
+ if (position->left_shifter_position > dt_config_.left_drive.clear_high &&
+ left_gear_ == SHIFTING_UP) {
+ left_gear_ = HIGH;
+ }
+ if (position->left_shifter_position < dt_config_.left_drive.clear_low &&
+ left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = LOW;
+ }
+ if (position->right_shifter_position > dt_config_.right_drive.clear_high &&
+ right_gear_ == SHIFTING_UP) {
+ right_gear_ = HIGH;
+ }
+ if (position->right_shifter_position < dt_config_.right_drive.clear_low &&
+ right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = LOW;
+ }
+
+ gear_logging.left_state = left_gear_;
+ gear_logging.right_state = right_gear_;
+ LOG_STRUCT(DEBUG, "state", gear_logging);
+ }
+}
+
+double PolyDrivetrain::FilterVelocity(double throttle) {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage =
+ ::aos::Clip(throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return (adjusted_ff_voltage +
+ ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) /
+ 2.0) /
+ (ttrust_ * min_K_sum + min_FF_sum);
+}
+
+double PolyDrivetrain::MaxVelocity() {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ // const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage =
+ ::aos::Clip(12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return adjusted_ff_voltage / min_FF_sum;
+}
+
+void PolyDrivetrain::Update() {
+ loop_->mutable_X_hat()(0, 0) = kf_.X_hat()(1, 0);
+ loop_->mutable_X_hat()(1, 0) = kf_.X_hat()(3, 0);
+
+ // TODO(austin): Observer for the current velocity instead of difference
+ // calculations.
+ ++counter_;
+
+ if (IsInGear(left_gear_) && IsInGear(right_gear_)) {
+ // FF * X = U (steady state)
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ // Invert the plant to figure out how the velocity filter would have to
+ // work
+ // out in order to filter out the forwards negative inertia.
+ // This math assumes that the left and right power and velocity are
+ // equals,
+ // and that the plant is the same on the left and right.
+ const double fvel = FilterVelocity(throttle_);
+
+ const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
+ double steering_velocity;
+ if (quickturn_) {
+ steering_velocity = wheel_ * MaxVelocity();
+ } else {
+ steering_velocity = ::std::abs(fvel) * wheel_;
+ }
+ const double left_velocity = fvel - steering_velocity;
+ const double right_velocity = fvel + steering_velocity;
+
+ // Integrate velocity to get the position.
+ // This position is used to get integral control.
+ loop_->mutable_R() << left_velocity, right_velocity;
+
+ if (!quickturn_) {
+ // K * R = w
+ Eigen::Matrix<double, 1, 2> equality_k;
+ equality_k << 1 + sign_svel, -(1 - sign_svel);
+ const double equality_w = 0.0;
+
+ // Construct a constraint on R by manipulating the constraint on U
+ ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
+ U_Poly_.H() * (loop_->K() + FF),
+ U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
+
+ // Limit R back inside the box.
+ loop_->mutable_R() =
+ CoerceGoal(R_poly, equality_k, equality_w, loop_->R());
+ }
+
+ const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
+ const Eigen::Matrix<double, 2, 1> U_ideal =
+ loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
+
+ for (int i = 0; i < 2; i++) {
+ loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ }
+ } else {
+ const double current_left_velocity =
+ (position_.left_encoder - last_position_.left_encoder) /
+ position_time_delta_;
+ const double current_right_velocity =
+ (position_.right_encoder - last_position_.right_encoder) /
+ position_time_delta_;
+ const double left_motor_speed =
+ MotorSpeed(dt_config_.left_drive, position_.left_shifter_position,
+ current_left_velocity);
+ const double right_motor_speed =
+ MotorSpeed(dt_config_.right_drive, position_.right_shifter_position,
+ current_right_velocity);
+
+ {
+ CIMLogging logging;
+
+ // Reset the CIM model to the current conditions to be ready for when we
+ // shift.
+ if (IsInGear(left_gear_)) {
+ logging.left_in_gear = true;
+ } else {
+ logging.left_in_gear = false;
+ }
+ logging.left_motor_speed = left_motor_speed;
+ logging.left_velocity = current_left_velocity;
+ if (IsInGear(right_gear_)) {
+ logging.right_in_gear = true;
+ } else {
+ logging.right_in_gear = false;
+ }
+ logging.right_motor_speed = right_motor_speed;
+ logging.right_velocity = current_right_velocity;
+
+ LOG_STRUCT(DEBUG, "currently", logging);
+ }
+
+ // Any motor is not in gear. Speed match.
+ ::Eigen::Matrix<double, 1, 1> R_left;
+ ::Eigen::Matrix<double, 1, 1> R_right;
+ R_left(0, 0) = left_motor_speed;
+ R_right(0, 0) = right_motor_speed;
+
+ const double wiggle =
+ (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+
+ loop_->mutable_U(0, 0) = ::aos::Clip(
+ (R_left / dt_config_.v)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U(1, 0) = ::aos::Clip(
+ (R_right / dt_config_.v)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
+ }
+}
+
+void PolyDrivetrain::SendMotors(
+ ::frc971::control_loops::DrivetrainQueue::Output *output) {
+ if (output != NULL) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
+ output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
new file mode 100644
index 0000000..1ba7eee
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -0,0 +1,75 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
+
+#include "aos/common/controls/polytope.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+class PolyDrivetrain {
+ public:
+ enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
+
+ PolyDrivetrain(const DrivetrainConfig &dt_config);
+
+ int controller_index() const { return loop_->controller_index(); }
+
+ bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
+
+ // Computes the speed of the motor given the hall effect position and the
+ // speed of the robot.
+ double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
+ double shifter_position, double velocity);
+
+ // Computes the states of the shifters for the left and right drivetrain sides
+ // given a requested state.
+ void UpdateGears(Gear requested_gear);
+
+ // Computes the next state of a shifter given the current state and the
+ // requested state.
+ Gear UpdateSingleGear(Gear requested_gear, Gear current_gear);
+
+ void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
+
+ void SetPosition(
+ const ::frc971::control_loops::DrivetrainQueue::Position *position);
+
+ double FilterVelocity(double throttle);
+
+ double MaxVelocity();
+
+ void Update();
+
+ void SendMotors(::frc971::control_loops::DrivetrainQueue::Output *output);
+
+ private:
+ StateFeedbackLoop<7, 2, 3> kf_;
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
+
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+
+ const double ttrust_;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ int stale_count_;
+ double position_time_delta_;
+ Gear left_gear_;
+ Gear right_gear_;
+ ::frc971::control_loops::DrivetrainQueue::Position last_position_;
+ ::frc971::control_loops::DrivetrainQueue::Position position_;
+ int counter_;
+ DrivetrainConfig dt_config_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
diff --git a/frc971/control_loops/drivetrain/replay_drivetrain.cc b/frc971/control_loops/drivetrain/replay_drivetrain.cc
new file mode 100644
index 0000000..c535607
--- /dev/null
+++ b/frc971/control_loops/drivetrain/replay_drivetrain.cc
@@ -0,0 +1,36 @@
+#include "aos/common/controls/replay_control_loop.h"
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/queues/gyro.q.h"
+
+// Reads one or more log files and sends out all the queue messages (in the
+// correct order and at the correct time) to feed a "live" drivetrain process.
+
+int main(int argc, char **argv) {
+ if (argc <= 1) {
+ fprintf(stderr, "Need at least one file to replay!\n");
+ return EXIT_FAILURE;
+ }
+
+ ::aos::InitNRT();
+
+ {
+ ::aos::controls::ControlLoopReplayer<
+ ::frc971::control_loops::DrivetrainQueue>
+ replayer(&::frc971::control_loops::drivetrain_queue, "drivetrain");
+
+ replayer.AddDirectQueueSender("wpilib_interface.Gyro", "sending",
+ ::frc971::sensors::gyro_reading);
+ for (int i = 1; i < argc; ++i) {
+ replayer.ProcessFile(argv[i]);
+ }
+ }
+ ::frc971::sensors::gyro_reading.Clear();
+ ::frc971::control_loops::drivetrain_queue.goal.Clear();
+ ::frc971::control_loops::drivetrain_queue.status.Clear();
+ ::frc971::control_loops::drivetrain_queue.position.Clear();
+ ::frc971::control_loops::drivetrain_queue.output.Clear();
+
+ ::aos::Cleanup();
+}
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
new file mode 100644
index 0000000..049b576
--- /dev/null
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -0,0 +1,188 @@
+#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::control_loops::DoCoerceGoal;
+
+DrivetrainMotorsSS::LimitedDrivetrainLoop::LimitedDrivetrainLoop(
+ StateFeedbackLoop<4, 2, 2> &&loop)
+ : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
+ U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0, -1, 0, 0, 1, 0, -1)
+ .finished(),
+ (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0, 12.0, 12.0)
+ .finished()) {
+ ::aos::controls::HPolytope<0>::Init();
+ T << 1, -1, 1, 1;
+ T_inverse = T.inverse();
+}
+
+void DrivetrainMotorsSS::LimitedDrivetrainLoop::CapU() {
+ const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
+
+ if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
+ mutable_U() =
+ U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
+ LOG_MATRIX(DEBUG, "U is now", U());
+ // TODO(Austin): Figure out why the polytope stuff wasn't working and
+ // remove this hack.
+ output_was_capped_ = true;
+ return;
+
+ LOG_MATRIX(DEBUG, "U at start", U());
+ LOG_MATRIX(DEBUG, "R at start", R());
+ LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
+
+ Eigen::Matrix<double, 2, 2> position_K;
+ position_K << K(0, 0), K(0, 2), K(1, 0), K(1, 2);
+ Eigen::Matrix<double, 2, 2> velocity_K;
+ velocity_K << K(0, 1), K(0, 3), K(1, 1), K(1, 3);
+
+ Eigen::Matrix<double, 2, 1> position_error;
+ position_error << error(0, 0), error(2, 0);
+ const auto drive_error = T_inverse * position_error;
+ Eigen::Matrix<double, 2, 1> velocity_error;
+ velocity_error << error(1, 0), error(3, 0);
+ LOG_MATRIX(DEBUG, "error", error);
+
+ const auto &poly = U_Poly_;
+ const Eigen::Matrix<double, 4, 2> pos_poly_H = poly.H() * position_K * T;
+ const Eigen::Matrix<double, 4, 1> pos_poly_k =
+ poly.k() - poly.H() * velocity_K * velocity_error;
+ const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
+
+ Eigen::Matrix<double, 2, 1> adjusted_pos_error;
+ {
+ const auto &P = drive_error;
+
+ Eigen::Matrix<double, 1, 2> L45;
+ L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
+ const double w45 = 0;
+
+ Eigen::Matrix<double, 1, 2> LH;
+ if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
+ LH << 0, 1;
+ } else {
+ LH << 1, 0;
+ }
+ const double wh = LH.dot(P);
+
+ Eigen::Matrix<double, 2, 2> standard;
+ standard << L45, LH;
+ Eigen::Matrix<double, 2, 1> W;
+ W << w45, wh;
+ const Eigen::Matrix<double, 2, 1> intersection = standard.inverse() * W;
+
+ bool is_inside_h;
+ const auto adjusted_pos_error_h =
+ DoCoerceGoal(pos_poly, LH, wh, drive_error, &is_inside_h);
+ const auto adjusted_pos_error_45 =
+ DoCoerceGoal(pos_poly, L45, w45, intersection, nullptr);
+ if (pos_poly.IsInside(intersection)) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ if (is_inside_h) {
+ if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm() ||
+ adjusted_pos_error_45.norm() > intersection.norm()) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ }
+ }
+
+ LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+ mutable_U() =
+ velocity_K * velocity_error + position_K * T * adjusted_pos_error;
+ LOG_MATRIX(DEBUG, "U is now", U());
+ } else {
+ output_was_capped_ = false;
+ }
+}
+
+DrivetrainMotorsSS::DrivetrainMotorsSS(const DrivetrainConfig &dt_config)
+ : loop_(
+ new LimitedDrivetrainLoop(dt_config.make_drivetrain_loop())),
+ filtered_offset_(0.0),
+ gyro_(0.0),
+ left_goal_(0.0),
+ right_goal_(0.0),
+ raw_left_(0.0),
+ raw_right_(0.0),
+ dt_config_(dt_config) {
+ // High gear on both.
+ loop_->set_controller_index(3);
+}
+
+void DrivetrainMotorsSS::SetGoal(double left, double left_velocity,
+ double right, double right_velocity) {
+ left_goal_ = left;
+ right_goal_ = right;
+ loop_->mutable_R() << left, left_velocity, right, right_velocity;
+}
+void DrivetrainMotorsSS::SetRawPosition(double left, double right) {
+ raw_right_ = right;
+ raw_left_ = left;
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left + filtered_offset_, right - filtered_offset_;
+ loop_->Correct(Y);
+}
+void DrivetrainMotorsSS::SetPosition(double left, double right, double gyro) {
+ // Decay the offset quickly because this gyro is great.
+ const double offset =
+ (right - left - gyro * dt_config_.turn_width) / 2.0;
+ filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
+ gyro_ = gyro;
+ SetRawPosition(left, right);
+}
+
+void DrivetrainMotorsSS::SetExternalMotors(double left_voltage,
+ double right_voltage) {
+ loop_->mutable_U() << left_voltage, right_voltage;
+}
+
+void DrivetrainMotorsSS::Update(bool stop_motors, bool enable_control_loop) {
+ if (enable_control_loop) {
+ loop_->Update(stop_motors);
+ } else {
+ if (stop_motors) {
+ loop_->mutable_U().setZero();
+ loop_->mutable_U_uncapped().setZero();
+ }
+ loop_->UpdateObserver(loop_->U());
+ }
+ ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
+ LOG_MATRIX(DEBUG, "E", E);
+}
+
+double DrivetrainMotorsSS::GetEstimatedRobotSpeed() const {
+ // lets just call the average of left and right velocities close enough
+ return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
+}
+
+void DrivetrainMotorsSS::SendMotors(
+ ::frc971::control_loops::DrivetrainQueue::Output *output) const {
+ if (output) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = true;
+ output->right_high = true;
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
new file mode 100644
index 0000000..1ed3eb7
--- /dev/null
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -0,0 +1,87 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+class DrivetrainMotorsSS {
+ public:
+ class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
+ public:
+ LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop);
+
+ bool output_was_capped() const {
+ return output_was_capped_;
+ }
+
+ private:
+ void CapU() override;
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
+ Eigen::Matrix<double, 2, 2> T, T_inverse;
+ bool output_was_capped_ = false;;
+ };
+
+ DrivetrainMotorsSS(const DrivetrainConfig &dt_config);
+
+ void SetGoal(double left, double left_velocity, double right,
+ double right_velocity);
+
+ void SetRawPosition(double left, double right);
+
+ void SetPosition(double left, double right, double gyro);
+
+ void SetExternalMotors(double left_voltage, double right_voltage);
+
+ void Update(bool stop_motors, bool enable_control_loop);
+
+ double GetEstimatedRobotSpeed() const;
+
+ double GetEstimatedLeftEncoder() const {
+ return loop_->X_hat(0, 0);
+ }
+
+ double left_velocity() const { return loop_->X_hat(1, 0); }
+ double right_velocity() const { return loop_->X_hat(3, 0); }
+
+ double GetEstimatedRightEncoder() const {
+ return loop_->X_hat(2, 0);
+ }
+
+ bool OutputWasCapped() const {
+ return loop_->output_was_capped();
+ }
+
+ void SendMotors(
+ ::frc971::control_loops::DrivetrainQueue::Output *output) const;
+
+ const LimitedDrivetrainLoop &loop() const { return *loop_; }
+
+ private:
+ ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
+
+ double filtered_offset_;
+ double gyro_;
+ double left_goal_;
+ double right_goal_;
+ double raw_left_;
+ double raw_right_;
+
+ const DrivetrainConfig dt_config_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_