Make a mutual drivetrain between robots.
Change-Id: I23cc9634d9af5d0482dc5a5501dccc064b7b53d3
diff --git a/y2014/BUILD b/y2014/BUILD
index 6561047..2938aa6 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -33,7 +33,7 @@
'//aos/common:time',
'//aos/common/util:log_interval',
'//aos/common/actions:action_lib',
- '//y2014/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/queues:gyro',
'//frc971/autonomous:auto_queue',
'//y2014/control_loops/claw:claw_queue',
diff --git a/y2014/actors/BUILD b/y2014/actors/BUILD
index 6fea9eb..ef94367 100644
--- a/y2014/actors/BUILD
+++ b/y2014/actors/BUILD
@@ -35,7 +35,7 @@
'//aos/common/logging',
'//y2014/control_loops/shooter:shooter_queue',
'//y2014/control_loops/claw:claw_queue',
- '//y2014/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2014:constants',
],
)
@@ -81,7 +81,7 @@
'//aos/common/logging:queue_logging',
'//third_party/eigen',
'//aos/common/util:trapezoid_profile',
- '//y2014/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/control_loops:state_feedback_loop',
],
)
diff --git a/y2014/actors/drivetrain_actor.cc b/y2014/actors/drivetrain_actor.cc
index 9f94ff4..4cb69ca 100644
--- a/y2014/actors/drivetrain_actor.cc
+++ b/y2014/actors/drivetrain_actor.cc
@@ -13,7 +13,7 @@
#include "y2014/actors/drivetrain_actor.h"
#include "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
namespace y2014 {
namespace actors {
@@ -50,9 +50,9 @@
while (true) {
::aos::time::PhasedLoopXMS(5, 2500);
- control_loops::drivetrain_queue.status.FetchLatest();
- if (control_loops::drivetrain_queue.status.get()) {
- const auto& status = *control_loops::drivetrain_queue.status;
+ ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
+ if (::frc971::control_loops::drivetrain_queue.status.get()) {
+ const auto& status = *::frc971::control_loops::drivetrain_queue.status;
if (::std::abs(status.uncapped_left_voltage -
status.uncapped_right_voltage) > 24) {
LOG(DEBUG, "spinning in place\n");
@@ -119,7 +119,7 @@
LOG(DEBUG, "Driving left to %f, right to %f\n",
left_goal_state(0, 0) + params.left_initial_position,
right_goal_state(0, 0) + params.right_initial_position);
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.highgear(true)
.left_goal(left_goal_state(0, 0) + params.left_initial_position)
@@ -129,11 +129,11 @@
.Send();
}
if (ShouldCancel()) return true;
- control_loops::drivetrain_queue.status.FetchLatest();
- while (!control_loops::drivetrain_queue.status.get()) {
+ ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
+ while (!::frc971::control_loops::drivetrain_queue.status.get()) {
LOG(WARNING,
"No previous drivetrain status packet, trying to fetch again\n");
- control_loops::drivetrain_queue.status.FetchNextBlocking();
+ ::frc971::control_loops::drivetrain_queue.status.FetchNextBlocking();
if (ShouldCancel()) return true;
}
while (true) {
@@ -141,13 +141,13 @@
const double kPositionThreshold = 0.05;
const double left_error = ::std::abs(
- control_loops::drivetrain_queue.status->filtered_left_position -
+ ::frc971::control_loops::drivetrain_queue.status->filtered_left_position -
(left_goal_state(0, 0) + params.left_initial_position));
const double right_error = ::std::abs(
- control_loops::drivetrain_queue.status->filtered_right_position -
+ ::frc971::control_loops::drivetrain_queue.status->filtered_right_position -
(right_goal_state(0, 0) + params.right_initial_position));
const double velocity_error =
- ::std::abs(control_loops::drivetrain_queue.status->robot_speed);
+ ::std::abs(::frc971::control_loops::drivetrain_queue.status->robot_speed);
if (left_error < kPositionThreshold && right_error < kPositionThreshold &&
velocity_error < 0.2) {
break;
@@ -155,7 +155,7 @@
LOG(DEBUG, "Drivetrain error is %f, %f, %f\n", left_error, right_error,
velocity_error);
}
- control_loops::drivetrain_queue.status.FetchNextBlocking();
+ ::frc971::control_loops::drivetrain_queue.status.FetchNextBlocking();
}
LOG(INFO, "Done moving\n");
return true;
diff --git a/y2014/actors/shoot_actor.cc b/y2014/actors/shoot_actor.cc
index a70d692..743a4c3 100644
--- a/y2014/actors/shoot_actor.cc
+++ b/y2014/actors/shoot_actor.cc
@@ -7,7 +7,7 @@
#include "y2014/control_loops/shooter/shooter.q.h"
#include "y2014/control_loops/claw/claw.q.h"
#include "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
namespace y2014 {
namespace actors {
diff --git a/y2014/autonomous/BUILD b/y2014/autonomous/BUILD
index 4a4c842..984b110 100644
--- a/y2014/autonomous/BUILD
+++ b/y2014/autonomous/BUILD
@@ -11,7 +11,7 @@
deps = [
'//frc971/autonomous:auto_queue',
'//aos/common/controls:control_loop',
- '//y2014/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2014/control_loops/shooter:shooter_queue',
'//y2014/control_loops/claw:claw_queue',
'//y2014:constants',
diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index 899d071..e954637 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -11,7 +11,7 @@
#include "frc971/autonomous/auto.q.h"
#include "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014/control_loops/shooter/shooter.q.h"
#include "y2014/control_loops/claw/claw.q.h"
#include "y2014/actors/shoot_actor.h"
@@ -41,7 +41,7 @@
void StopDrivetrain() {
LOG(INFO, "Stopping the drivetrain\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.highgear(true)
.left_goal(left_initial_position)
@@ -54,7 +54,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
.highgear(true)
.steering(0.0)
@@ -86,7 +86,7 @@
theta * constants::GetValues().turn_width / 2.0);
double right_goal = (right_initial_position + distance +
theta * constants::GetValues().turn_width / 2.0);
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.highgear(true)
.left_goal(left_goal)
@@ -159,13 +159,13 @@
void WaitUntilNear(double distance) {
while (true) {
if (ShouldExitAuto()) return;
- control_loops::drivetrain_queue.status.FetchAnother();
+ ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
double left_error = ::std::abs(
left_initial_position -
- control_loops::drivetrain_queue.status->filtered_left_position);
+ ::frc971::control_loops::drivetrain_queue.status->filtered_left_position);
double right_error = ::std::abs(
right_initial_position -
- control_loops::drivetrain_queue.status->filtered_right_position);
+ ::frc971::control_loops::drivetrain_queue.status->filtered_right_position);
const double kPositionThreshold = 0.05 + distance;
if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
LOG(INFO, "At the goal\n");
@@ -211,11 +211,11 @@
}
void InitializeEncoders() {
- control_loops::drivetrain_queue.status.FetchAnother();
+ ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
left_initial_position =
- control_loops::drivetrain_queue.status->filtered_left_position;
+ ::frc971::control_loops::drivetrain_queue.status->filtered_left_position;
right_initial_position =
- control_loops::drivetrain_queue.status->filtered_right_position;
+ ::frc971::control_loops::drivetrain_queue.status->filtered_right_position;
}
void WaitUntilClawDone() {
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 54d6581..9d7edb6 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -2,29 +2,6 @@
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',
- ],
-)
-
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
@@ -73,83 +50,17 @@
)
cc_library(
- name = 'ssdrivetrain',
+ name = 'drivetrain_base',
srcs = [
- 'ssdrivetrain.cc',
+ 'drivetrain_base.cc',
],
hdrs = [
- 'ssdrivetrain.h',
+ 'drivetrain_base.h',
],
deps = [
- ':drivetrain_queue',
+ ':polydrivetrain_plants',
'//y2014:constants',
- '//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 = 'polydrivetrain',
- srcs = [
- 'polydrivetrain.cc',
- ],
- hdrs = [
- 'polydrivetrain.h',
- ],
- deps = [
- ':drivetrain_queue',
- '//y2014:constants',
- '//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',
- '//y2014:constants',
- '//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',
- '//aos/common/controls:control_loop_test',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/queues:gyro',
- '//aos/common:queues',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
],
)
@@ -159,8 +70,8 @@
'drivetrain_main.cc',
],
deps = [
+ ':drivetrain_base',
'//aos/linux_code:init',
- ':drivetrain_lib',
- ':drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
],
)
diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
deleted file mode 100644
index 5717f36..0000000
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ /dev/null
@@ -1,157 +0,0 @@
-#include "y2014/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 "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain.h"
-#include "y2014/control_loops/drivetrain/ssdrivetrain.h"
-#include "frc971/queues/gyro.q.h"
-#include "frc971/shifter_hall_effect.h"
-
-// A consistent way to mark code that goes away without shifters. It's still
-// here because we will have shifters again in the future.
-#define HAVE_SHIFTERS 1
-
-using frc971::sensors::gyro_reading;
-
-namespace y2014 {
-namespace control_loops {
-namespace drivetrain {
-
-DrivetrainLoop::DrivetrainLoop(
- ::y2014::control_loops::DrivetrainQueue *my_drivetrain)
- : aos::controls::ControlLoop<::y2014::control_loops::DrivetrainQueue>(
- my_drivetrain),
- kf_(::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop()),
- dt_openloop_(&kf_) {
- ::aos::controls::HPolytope<0>::Init();
-}
-
-void DrivetrainLoop::RunIteration(
- const ::y2014::control_loops::DrivetrainQueue::Goal *goal,
- const ::y2014::control_loops::DrivetrainQueue::Position *position,
- ::y2014::control_loops::DrivetrainQueue::Output *output,
- ::y2014::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_ +=
- kDt * (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) / (kRobotRadius * 2.0);
- }
-
- bool control_loop_driving = false;
- if (goal) {
- double wheel = goal->steering;
- double throttle = goal->throttle;
- bool quickturn = goal->quickturn;
-#if HAVE_SHIFTERS
- bool highgear = goal->highgear;
-#endif
-
- 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);
-#if HAVE_SHIFTERS
- dt_openloop_.SetGoal(wheel, throttle, quickturn, highgear);
-#else
- dt_openloop_.SetGoal(wheel, throttle, quickturn, false);
-#endif
- }
-
- 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 y2014
diff --git a/y2014/control_loops/drivetrain/drivetrain.h b/y2014/control_loops/drivetrain/drivetrain.h
deleted file mode 100644
index 489b4ca..0000000
--- a/y2014/control_loops/drivetrain/drivetrain.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
-#define Y2014_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 "y2014/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain.h"
-#include "y2014/control_loops/drivetrain/ssdrivetrain.h"
-#include "aos/common/util/log_interval.h"
-
-namespace y2014 {
-namespace control_loops {
-namespace drivetrain {
-
-class DrivetrainLoop : public aos::controls::ControlLoop<
- ::y2014::control_loops::DrivetrainQueue> {
- public:
- // Constructs a control loop which can take a Drivetrain or defaults to the
- // drivetrain at y2014::control_loops::drivetrain
- explicit DrivetrainLoop(
- ::y2014::control_loops::DrivetrainQueue *my_drivetrain =
- &::y2014::control_loops::drivetrain_queue);
-
- protected:
- // Executes one cycle of the control loop.
- virtual void RunIteration(
- const ::y2014::control_loops::DrivetrainQueue::Goal *goal,
- const ::y2014::control_loops::DrivetrainQueue::Position *position,
- ::y2014::control_loops::DrivetrainQueue::Output *output,
- ::y2014::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;
-
- StateFeedbackLoop<7, 2, 3> kf_;
- PolyDrivetrain dt_openloop_;
- DrivetrainMotorsSS dt_closedloop_;
-
- double last_left_voltage_ = 0;
- double last_right_voltage_ = 0;
-
- double integrated_kf_heading_ = 0;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2014
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2014/control_loops/drivetrain/drivetrain.q b/y2014/control_loops/drivetrain/drivetrain.q
deleted file mode 100644
index 96bd817..0000000
--- a/y2014/control_loops/drivetrain/drivetrain.q
+++ /dev/null
@@ -1,126 +0,0 @@
-package y2014.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/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..b4ef447
--- /dev/null
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,36 @@
+#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.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 "y2014/constants.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2014 {
+namespace control_loops {
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static 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,
+
+ drivetrain::kDt, drivetrain::kStallTorque, drivetrain::kStallCurrent,
+ drivetrain::kFreeSpeedRPM, drivetrain::kFreeCurrent, drivetrain::kJ,
+ drivetrain::kMass, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
+ drivetrain::kR, drivetrain::kV, drivetrain::kT,
+
+ constants::GetValues().turn_width, constants::GetValues().high_gear_ratio,
+ constants::GetValues().low_gear_ratio,
+ constants::GetValues().left_drive, constants::GetValues().right_drive};
+
+ return kDrivetrainConfig;
+};
+
+} // namespace control_loops
+} // namespace y2014
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.h b/y2014/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..3a9d70e
--- /dev/null
+++ b/y2014/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,16 @@
+#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2014 {
+namespace control_loops {
+
+const DrivetrainConfig &GetDrivetrainConfig();
+
+} // namespace control_loops
+} // namespace y2014
+
+#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc b/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
deleted file mode 100644
index adfc519..0000000
--- a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
+++ /dev/null
@@ -1,300 +0,0 @@
-#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/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014/control_loops/drivetrain/drivetrain.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 "frc971/queues/gyro.q.h"
-
-
-namespace y2014 {
-namespace control_loops {
-namespace drivetrain {
-namespace testing {
-
-using ::y2014::control_loops::drivetrain::MakeDrivetrainPlant;
-
-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_(".y2014.control_loops.drivetrain",
- 0x8a8dde77, ".y2014.control_loops.drivetrain.goal",
- ".y2014.control_loops.drivetrain.position",
- ".y2014.control_loops.drivetrain.output",
- ".y2014.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<::y2014::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:
- ::y2014::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.
- ::y2014::control_loops::DrivetrainQueue my_drivetrain_queue_;
-
- // Create a loop and simulation plant.
- DrivetrainLoop drivetrain_motor_;
- DrivetrainSimulation drivetrain_motor_plant_;
-
- DrivetrainTest() : my_drivetrain_queue_(".y2014.control_loops.drivetrain",
- 0x8a8dde77,
- ".y2014.control_loops.drivetrain.goal",
- ".y2014.control_loops.drivetrain.position",
- ".y2014.control_loops.drivetrain.output",
- ".y2014.control_loops.drivetrain.status"),
- drivetrain_motor_(&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 y2014
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index cc71c69..52dafcc 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -1,10 +1,14 @@
-#include "y2014/control_loops/drivetrain/drivetrain.h"
-
#include "aos/linux_code/init.h"
+#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
int main() {
::aos::Init();
- ::y2014::control_loops::drivetrain::DrivetrainLoop drivetrain;
+ DrivetrainLoop drivetrain =
+ DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;
diff --git a/y2014/control_loops/drivetrain/polydrivetrain.cc b/y2014/control_loops/drivetrain/polydrivetrain.cc
deleted file mode 100644
index 014a1ae..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain.cc
+++ /dev/null
@@ -1,370 +0,0 @@
-#include "y2014/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 "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-
-#define HAVE_SHIFTERS 1
-
-namespace y2014 {
-namespace control_loops {
-namespace drivetrain {
-
-using ::y2014::control_loops::GearLogging;
-using ::y2014::control_loops::CIMLogging;
-using ::frc971::control_loops::CoerceGoal;
-
-PolyDrivetrain::PolyDrivetrain(StateFeedbackLoop<7, 2, 3> *kf)
- : kf_(kf),
- 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>(
- constants::GetValues().make_v_drivetrain_loop())),
- ttrust_(1.1),
- wheel_(0.0),
- throttle_(0.0),
- quickturn_(false),
- stale_count_(0),
- position_time_delta_(kDt),
- left_gear_(LOW),
- right_gear_(LOW),
- counter_(0) {
- 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 / constants::GetValues().high_gear_ratio / kWheelRadius;
- } else {
- return velocity / constants::GetValues().low_gear_ratio / kWheelRadius;
- }
-}
-
-PolyDrivetrain::Gear PolyDrivetrain::UpdateSingleGear(
- Gear requested_gear, Gear current_gear) {
- const Gear shift_up =
- constants::GetValues().clutch_transmission ? HIGH : SHIFTING_UP;
- const Gear shift_down =
- constants::GetValues().clutch_transmission ? LOW : SHIFTING_DOWN;
-
- 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;
-
- 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 ::y2014::control_loops::DrivetrainQueue::Position *position) {
- if (position == NULL) {
- ++stale_count_;
- } else {
- last_position_ = position_;
- position_ = *position;
- position_time_delta_ = (stale_count_ + 1) * kDt;
- stale_count_ = 0;
- }
-
- if (position) {
- const auto &values = constants::GetValues();
- GearLogging gear_logging;
- // Switch to the correct controller.
- const double left_middle_shifter_position =
- (values.left_drive.clear_high + values.left_drive.clear_low) / 2.0;
- const double right_middle_shifter_position =
- (values.right_drive.clear_high + values.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 > values.left_drive.clear_high &&
- left_gear_ == SHIFTING_UP) {
- left_gear_ = HIGH;
- }
- if (position->left_shifter_position < values.left_drive.clear_low &&
- left_gear_ == SHIFTING_DOWN) {
- left_gear_ = LOW;
- }
- if (position->right_shifter_position > values.right_drive.clear_high &&
- right_gear_ == SHIFTING_UP) {
- right_gear_ = HIGH;
- }
- if (position->right_shifter_position < values.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);
-
- const auto &values = constants::GetValues();
- // TODO(austin): Observer for the current velocity instead of difference
- // calculations.
- ++counter_;
- 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(values.left_drive, position_.left_shifter_position,
- current_left_velocity);
- const double right_motor_speed =
- MotorSpeed(values.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);
- }
-
- 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 {
- // 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 / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle), -12.0, 12.0);
- loop_->mutable_U(1, 0) =
- ::aos::Clip((R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
- -12.0, 12.0);
- loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
- }
-}
-
-void PolyDrivetrain::SendMotors(
- ::y2014::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;
- }
-}
-
-constexpr double PolyDrivetrain::kStallTorque;
-constexpr double PolyDrivetrain::kStallCurrent;
-constexpr double PolyDrivetrain::kFreeSpeed;
-constexpr double PolyDrivetrain::kFreeCurrent;
-constexpr double PolyDrivetrain::kWheelRadius;
-constexpr double PolyDrivetrain::kR;
-constexpr double PolyDrivetrain::Kv;
-constexpr double PolyDrivetrain::Kt;
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2014
diff --git a/y2014/control_loops/drivetrain/polydrivetrain.h b/y2014/control_loops/drivetrain/polydrivetrain.h
deleted file mode 100644
index 5cd7fff..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain.h
+++ /dev/null
@@ -1,90 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
-
-#include "aos/common/controls/polytope.h"
-
-#include "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-
-namespace y2014 {
-namespace control_loops {
-namespace drivetrain {
-
-class PolyDrivetrain {
- public:
- enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
- // Stall Torque in N m
- static constexpr double kStallTorque = drivetrain::kStallTorque;
- // Stall Current in Amps
- static constexpr double kStallCurrent = drivetrain::kStallCurrent;
- // Free Speed in RPM. Used number from last year.
- static constexpr double kFreeSpeed = drivetrain::kFreeSpeedRPM;
- // Free Current in Amps
- static constexpr double kFreeCurrent = drivetrain::kFreeCurrent;
- static constexpr double kWheelRadius = drivetrain::kWheelRadius;
- // Resistance of the motor, divided by the number of motors per side.
- static constexpr double kR = drivetrain::kR;
- // Motor velocity constant
- static constexpr double Kv = drivetrain::kV;
-
- // Torque constant
- static constexpr double Kt = drivetrain::kT;
-
- PolyDrivetrain(StateFeedbackLoop<7, 2, 3> *kf);
-
- int controller_index() const { return loop_->controller_index(); }
-
- static 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.
- static 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.
- static Gear UpdateSingleGear(Gear requested_gear, Gear current_gear);
-
- void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
-
- void SetPosition(
- const ::y2014::control_loops::DrivetrainQueue::Position *position);
-
- double FilterVelocity(double throttle);
-
- double MaxVelocity();
-
- void Update();
-
- void SendMotors(::y2014::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_;
- ::y2014::control_loops::DrivetrainQueue::Position last_position_;
- ::y2014::control_loops::DrivetrainQueue::Position position_;
- int counter_;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2014
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
diff --git a/y2014/control_loops/drivetrain/replay_drivetrain.cc b/y2014/control_loops/drivetrain/replay_drivetrain.cc
deleted file mode 100644
index b0ac33f..0000000
--- a/y2014/control_loops/drivetrain/replay_drivetrain.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "aos/common/controls/replay_control_loop.h"
-#include "aos/linux_code/init.h"
-
-#include "y2014/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<
- ::y2014::control_loops::DrivetrainQueue>
- replayer(&::y2014::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();
- ::y2014::control_loops::drivetrain_queue.goal.Clear();
- ::y2014::control_loops::drivetrain_queue.status.Clear();
- ::y2014::control_loops::drivetrain_queue.position.Clear();
- ::y2014::control_loops::drivetrain_queue.output.Clear();
-
- ::aos::Cleanup();
-}
diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.cc b/y2014/control_loops/drivetrain/ssdrivetrain.cc
deleted file mode 100644
index 45ab4eb..0000000
--- a/y2014/control_loops/drivetrain/ssdrivetrain.cc
+++ /dev/null
@@ -1,187 +0,0 @@
-#include "y2014/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 "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
-
-namespace y2014 {
-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()
- : loop_(new LimitedDrivetrainLoop(
- constants::GetValues().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) {
- // 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 * constants::GetValues().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(
- ::y2014::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 y2014
diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.h b/y2014/control_loops/drivetrain/ssdrivetrain.h
deleted file mode 100644
index 1964ac5..0000000
--- a/y2014/control_loops/drivetrain/ssdrivetrain.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
-#define Y2014_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 "y2014/constants.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
-
-namespace y2014 {
-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();
-
- 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(
- ::y2014::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_;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2014
-
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index 87dc3f1..137856f 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -11,7 +11,7 @@
#include "aos/common/time.h"
#include "aos/common/actions/actions.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014/constants.h"
#include "frc971/queues/gyro.q.h"
#include "frc971/autonomous/auto.q.h"
@@ -19,7 +19,7 @@
#include "y2014/control_loops/shooter/shooter.q.h"
#include "y2014/actors/shoot_actor.h"
-using ::y2014::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::frc971::sensors::gyro_reading;
using ::aos::input::driver_station::ButtonLocation;
@@ -427,11 +427,11 @@
velocity_compensation_ = 0.0;
}
- control_loops::drivetrain_queue.status.FetchLatest();
+ ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
double goal_angle = goal_angle_;
- if (control_loops::drivetrain_queue.status.get()) {
+ if (::frc971::control_loops::drivetrain_queue.status.get()) {
goal_angle += SpeedToAngleOffset(
- control_loops::drivetrain_queue.status->robot_speed);
+ ::frc971::control_loops::drivetrain_queue.status->robot_speed);
} else {
LOG_INTERVAL(no_drivetrain_status_);
}
diff --git a/y2014/wpilib/BUILD b/y2014/wpilib/BUILD
index 38853ca..120ff49 100644
--- a/y2014/wpilib/BUILD
+++ b/y2014/wpilib/BUILD
@@ -12,7 +12,7 @@
'//aos/externals:wpilib',
'//y2014:constants',
'//y2014/queues:auto_mode',
- '//y2014/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2014/control_loops/shooter:shooter_queue',
'//y2014/control_loops/claw:claw_queue',
'//aos/common/controls:control_loop',
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
index 13b2e7b..6442a2a 100644
--- a/y2014/wpilib/wpilib_interface.cc
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -32,7 +32,7 @@
#include "frc971/shifter_hall_effect.h"
-#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014/control_loops/claw/claw.q.h"
#include "y2014/control_loops/shooter/shooter.q.h"
#include "y2014/constants.h"
@@ -54,7 +54,7 @@
#define M_PI 3.14159265358979323846
#endif
-using ::y2014::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2014::control_loops::claw_queue;
using ::y2014::control_loops::shooter_queue;
@@ -470,7 +470,7 @@
SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
: pcm_(pcm),
shooter_(".y2014.control_loops.shooter_queue.output"),
- drivetrain_(".y2014.control_loops.drivetrain_queue.output") {}
+ drivetrain_(".frc971.control_loops.drivetrain_queue.output") {}
void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
pressure_switch_ = ::std::move(pressure_switch);
@@ -566,7 +566,7 @@
::std::unique_ptr<Relay> compressor_relay_;
::aos::Queue<::y2014::control_loops::ShooterQueue::Output> shooter_;
- ::aos::Queue<::y2014::control_loops::DrivetrainQueue::Output> drivetrain_;
+ ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
::std::atomic<bool> run_{true};
};
@@ -583,11 +583,11 @@
private:
virtual void Read() override {
- ::y2014::control_loops::drivetrain_queue.output.FetchAnother();
+ ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::y2014::control_loops::drivetrain_queue.output;
+ auto &queue = ::frc971::control_loops::drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_drivetrain_talon_->Set(-queue->left_voltage / 12.0);
right_drivetrain_talon_->Set(queue->right_voltage / 12.0);