Add roll AngularSystem code gen to 2023
Controller hasn't been tuned, FYI.
Change-Id: I0e5ddb594552a020b58060c4edea96ff675bf677
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 6772e71..c6ffb50 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -120,11 +120,15 @@
self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
- self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
- B=self.B,
- C=self.C,
- Q=self.Q,
- R=self.R)
+ # From testing, these continuous Q and R's appear to be good approximations of Q and R.
+ self.Q_continuous = self.Q / self.dt
+ self.R_continuous = self.R * self.dt
+
+ self.KalmanGain, self.P_steady_state = controls.kalman(A=self.A,
+ B=self.B,
+ C=self.C,
+ Q=self.Q,
+ R=self.R)
glog.debug('Kal %s', repr(self.KalmanGain))
@@ -165,11 +169,15 @@
self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
- self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
- B=self.B,
- C=self.C,
- Q=self.Q,
- R=self.R)
+ # From testing, these continuous Q and R's appear to be good approximations of Q and R.
+ self.Q_continuous = self.Q / self.dt
+ self.R_continuous = self.R * self.dt
+
+ self.KalmanGain, self.P_steady_state = controls.kalman(A=self.A,
+ B=self.B,
+ C=self.C,
+ Q=self.Q,
+ R=self.R)
self.K_unaugmented = self.K
self.K = numpy.matrix(numpy.zeros((1, 3)))
@@ -409,7 +417,12 @@
max_acceleration=max_acceleration)
-def WriteAngularSystem(params, plant_files, controller_files, year_namespaces):
+def WriteAngularSystem(params,
+ plant_files,
+ controller_files,
+ year_namespaces,
+ plant_type='StateFeedbackPlant',
+ observer_type='StateFeedbackObserver'):
"""Writes out the constants for a angular system to a file.
Args:
@@ -440,7 +453,9 @@
loop_writer = control_loop.ControlLoopWriter(name,
angular_systems,
- namespaces=year_namespaces)
+ namespaces=year_namespaces,
+ plant_type=plant_type,
+ observer_type=observer_type)
loop_writer.AddConstant(
control_loop.Constant('kOutputRatio', '%f', angular_systems[0].G))
loop_writer.AddConstant(
@@ -451,5 +466,7 @@
integral_loop_writer = control_loop.ControlLoopWriter(
'Integral' + name,
integral_angular_systems,
- namespaces=year_namespaces)
+ namespaces=year_namespaces,
+ plant_type=plant_type,
+ observer_type=observer_type)
integral_loop_writer.Write(controller_files[0], controller_files[1])