Added Zeroing Estimator for the column
Change-Id: I0c9dc557d91ed62f48d8ab6a9a20d2508e362b82
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 947a15c..4fe0236 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -142,6 +142,118 @@
return r;
}
+HallEffectAndPositionZeroingEstimator::HallEffectAndPositionZeroingEstimator(
+ const ZeroingConstants &constants)
+ : constants_(constants) {
+ Reset();
+}
+
+void HallEffectAndPositionZeroingEstimator::Reset() {
+ offset_ = 0.0;
+ min_low_position_ = ::std::numeric_limits<double>::max();
+ max_low_position_ = ::std::numeric_limits<double>::lowest();
+ zeroed_ = false;
+ initialized_ = false;
+ last_used_posedge_count_ = 0;
+ cycles_high_ = 0;
+ high_long_enough_ = false;
+ first_start_pos_ = 0.0;
+ error_ = false;
+ current_ = 0.0;
+ first_start_pos_ = 0.0;
+}
+
+void HallEffectAndPositionZeroingEstimator::TriggerError() {
+ if (!error_) {
+ LOG(ERROR, "Manually triggered zeroing error.\n");
+ error_ = true;
+ }
+}
+
+void HallEffectAndPositionZeroingEstimator::StoreEncoderMaxAndMin(
+ const HallEffectAndPosition &info) {
+ // If we have a new posedge.
+ if (!info.current) {
+ if (last_hall_) {
+ min_low_position_ = max_low_position_ = info.position;
+ } else {
+ min_low_position_ = ::std::min(min_low_position_, info.position);
+ max_low_position_ = ::std::max(max_low_position_, info.position);
+ }
+ }
+ last_hall_ = info.current;
+}
+
+void HallEffectAndPositionZeroingEstimator::UpdateEstimate(
+ const HallEffectAndPosition &info) {
+ // We want to make sure that we encounter at least one posedge while zeroing.
+ // So we take the posedge count from the first sample after reset and wait for
+ // that count to change and for the hall effect to stay high before we
+ // consider ourselves zeroed.
+ if (!initialized_) {
+ last_used_posedge_count_ = info.posedge_count;
+ initialized_ = true;
+ last_hall_ = info.current;
+ }
+
+ StoreEncoderMaxAndMin(info);
+
+ if (info.current) {
+ cycles_high_++;
+ } else {
+ cycles_high_ = 0;
+ last_used_posedge_count_ = info.posedge_count;
+ }
+
+ high_long_enough_ = cycles_high_ >= constants_.hall_trigger_zeroing_length;
+
+ bool moving_backward = false;
+ if (constants_.zeroing_move_direction) {
+ moving_backward = info.position > min_low_position_;
+ } else {
+ moving_backward = info.position < max_low_position_;
+ }
+
+ // If there are no posedges to use or we don't have enough samples yet to
+ // have a well-filtered starting position then we use the filtered value as
+ // our best guess.
+ if (last_used_posedge_count_ != info.posedge_count && high_long_enough_ &&
+ moving_backward) {
+ // Note the offset and the current posedge count so that we only run this
+ // logic once per posedge. That should be more resilient to corrupted
+ // intermediate data.
+ offset_ = -info.posedge_value;
+ if (constants_.zeroing_move_direction) {
+ offset_ += constants_.lower_hall_position;
+ } else {
+ offset_ += constants_.upper_hall_position;
+ }
+ last_used_posedge_count_ = info.posedge_count;
+
+ // Save the first starting position.
+ if (!zeroed_) {
+ first_start_pos_ = offset_;
+ LOG(INFO, "latching start position %f\n", first_start_pos_);
+ }
+
+ // Now that we have an accurate starting position we can consider ourselves
+ // zeroed.
+ zeroed_ = true;
+ }
+
+ position_ = info.position - offset_;
+}
+
+HallEffectAndPositionZeroingEstimator::State
+HallEffectAndPositionZeroingEstimator::GetEstimatorState() const {
+ State r;
+ r.error = error_;
+ r.zeroed = zeroed_;
+ r.encoder = position_;
+ r.high_long_enough = high_long_enough_;
+ r.offset = offset_;
+ return r;
+}
PotAndAbsEncoderZeroingEstimator::PotAndAbsEncoderZeroingEstimator(
const constants::PotAndAbsoluteEncoderZeroingConstants &constants)