Tune shooter control loop
It converges much faster now. To plot live, use:
web_proxy_main.stripped --buffer_size 10000
Change-Id: I499b8cdac176e26b33fd6cbef2bc0b2a3b5e0c9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 35ff48f..7ccccd6 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -33,7 +33,7 @@
# The position and velocity are measured for the final wheel.
kFinisher = flywheel.FlywheelParams(
name='Finisher',
- motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.01),
+ motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
G=G,
J=J,
q_pos=0.01,
diff --git a/y2020/control_loops/superstructure/accelerator_plotter.ts b/y2020/control_loops/superstructure/accelerator_plotter.ts
index eaca1b8..b625a1c 100644
--- a/y2020/control_loops/superstructure/accelerator_plotter.ts
+++ b/y2020/control_loops/superstructure/accelerator_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
import Connection = proxy.Connection;
@@ -26,13 +26,14 @@
velocityPlot.plot.getAxisLabels().setTitle('Velocity');
velocityPlot.plot.getAxisLabels().setXLabel(TIME);
velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
- velocityPlot.plot.setDefaultYRange([0.0, 450.0]);
+ velocityPlot.plot.setDefaultYRange([0.0, 600.0]);
velocityPlot.addMessageLine(goal, ['shooter', 'velocity_accelerator']).setColor(BLUE).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_left', 'avg_angular_velocity']).setColor(RED).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_right', 'avg_angular_velocity']).setColor(PINK).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_left', 'angular_velocity']).setColor(GREEN).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_right', 'angular_velocity']).setColor(CYAN).setPointSize(0.0);
+ velocityPlot.addMessageLine(status, ['shooter', 'ready']).setColor(BLACK).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_left', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_right', 'dt_angular_velocity']).setColor(BLUE).setPointSize(0.0);
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 18052cc..6ec4be4 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
import Connection = proxy.Connection;
@@ -26,11 +26,12 @@
velocityPlot.plot.getAxisLabels().setTitle('Velocity');
velocityPlot.plot.getAxisLabels().setXLabel(TIME);
velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
- velocityPlot.plot.setDefaultYRange([0.0, 450.0]);
+ velocityPlot.plot.setDefaultYRange([0.0, 600.0]);
velocityPlot.addMessageLine(goal, ['shooter', 'velocity_finisher']).setColor(BLUE).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'avg_angular_velocity']).setColor(RED).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'angular_velocity']).setColor(GREEN).setPointSize(0.0);
+ velocityPlot.addMessageLine(status, ['shooter', 'ready']).setColor(BLACK).setPointSize(0.0);
velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
const voltagePlot =
diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
index d94573b..f7ab223 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
@@ -41,7 +41,7 @@
// And we have a quadratic!
const double a = 1;
const double b = -bemf_voltage;
- const double c = -60.0 * 12.0 * resistance_;
+ const double c = -70.0 * 12.0 * resistance_;
// Root is always positive.
const double root = std::sqrt(b * b - 4.0 * a * c);
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 9db79b0..900d0f1 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -12,7 +12,7 @@
namespace shooter {
namespace {
-const double kVelocityTolerance = 20.0;
+const double kVelocityTolerance = 2.0;
} // namespace
Shooter::Shooter()
@@ -86,6 +86,7 @@
status_builder.add_finisher(finisher_status_offset);
status_builder.add_accelerator_left(accelerator_left_status_offset);
status_builder.add_accelerator_right(accelerator_right_status_offset);
+ status_builder.add_ready(ready());
if (output) {
output->finisher_voltage = finisher_.voltage();
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 112780a..f71fe17 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -286,7 +286,7 @@
// Confirm that we aren't drawing too much current.
CHECK_NEAR(accelerator_left_plant_->battery_current(accelerator_left_U),
- 0.0, 70.0);
+ 0.0, 75.0);
::Eigen::Matrix<double, 1, 1> accelerator_right_U;
accelerator_right_U
@@ -295,7 +295,7 @@
// Confirm that we aren't drawing too much current.
CHECK_NEAR(accelerator_right_plant_->battery_current(accelerator_right_U),
- 0.0, 70.0);
+ 0.0, 75.0);
::Eigen::Matrix<double, 1, 1> finisher_U;
finisher_U << superstructure_output_fetcher_->finisher_voltage() +
@@ -819,7 +819,7 @@
}
// Give it a lot of time to get there.
- RunFor(chrono::seconds(15));
+ RunFor(chrono::seconds(25));
VerifyNearGoal();
}
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index adca326..e55e19b 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -33,6 +33,10 @@
// Velocity is the fastest (top) wheel
accelerator_left:FlywheelControllerStatus (id: 1);
accelerator_right:FlywheelControllerStatus (id: 2);
+
+ // If the shooter is ready, this is true. Note: don't use this for status
+ // checking, only for plotting. Changes in goal take time to impact this.
+ ready:bool (id: 3);
}
table AimerStatus {