Initial tuning/cleanup of 2022 localizer
This is based on some data collection off of the 2020 robot with the IMU
somewhat loosely mounted. Should behave reasonably--when the wheels are
not slipping, this currently tends to be less precise than traditional
methods, but otherwise behaves reasonably, and does handle substantial
wheel slip reasonably.
General changes:
* General tuning.
* Update some 2020 references to refer to 2022.
* Unwrap the encoder readings from the pico board.
* Make use of the pico timestamps.
Next steps are:
* Adding actual connectors for image corrections.
* Making the turret able to aim.
* Tuning this against driver-practice based IMU readings--use TODOs
in the code as a starting point.
Change-Id: Ie3effe2cbb822317f6cd4a201cce939517a4044f
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2022/control_loops/localizer/localizer_replay.cc b/y2022/control_loops/localizer/localizer_replay.cc
index c438e53..199882c 100644
--- a/y2022/control_loops/localizer/localizer_replay.cc
+++ b/y2022/control_loops/localizer/localizer_replay.cc
@@ -9,9 +9,9 @@
#include "y2022/control_loops/localizer/localizer.h"
#include "y2022/control_loops/localizer/localizer_schema.h"
#include "gflags/gflags.h"
-#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(config, "y2020/aos_config.json",
+DEFINE_string(config, "y2022/aos_config.json",
"Name of the config file to replay using.");
DEFINE_int32(team, 7971, "Team number to use for logfile replay.");
DEFINE_string(output_folder, "/tmp/replayed",
@@ -58,33 +58,10 @@
aos::logger::SortParts(unsorted_logfiles);
// open logfiles
- aos::logger::LogReader reader(logfiles);
- // Patch in any new channels.
- // TODO(james): With some of the extra changes I've made recently, this is no
- // longer adequate for replaying old logfiles. Just stop trying to support old
- // logs.
- aos::FlatbufferDetachedBuffer<aos::Configuration> updated_config =
- aos::configuration::MergeWithConfig(
- reader.configuration(),
- aos::configuration::AddSchema(
- R"channel({
- "channels": [
- {
- "name": "/localizer",
- "type": "frc971.controls.LocalizerStatus",
- "source_node": "roborio",
- "frequency": 2000,
- "max_size": 2000,
- "num_senders": 2
- }
- ]
-})channel",
- {aos::FlatbufferVector<reflection::Schema>(
- aos::FlatbufferSpan<reflection::Schema>(
- frc971::controls::LocalizerStatusSchema()))}));
+ aos::logger::LogReader reader(logfiles, &config.message());
- auto factory = std::make_unique<aos::SimulatedEventLoopFactory>(
- &updated_config.message());
+ auto factory =
+ std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
reader.Register(factory.get());
@@ -92,7 +69,7 @@
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
- const std::vector<std::string> nodes_to_log = {"roborio"};
+ const std::vector<std::string> nodes_to_log = {"imu"};
for (const std::string &node : nodes_to_log) {
loggers.emplace_back(std::make_unique<LoggerState>(
&reader, aos::configuration::GetNode(reader.configuration(), node)));
@@ -100,7 +77,7 @@
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
- node = aos::configuration::GetNode(reader.configuration(), "roborio");
+ node = aos::configuration::GetNode(reader.configuration(), "imu");
}
std::unique_ptr<aos::EventLoop> localizer_event_loop =
@@ -109,7 +86,7 @@
frc971::controls::EventLoopLocalizer localizer(
localizer_event_loop.get(),
- y2020::control_loops::drivetrain::GetDrivetrainConfig());
+ y2022::control_loops::drivetrain::GetDrivetrainConfig());
reader.event_loop_factory()->Run();