| #!/usr/bin/python |
| |
| from frc971.control_loops.python import control_loop |
| import numpy |
| |
| |
| class CIM(control_loop.ControlLoop): |
| |
| def __init__(self): |
| super(CIM, self).__init__("CIM") |
| # Stall Torque in N m |
| self.stall_torque = 2.42 |
| # Stall Current in Amps |
| self.stall_current = 133 |
| # Free Speed in RPM |
| self.free_speed = 4650.0 |
| # Free Current in Amps |
| self.free_current = 2.7 |
| # Moment of inertia of the CIM in kg m^2 |
| self.J = 0.0001 |
| # Resistance of the motor, divided by 2 to account for the 2 motors |
| self.resistance = 12.0 / self.stall_current |
| # Motor velocity constant |
| self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) / |
| (12.0 - self.resistance * self.free_current)) |
| # Torque constant |
| self.Kt = self.stall_torque / self.stall_current |
| # Control loop time step |
| self.dt = 0.005 |
| |
| # State feedback matrices |
| self.A_continuous = numpy.matrix( |
| [[-self.Kt / self.Kv / (self.J * self.resistance)]]) |
| self.B_continuous = numpy.matrix( |
| [[self.Kt / (self.J * self.resistance)]]) |
| self.C = numpy.matrix([[1]]) |
| self.D = numpy.matrix([[0]]) |
| |
| self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, |
| self.B_continuous, self.dt) |
| |
| self.PlaceControllerPoles([0.01]) |
| self.PlaceObserverPoles([0.01]) |
| |
| self.U_max = numpy.matrix([[12.0]]) |
| self.U_min = numpy.matrix([[-12.0]]) |
| |
| self.InitializeState() |