Reformat python and c++ files
Change-Id: I7d7d99a2094c2a9181ed882735b55159c14db3b0
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index a31390a..2b5a37e 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -9,6 +9,7 @@
class AngularSystemParams(object):
+
def __init__(self,
name,
motor,
@@ -35,6 +36,7 @@
class AngularSystem(control_loop.ControlLoop):
+
def __init__(self, params, name="AngularSystem"):
super(AngularSystem, self).__init__(name)
self.params = params
@@ -45,15 +47,15 @@
self.G = params.G
# Moment of inertia in kg m^2
- self.J = params.J + self.motor.motor_inertia / (self.G ** 2.0)
+ self.J = params.J + self.motor.motor_inertia / (self.G**2.0)
# Control loop time step
self.dt = params.dt
# State is [position, velocity]
# Input is [Voltage]
- C1 = self.motor.Kt / (self.G * self.G * self.motor.resistance *
- self.J * self.motor.Kv)
+ C1 = self.motor.Kt / (
+ self.G * self.G * self.motor.resistance * self.J * self.motor.Kv)
C2 = self.motor.Kt / (self.G * self.J * self.motor.resistance)
self.A_continuous = numpy.matrix([[0, 1], [0, -C1]])
@@ -116,6 +118,7 @@
class IntegralAngularSystem(AngularSystem):
+
def __init__(self, params, name="IntegralAngularSystem"):
super(IntegralAngularSystem, self).__init__(params, name=name)
@@ -136,10 +139,9 @@
self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
self.B_continuous, self.dt)
- self.Q = numpy.matrix(
- [[(self.params.kalman_q_pos**2.0), 0.0, 0.0],
- [0.0, (self.params.kalman_q_vel**2.0), 0.0],
- [0.0, 0.0, (self.params.kalman_q_voltage**2.0)]])
+ self.Q = numpy.matrix([[(self.params.kalman_q_pos**2.0), 0.0, 0.0],
+ [0.0, (self.params.kalman_q_vel**2.0), 0.0],
+ [0.0, 0.0, (self.params.kalman_q_voltage**2.0)]])
self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
@@ -197,8 +199,8 @@
vbat = 12.0
- goal = numpy.concatenate(
- (plant.X, numpy.matrix(numpy.zeros((1, 1)))), axis=0)
+ goal = numpy.concatenate((plant.X, numpy.matrix(numpy.zeros((1, 1)))),
+ axis=0)
profile = TrapezoidProfile(plant.dt)
profile.set_maximum_acceleration(max_acceleration)
@@ -257,8 +259,7 @@
goal = controller.A * goal + controller.B * ff_U
if U[0, 0] != U_uncapped[0, 0]:
- profile.MoveCurrentState(
- numpy.matrix([[goal[0, 0]], [goal[1, 0]]]))
+ profile.MoveCurrentState(numpy.matrix([[goal[0, 0]], [goal[1, 0]]]))
glog.debug('Time: %f', t_plot[-1])
glog.debug('goal_error %s', repr(end_goal - goal))
@@ -374,7 +375,8 @@
loop_writer.AddConstant(
control_loop.Constant('kOutputRatio', '%f', angular_system.G))
loop_writer.AddConstant(
- control_loop.Constant('kFreeSpeed', '%f', angular_system.motor.free_speed))
+ control_loop.Constant('kFreeSpeed', '%f',
+ angular_system.motor.free_speed))
loop_writer.Write(plant_files[0], plant_files[1])
integral_angular_system = IntegralAngularSystem(params,