Convert y2014 to y2016, and get the drivetrain running.
I made a y2016 folder based on what was in y2014. Right now, it only has
a drivetrain control loop, and all the constants are not up to date with
the current CAD design. Changes from y2014 can be viewed by comparing to
the BASE commit, since I put this commit on top of a dummy y2014 folder
renamed y2016. Hope this helps.
Change-Id: I3f1d1d1a14a99ac441c51b2a67cbade7cbd708ab
diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 9d7edb6..1150426 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -5,9 +5,9 @@
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
- cmd = '$(location //y2014/control_loops/python:drivetrain) $(OUTS)',
+ cmd = '$(location //y2016/control_loops/python:drivetrain) $(OUTS)',
tools = [
- '//y2014/control_loops/python:drivetrain',
+ '//y2016/control_loops/python:drivetrain',
],
outs = [
'drivetrain_dog_motor_plant.h',
@@ -20,9 +20,9 @@
genrule(
name = 'genrule_polydrivetrain',
visibility = ['//visibility:private'],
- cmd = '$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)',
+ cmd = '$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)',
tools = [
- '//y2014/control_loops/python:polydrivetrain',
+ '//y2016/control_loops/python:polydrivetrain',
],
outs = [
'polydrivetrain_dog_motor_plant.h',
@@ -59,8 +59,8 @@
],
deps = [
':polydrivetrain_plants',
- '//y2014:constants',
'//frc971/control_loops/drivetrain:drivetrain_config',
+ '//y2016:constants',
],
)
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index b4ef447..2e5138c 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -1,36 +1,46 @@
-#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2014/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2016/constants.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-namespace y2014 {
+namespace y2016 {
namespace control_loops {
const DrivetrainConfig &GetDrivetrainConfig() {
static DrivetrainConfig kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
- ::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
- drivetrain::kDt, drivetrain::kStallTorque, drivetrain::kStallCurrent,
- drivetrain::kFreeSpeedRPM, drivetrain::kFreeCurrent, drivetrain::kJ,
- drivetrain::kMass, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kR, drivetrain::kV, drivetrain::kT,
+ drivetrain::kDt,
+ drivetrain::kStallTorque,
+ drivetrain::kStallCurrent,
+ drivetrain::kFreeSpeedRPM,
+ drivetrain::kFreeCurrent,
+ drivetrain::kJ,
+ drivetrain::kMass,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kR,
+ drivetrain::kV,
+ drivetrain::kT,
- constants::GetValues().turn_width, constants::GetValues().high_gear_ratio,
+ constants::GetValues().turn_width,
+ constants::GetValues().high_gear_ratio,
constants::GetValues().low_gear_ratio,
- constants::GetValues().left_drive, constants::GetValues().right_drive};
+ constants::GetValues().left_drive,
+ constants::GetValues().right_drive};
return kDrivetrainConfig;
};
} // namespace control_loops
-} // namespace y2014
+} // namespace y2016
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
index 3a9d70e..816ed21 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -1,16 +1,16 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#ifndef Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-namespace y2014 {
+namespace y2016 {
namespace control_loops {
const DrivetrainConfig &GetDrivetrainConfig();
} // namespace control_loops
-} // namespace y2014
+} // namespace y2016
-#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#endif // Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..9c678bf 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,14 +1,14 @@
#include "aos/linux_code/init.h"
-#include "y2014/control_loops/drivetrain/drivetrain_base.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
int main() {
::aos::Init();
DrivetrainLoop drivetrain =
- DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+ DrivetrainLoop(::y2016::control_loops::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;