commit 6c6a0a9b0dd092bb3fe06742b6b382997bdeba27
author Comran Morshed <comranmorsh@gmail.com> Sun Jan 17 12:45:16 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Fri Jan 29 20:12:42 2016 +0000
tree 3ac8f2b8c8cdb809e3c2aa8faf6acc6bddde7012
parent 9a9948cf030986c55b5a48254039f2c0c8961421

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

y2016/control_loops/python/BUILD

diff --git a/y2016/control_loops/python/BUILD b/y2016/control_loops/python/BUILD
index 84e73a5..b424625 100644
--- a/y2016/control_loops/python/BUILD
+++ b/y2016/control_loops/python/BUILD
@@ -1,4 +1,4 @@
-package(default_visibility = ['//y2014:__subpackages__'])
+package(default_visibility = ['//y2016:__subpackages__'])
 
 py_binary(
   name = 'drivetrain',
@@ -37,28 +37,3 @@
     '//frc971/control_loops/python:controls',
   ],
 )
-
-py_binary(
-  name = 'claw',
-  srcs = [
-    'claw.py',
-  ],
-  deps = [
-    ':polydrivetrain_lib',
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ]
-)
-
-py_binary(
-  name = 'shooter',
-  srcs = [
-    'shooter.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ]
-)

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 2a93285..f67662c 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -14,6 +14,8 @@
 
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
+#TODO(constants): All of the constants need to be updated for 2016.
+
 class CIM(control_loop.ControlLoop):
   def __init__(self):
     super(CIM, self).__init__("CIM")
@@ -309,7 +311,7 @@
   if len(argv) != 5:
     print "Expected .h file name and .cc file name"
   else:
-    namespaces = ['y2014', 'control_loops', 'drivetrain']
+    namespaces = ['y2016', 'control_loops', 'drivetrain']
     dog_loop_writer = control_loop.ControlLoopWriter(
         "Drivetrain", [drivetrain_low_low, drivetrain_low_high,
                        drivetrain_high_low, drivetrain_high_high],

y2016/control_loops/python/polydrivetrain.py

diff --git a/y2016/control_loops/python/polydrivetrain.py b/y2016/control_loops/python/polydrivetrain.py
index 93f3884..eb0890e 100755
--- a/y2016/control_loops/python/polydrivetrain.py
+++ b/y2016/control_loops/python/polydrivetrain.py
@@ -3,7 +3,7 @@
 import numpy
 import sys
 from frc971.control_loops.python import polytope
-from y2014.control_loops.python import drivetrain
+from y2016.control_loops.python import drivetrain
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
 from matplotlib import pylab
@@ -413,7 +413,7 @@
   if len(argv) != 5:
     glog.fatal('Expected .h file name and .cc file name')
   else:
-    namespaces = ['y2014', 'control_loops', 'drivetrain']
+    namespaces = ['y2016', 'control_loops', 'drivetrain']
     dog_loop_writer = control_loop.ControlLoopWriter(
         "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
                        vdrivetrain.drivetrain_low_high,