Moved bot3 to y2015_bot3
Change-Id: Idebb248ddc3ff658f2404f367dfa4a6dc421e0c1
diff --git a/y2015_bot3/BUILD b/y2015_bot3/BUILD
new file mode 100644
index 0000000..3eebb80
--- /dev/null
+++ b/y2015_bot3/BUILD
@@ -0,0 +1,22 @@
+package(default_visibility = ['//visibility:public'])
+
+cc_binary(
+ name = 'joystick_reader',
+ srcs = [
+ 'joystick_reader.cc',
+ ],
+ deps = [
+ '//aos/prime/input:joystick_input',
+ '//aos/linux_code:init',
+ '//aos/common/logging',
+ '//aos/common:time',
+ '//aos/common/util:log_interval',
+ '//aos/common/actions:action_lib',
+ '//frc971/queues:gyro',
+ '//y2015_bot3/control_loops/elevator:elevator_lib',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//y2015_bot3/control_loops/elevator:elevator_queue',
+ '//y2015_bot3/control_loops/intake:intake_queue',
+ '//y2015_bot3/autonomous:auto_queue',
+ ],
+)
diff --git a/y2015_bot3/actors/BUILD b/y2015_bot3/actors/BUILD
new file mode 100644
index 0000000..f2e3841
--- /dev/null
+++ b/y2015_bot3/actors/BUILD
@@ -0,0 +1,56 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+filegroup(
+ name = 'binaries',
+ srcs = [
+ ':drivetrain_action',
+ ],
+)
+
+queue_library(
+ name = 'drivetrain_action_queue',
+ srcs = [
+ 'drivetrain_action.q',
+ ],
+ deps = [
+ '//aos/common/actions:action_queue',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_action_lib',
+ srcs = [
+ 'drivetrain_actor.cc',
+ ],
+ hdrs = [
+ 'drivetrain_actor.h',
+ ],
+ deps = [
+ ':drivetrain_action_queue',
+ '//aos/common:time',
+ '//aos/common:math',
+ '//aos/common/util:phased_loop',
+ '//aos/common/logging',
+ '//aos/common/actions:action_lib',
+ '//aos/common/logging:queue_logging',
+ '//third_party/eigen',
+ '//aos/common/util:trapezoid_profile',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_lib',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain_action',
+ srcs = [
+ 'drivetrain_actor_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ '//aos/common/actions:action_lib',
+ ':drivetrain_action_queue',
+ ':drivetrain_action_lib',
+ ],
+)
diff --git a/y2015_bot3/actors/actors.gyp b/y2015_bot3/actors/actors.gyp
new file mode 100644
index 0000000..8e1c2c6
--- /dev/null
+++ b/y2015_bot3/actors/actors.gyp
@@ -0,0 +1,62 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'binaries',
+ 'type': 'none',
+ 'dependencies': [
+ 'drivetrain_action_bot3',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_action_queue',
+ 'type': 'static_library',
+ 'sources': ['drivetrain_action.q'],
+ 'variables': {
+ 'header_path': 'bot3/actors',
+ },
+ 'dependencies': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_queue',
+ ],
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'drivetrain_action_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'drivetrain_actor.cc',
+ ],
+ 'dependencies': [
+ 'drivetrain_action_queue',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/util/util.gyp:phased_loop',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(EXTERNALS):eigen',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_lib',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'drivetrain_action_queue',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_action_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'drivetrain_actor_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+ 'drivetrain_action_queue',
+ 'drivetrain_action_lib',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/actors/drivetrain_action.q b/y2015_bot3/actors/drivetrain_action.q
new file mode 100644
index 0000000..9ad55d3
--- /dev/null
+++ b/y2015_bot3/actors/drivetrain_action.q
@@ -0,0 +1,29 @@
+package frc971.actors;
+
+import "aos/common/actions/actions.q";
+
+// Parameters to send with start.
+struct DrivetrainActionParams {
+ double left_initial_position;
+ double right_initial_position;
+ double y_offset;
+ double theta_offset;
+ double maximum_velocity;
+ double maximum_acceleration;
+ double maximum_turn_velocity;
+ double maximum_turn_acceleration;
+};
+
+queue_group DrivetrainActionQueueGroup {
+ implements aos.common.actions.ActionQueueGroup;
+
+ message Goal {
+ uint32_t run;
+ DrivetrainActionParams params;
+ };
+
+ queue Goal goal;
+ queue aos.common.actions.Status status;
+};
+
+queue_group DrivetrainActionQueueGroup drivetrain_action;
diff --git a/y2015_bot3/actors/drivetrain_actor.cc b/y2015_bot3/actors/drivetrain_actor.cc
new file mode 100644
index 0000000..0f9eedd
--- /dev/null
+++ b/y2015_bot3/actors/drivetrain_actor.cc
@@ -0,0 +1,172 @@
+#include "y2015_bot3/actors/drivetrain_actor.h"
+
+#include <functional>
+#include <numeric>
+
+#include <Eigen/Dense>
+
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/time.h"
+
+#include "y2015_bot3/actors/drivetrain_actor.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace frc971 {
+namespace actors {
+
+using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::y2015_bot3::control_loops::kDrivetrainTurnWidth;
+
+DrivetrainActor::DrivetrainActor(actors::DrivetrainActionQueueGroup* s)
+ : aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
+
+bool DrivetrainActor::RunAction(const actors::DrivetrainActionParams ¶ms) {
+ static const auto K = ::y2015_bot3::control_loops::MakeDrivetrainLoop().K();
+
+ const double yoffset = params.y_offset;
+ const double turn_offset =
+ params.theta_offset * kDrivetrainTurnWidth / 2.0;
+ LOG(INFO, "Going to move %f and turn %f\n", yoffset, turn_offset);
+
+ // Measured conversion to get the distance right.
+ ::aos::util::TrapezoidProfile profile(::aos::time::Time::InMS(5));
+ ::aos::util::TrapezoidProfile turn_profile(::aos::time::Time::InMS(5));
+ const double goal_velocity = 0.0;
+ const double epsilon = 0.01;
+ ::Eigen::Matrix<double, 2, 1> left_goal_state, right_goal_state;
+
+ profile.set_maximum_acceleration(params.maximum_acceleration);
+ profile.set_maximum_velocity(params.maximum_velocity);
+ turn_profile.set_maximum_acceleration(params.maximum_turn_acceleration *
+ kDrivetrainTurnWidth /
+ 2.0);
+ turn_profile.set_maximum_velocity(params.maximum_turn_velocity *
+ kDrivetrainTurnWidth / 2.0);
+
+ while (true) {
+ ::aos::time::PhasedLoopXMS(5, 2500);
+
+ drivetrain_queue.status.FetchLatest();
+ if (drivetrain_queue.status.get()) {
+ const auto& status = *drivetrain_queue.status;
+ if (::std::abs(status.uncapped_left_voltage -
+ status.uncapped_right_voltage) > 24) {
+ LOG(DEBUG, "spinning in place\n");
+ // They're more than 24V apart, so stop moving forwards and let it deal
+ // with spinning first.
+ profile.SetGoal(
+ (status.filtered_left_position + status.filtered_right_position -
+ params.left_initial_position - params.right_initial_position) /
+ 2.0);
+ } else {
+ static const double divisor = K(0, 0) + K(0, 2);
+ double dx_left, dx_right;
+ if (status.uncapped_left_voltage > 12.0) {
+ dx_left = (status.uncapped_left_voltage - 12.0) / divisor;
+ } else if (status.uncapped_left_voltage < -12.0) {
+ dx_left = (status.uncapped_left_voltage + 12.0) / divisor;
+ } else {
+ dx_left = 0;
+ }
+ if (status.uncapped_right_voltage > 12.0) {
+ dx_right = (status.uncapped_right_voltage - 12.0) / divisor;
+ } else if (status.uncapped_right_voltage < -12.0) {
+ dx_right = (status.uncapped_right_voltage + 12.0) / divisor;
+ } else {
+ dx_right = 0;
+ }
+ double dx;
+ if (dx_left == 0 && dx_right == 0) {
+ dx = 0;
+ } else if (dx_left != 0 && dx_right != 0 &&
+ ::aos::sign(dx_left) != ::aos::sign(dx_right)) {
+ // Both saturating in opposite directions. Don't do anything.
+ LOG(DEBUG, "Saturating opposite ways, not adjusting\n");
+ dx = 0;
+ } else if (::std::abs(dx_left) > ::std::abs(dx_right)) {
+ dx = dx_left;
+ } else {
+ dx = dx_right;
+ }
+ if (dx != 0) {
+ LOG(DEBUG, "adjusting goal by %f\n", dx);
+ profile.MoveGoal(-dx);
+ }
+ }
+ } else {
+ // If we ever get here, that's bad and we should just give up
+ LOG(ERROR, "no drivetrain status!\n");
+ return false;
+ }
+
+ const auto drive_profile_goal_state =
+ profile.Update(yoffset, goal_velocity);
+ const auto turn_profile_goal_state = turn_profile.Update(turn_offset, 0.0);
+ left_goal_state = drive_profile_goal_state - turn_profile_goal_state;
+ right_goal_state = drive_profile_goal_state + turn_profile_goal_state;
+
+ if (::std::abs(drive_profile_goal_state(0, 0) - yoffset) < epsilon &&
+ ::std::abs(turn_profile_goal_state(0, 0) - turn_offset) < epsilon) {
+ break;
+ }
+
+ if (ShouldCancel()) return true;
+
+ LOG(DEBUG, "Driving left to %f, right to %f\n",
+ left_goal_state(0, 0) + params.left_initial_position,
+ right_goal_state(0, 0) + params.right_initial_position);
+ drivetrain_queue.goal.MakeWithBuilder()
+ .control_loop_driving(true)
+ //.highgear(false)
+ .left_goal(left_goal_state(0, 0) + params.left_initial_position)
+ .right_goal(right_goal_state(0, 0) + params.right_initial_position)
+ .left_velocity_goal(left_goal_state(1, 0))
+ .right_velocity_goal(right_goal_state(1, 0))
+ .Send();
+ }
+ if (ShouldCancel()) return true;
+ drivetrain_queue.status.FetchLatest();
+ while (!drivetrain_queue.status.get()) {
+ LOG(WARNING,
+ "No previous drivetrain status packet, trying to fetch again\n");
+ drivetrain_queue.status.FetchNextBlocking();
+ if (ShouldCancel()) return true;
+ }
+ while (true) {
+ if (ShouldCancel()) return true;
+ const double kPositionThreshold = 0.05;
+
+ const double left_error = ::std::abs(
+ drivetrain_queue.status->filtered_left_position -
+ (left_goal_state(0, 0) + params.left_initial_position));
+ const double right_error = ::std::abs(
+ drivetrain_queue.status->filtered_right_position -
+ (right_goal_state(0, 0) + params.right_initial_position));
+ const double velocity_error =
+ ::std::abs(drivetrain_queue.status->robot_speed);
+ if (left_error < kPositionThreshold && right_error < kPositionThreshold &&
+ velocity_error < 0.2) {
+ break;
+ } else {
+ LOG(DEBUG, "Drivetrain error is %f, %f, %f\n", left_error, right_error,
+ velocity_error);
+ }
+ drivetrain_queue.status.FetchNextBlocking();
+ }
+ LOG(INFO, "Done moving\n");
+ return true;
+}
+
+::std::unique_ptr<DrivetrainAction> MakeDrivetrainAction(
+ const ::frc971::actors::DrivetrainActionParams& params) {
+ return ::std::unique_ptr<DrivetrainAction>(
+ new DrivetrainAction(&::frc971::actors::drivetrain_action, params));
+}
+
+} // namespace actors
+} // namespace frc971
diff --git a/y2015_bot3/actors/drivetrain_actor.h b/y2015_bot3/actors/drivetrain_actor.h
new file mode 100644
index 0000000..0b2b579
--- /dev/null
+++ b/y2015_bot3/actors/drivetrain_actor.h
@@ -0,0 +1,31 @@
+#ifndef Y2015_BOT3_ACTIONS_DRIVETRAIN_ACTION_H_
+#define Y2015_BOT3_ACTIONS_DRIVETRAIN_ACTION_H_
+
+#include <memory>
+
+#include "y2015_bot3/actors/drivetrain_action.q.h"
+#include "aos/common/actions/actor.h"
+#include "aos/common/actions/actions.h"
+
+namespace frc971 {
+namespace actors {
+
+class DrivetrainActor
+ : public aos::common::actions::ActorBase<DrivetrainActionQueueGroup> {
+ public:
+ explicit DrivetrainActor(DrivetrainActionQueueGroup* s);
+
+ bool RunAction(const actors::DrivetrainActionParams ¶ms) override;
+};
+
+typedef aos::common::actions::TypedAction<DrivetrainActionQueueGroup>
+ DrivetrainAction;
+
+// Makes a new DrivetrainActor action.
+::std::unique_ptr<DrivetrainAction> MakeDrivetrainAction(
+ const ::frc971::actors::DrivetrainActionParams& params);
+
+} // namespace actors
+} // namespace frc971
+
+#endif // Y2015_BOT3_ACTIONS_DRIVETRAIN_ACTION_H_
diff --git a/y2015_bot3/actors/drivetrain_actor_main.cc b/y2015_bot3/actors/drivetrain_actor_main.cc
new file mode 100644
index 0000000..68b860b
--- /dev/null
+++ b/y2015_bot3/actors/drivetrain_actor_main.cc
@@ -0,0 +1,18 @@
+#include <stdio.h>
+
+#include "aos/linux_code/init.h"
+#include "y2015_bot3/actors/drivetrain_action.q.h"
+#include "y2015_bot3/actors/drivetrain_actor.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+ ::aos::Init();
+
+ frc971::actors::DrivetrainActor drivetrain(
+ &::frc971::actors::drivetrain_action);
+ drivetrain.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2015_bot3/autonomous/BUILD b/y2015_bot3/autonomous/BUILD
new file mode 100644
index 0000000..042dbf3
--- /dev/null
+++ b/y2015_bot3/autonomous/BUILD
@@ -0,0 +1,46 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'auto_queue',
+ srcs = [
+ 'auto.q',
+ ],
+)
+
+cc_library(
+ name = 'auto_lib',
+ srcs = [
+ 'auto.cc',
+ ],
+ hdrs = [
+ 'auto.h',
+ ],
+ deps = [
+ ':auto_queue',
+ '//aos/common/controls:control_loop',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_lib',
+ '//y2015_bot3/actors:drivetrain_action_lib',
+ '//y2015_bot3/control_loops/elevator:elevator_queue',
+ '//y2015_bot3/control_loops/intake:intake_queue',
+ '//aos/common:time',
+ '//aos/common/util:phased_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//aos/common/logging',
+ '//aos/common/logging:queue_logging',
+ ],
+)
+
+cc_binary(
+ name = 'auto',
+ srcs = [
+ 'auto_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':auto_queue',
+ ':auto_lib',
+ ],
+)
diff --git a/y2015_bot3/autonomous/auto.cc b/y2015_bot3/autonomous/auto.cc
new file mode 100644
index 0000000..9dd2892
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.cc
@@ -0,0 +1,456 @@
+#include <stdio.h>
+
+#include <memory>
+
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/actors/drivetrain_actor.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+using ::aos::time::Time;
+using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::y2015_bot3::control_loops::intake_queue;
+using ::y2015_bot3::control_loops::elevator_queue;
+using ::y2015_bot3::control_loops::kDrivetrainTurnWidth;
+
+namespace y2015_bot3 {
+namespace autonomous {
+
+struct ProfileParams {
+ double velocity;
+ double acceleration;
+};
+
+namespace time = ::aos::time;
+namespace actors = ::frc971::actors;
+
+const ProfileParams kFastDrive = {3.0, 3.5};
+const ProfileParams kLastDrive = {4.0, 4.0};
+const ProfileParams kStackingFirstTurn = {3.0, 7.0};
+const ProfileParams kFinalDriveTurn = {3.0, 5.0};
+const ProfileParams kSlowFirstDriveTurn = {0.75, 1.5};
+const ProfileParams kSlowSecondDriveTurn = {0.6, 1.5};
+const ProfileParams kCanPickupDrive = {1.3, 3.0};
+
+static double left_initial_position, right_initial_position;
+
+bool ShouldExitAuto() {
+ ::y2015_bot3::autonomous::autonomous.FetchLatest();
+ bool ans = !::y2015_bot3::autonomous::autonomous->run_auto;
+ if (ans) {
+ LOG(INFO, "Time to exit auto mode\n");
+ }
+ return ans;
+}
+
+void ResetDrivetrain() {
+ LOG(INFO, "resetting the drivetrain\n");
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ .control_loop_driving(false)
+ .steering(0.0)
+ .throttle(0.0)
+ .left_goal(left_initial_position)
+ .left_velocity_goal(0)
+ .right_goal(right_initial_position)
+ .right_velocity_goal(0)
+ .Send();
+}
+
+void InitializeEncoders() {
+ control_loops::drivetrain_queue.status.FetchAnother();
+ left_initial_position =
+ control_loops::drivetrain_queue.status->filtered_left_position;
+ right_initial_position =
+ control_loops::drivetrain_queue.status->filtered_right_position;
+}
+
+::std::unique_ptr< ::frc971::actors::DrivetrainAction> SetDriveGoal(
+ double distance, const ProfileParams drive_params, double theta,
+ const ProfileParams &turn_params) {
+ LOG(INFO, "Driving to %f\n", distance);
+
+ actors::DrivetrainActionParams params;
+ params.left_initial_position = left_initial_position;
+ params.right_initial_position = right_initial_position;
+ params.y_offset = distance;
+ params.theta_offset = theta;
+ params.maximum_turn_acceleration = turn_params.acceleration;
+ params.maximum_turn_velocity = turn_params.velocity;
+ params.maximum_velocity = drive_params.velocity;
+ params.maximum_acceleration = drive_params.acceleration;
+ auto drivetrain_action = actors::MakeDrivetrainAction(params);
+
+ drivetrain_action->Start();
+ left_initial_position += distance - theta * kDrivetrainTurnWidth / 2.0;
+ right_initial_position += distance + theta * kDrivetrainTurnWidth / 2.0;
+ return ::std::move(drivetrain_action);
+}
+void WaitUntilDoneOrCanceled(
+ ::std::unique_ptr<aos::common::actions::Action> action) {
+ if (!action) {
+ LOG(ERROR, "No action, not waiting\n");
+ return;
+ }
+ while (true) {
+ // Poll the running bit and auto done bits.
+ ::aos::time::PhasedLoopXMS(5, 2500);
+ if (!action->Running() || ShouldExitAuto()) {
+ return;
+ }
+ }
+}
+
+void WaitUntilNear(double distance) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::drivetrain_queue.status.FetchAnother();
+ double left_error = ::std::abs(
+ left_initial_position -
+ control_loops::drivetrain_queue.status->filtered_left_position);
+ double right_error = ::std::abs(
+ right_initial_position -
+ control_loops::drivetrain_queue.status->filtered_right_position);
+ const double kPositionThreshold = 0.05 + distance;
+ if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
+ LOG(INFO, "At the goal\n");
+ return;
+ }
+ }
+}
+
+void GrabberForTime(double voltage, double wait_time) {
+ ::aos::time::Time now = ::aos::time::Time::Now();
+ ::aos::time::Time end_time = now + time::Time::InSeconds(wait_time);
+ LOG(INFO, "Starting to grab at %f for %f seconds\n", voltage, wait_time);
+
+ while (true) {
+ autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(voltage).can_grabbers(false).Send();
+
+ // Poll the running bit and auto done bits.
+ if (ShouldExitAuto()) {
+ return;
+ }
+ if (::aos::time::Time::Now() > end_time) {
+ LOG(INFO, "Done grabbing\n");
+ return;
+ }
+ ::aos::time::PhasedLoopXMS(5, 2500);
+ }
+}
+
+// Auto methods.
+void CanGrabberAuto() {
+ ResetDrivetrain();
+
+ // Launch can grabbers.
+ //GrabberForTime(12.0, 0.26);
+ GrabberForTime(6.0, 0.40);
+ if (ShouldExitAuto()) return;
+ InitializeEncoders();
+ ResetDrivetrain();
+ if (ShouldExitAuto()) return;
+ // Send our intake goals.
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ {
+ auto new_elevator_goal = elevator_queue.goal.MakeMessage();
+ new_elevator_goal->max_velocity = 0.0;
+ new_elevator_goal->max_acceleration = 0.0;
+ new_elevator_goal->height = 0.030;
+ new_elevator_goal->velocity = 0.0;
+ new_elevator_goal->passive_support = true;
+ new_elevator_goal->can_support = false;
+
+ if (new_elevator_goal.Send()) {
+ LOG(DEBUG, "sending goals: elevator: %f\n", 0.03);
+ } else {
+ LOG(ERROR, "Sending elevator goal failed.\n");
+ }
+ }
+
+ const double kMoveBackDistance = 1.75;
+ //const double kMoveBackDistance = 0.0;
+
+ // Drive backwards, and pulse the can grabbers again to tip the cans.
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ .control_loop_driving(true)
+ .steering(0.0)
+ .throttle(0.0)
+ .left_goal(left_initial_position + kMoveBackDistance)
+ .left_velocity_goal(0)
+ .right_goal(right_initial_position + kMoveBackDistance)
+ .right_velocity_goal(0)
+ .Send();
+ GrabberForTime(12.0, 0.02);
+ if (ShouldExitAuto()) return;
+
+ // We shouldn't need as much power at this point, so lower the can grabber
+ // voltages to avoid damaging the motors due to stalling.
+ GrabberForTime(4.0, 0.75);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-3.0, 0.25);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-12.0, 1.0);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-3.0, 12.0);
+}
+
+const ProfileParams kElevatorProfile = {1.0, 5.0};
+
+static double elevator_goal_height = 0.0;
+
+void SetElevatorHeight(double height, const ProfileParams params,
+ bool can_open = false, bool support_open = true) {
+ // Send our elevator goals, with limits set in the profile params.
+ auto new_elevator_goal = elevator_queue.goal.MakeMessage();
+ elevator_goal_height = height;
+ new_elevator_goal->max_velocity = params.velocity;
+ new_elevator_goal->max_acceleration = params.acceleration;
+ new_elevator_goal->height = elevator_goal_height;
+ new_elevator_goal->velocity = 0.0;
+ new_elevator_goal->passive_support = support_open;
+ new_elevator_goal->can_support = can_open;
+
+ if (new_elevator_goal.Send()) {
+ LOG(DEBUG, "sending goals: elevator: %f\n", elevator_goal_height);
+ } else {
+ LOG(ERROR, "Sending elevator goal failed.\n");
+ }
+}
+
+void WaitForElevator() {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ constexpr double kProfileError = 1e-5;
+ constexpr double kEpsilon = 0.03;
+
+ if (::std::abs(control_loops::elevator_queue.status->goal_height -
+ elevator_goal_height) <
+ kProfileError &&
+ ::std::abs(control_loops::elevator_queue.status->goal_velocity) <
+ kProfileError) {
+ LOG(INFO, "Profile done.\n");
+ if (::std::abs(control_loops::elevator_queue.status->height -
+ elevator_goal_height) <
+ kEpsilon) {
+ LOG(INFO, "Near goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void WaitUntilElevatorBelow(double height) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ if (control_loops::elevator_queue.status->goal_height < height) {
+ LOG(INFO, "Profile below.\n");
+ if (control_loops::elevator_queue.status->height < height) {
+ LOG(INFO, "Elevator below goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void WaitUntilElevatorAbove(double height) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ if (control_loops::elevator_queue.status->goal_height > height) {
+ LOG(INFO, "Profile above.\n");
+ if (control_loops::elevator_queue.status->height > height) {
+ LOG(INFO, "Elevator above goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void LiftTote(double final_height = 0.48) {
+ // Send our intake goals.
+ if (!intake_queue.goal.MakeWithBuilder().movement(10.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ while (true) {
+ elevator_queue.status.FetchAnother();
+ if (!elevator_queue.status.get()) {
+ LOG(ERROR, "Got no elevator status packet.\n");
+ }
+ if (ShouldExitAuto()) return;
+ if (elevator_queue.status->has_tote) {
+ break;
+ }
+ }
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ SetElevatorHeight(0.02, kElevatorProfile, false, false);
+ WaitUntilElevatorBelow(0.05);
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(final_height, kElevatorProfile, false, false);
+}
+
+void TripleCanAuto() {
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+
+ ::std::unique_ptr<::frc971::actors::DrivetrainAction> drive;
+ InitializeEncoders();
+ ResetDrivetrain();
+
+ SetElevatorHeight(0.03, kElevatorProfile, false, true);
+
+
+ LiftTote();
+ if (ShouldExitAuto()) return;
+
+ // The amount to turn out for going around the first can.
+ const double kFirstTurn = 0.5;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kFirstTurn, kStackingFirstTurn);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(2.0, kFastDrive, -kFirstTurn * 2.0, kSlowFirstDriveTurn);
+
+ WaitUntilNear(1.5);
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kFirstTurn, kStackingFirstTurn);
+ LiftTote();
+ if (ShouldExitAuto()) return;
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ // The amount to turn out for going around the second can.
+ const double kSecondTurn = 0.35;
+ const double kSecondTurnExtraOnSecond = 0.10;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kSecondTurn, kStackingFirstTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive =
+ SetDriveGoal(2.05, kFastDrive, -kSecondTurn * 2.0 - kSecondTurnExtraOnSecond, kSlowSecondDriveTurn);
+ WaitUntilNear(1.5);
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kSecondTurn + kSecondTurnExtraOnSecond, kStackingFirstTurn);
+
+ LiftTote(0.18);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.3, kFastDrive, -1.7, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+ drive = SetDriveGoal(2.95, kLastDrive, 0.0, kFinalDriveTurn);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(0.03, kElevatorProfile, true, true);
+ WaitForElevator();
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(-2.25, kFastDrive, 0.0, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, 1.80, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(10.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ SetElevatorHeight(0.03, kElevatorProfile, false, true);
+
+ drive = SetDriveGoal(1.0, kCanPickupDrive, 0.0, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(0.03, kElevatorProfile, true, true);
+
+ while (true) {
+ elevator_queue.status.FetchAnother();
+ if (!elevator_queue.status.get()) {
+ LOG(ERROR, "Got no elevator status packet.\n");
+ }
+ if (ShouldExitAuto()) return;
+ if (elevator_queue.status->has_tote) {
+ LOG(INFO, "Got the tote!\n");
+ break;
+ }
+ if ((::aos::time::Time::Now() - start_time) > time::Time::InSeconds(15.0)) {
+ LOG(INFO, "Out of time\n");
+ break;
+ }
+ }
+
+ ::aos::time::Time end_time = ::aos::time::Time::Now();
+ LOG(INFO, "Ended auto with %f to spare\n",
+ (time::Time::InSeconds(15.0) - (end_time - start_time)).ToSeconds());
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+}
+
+void HandleAuto() {
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ LOG(INFO, "Starting auto mode at %f\n", start_time.ToSeconds());
+
+ // TODO(comran): Add various options for different autos down below.
+ //CanGrabberAuto();
+ TripleCanAuto();
+}
+
+} // namespace autonomous
+} // namespace y2015_bot3
diff --git a/y2015_bot3/autonomous/auto.h b/y2015_bot3/autonomous/auto.h
new file mode 100644
index 0000000..bbc5d32
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.h
@@ -0,0 +1,12 @@
+#ifndef Y2015_BOT3_AUTONOMOUS_AUTO_H_
+#define Y2015_BOT3_AUTONOMOUS_AUTO_H_
+
+namespace y2015_bot3 {
+namespace autonomous {
+
+void HandleAuto();
+
+} // namespace autonomous
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_AUTONOMOUS_AUTO_H_
diff --git a/y2015_bot3/autonomous/auto.q b/y2015_bot3/autonomous/auto.q
new file mode 100644
index 0000000..2fbf41b
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.q
@@ -0,0 +1,15 @@
+package y2015_bot3.autonomous;
+
+message AutoControl {
+ // True if auto mode should be running, false otherwise.
+ bool run_auto;
+};
+queue AutoControl autonomous;
+
+message CanGrabberControl {
+ // Voltage to send out to can grabbers.
+ double can_grabber_voltage;
+ // Can grabbers fired
+ bool can_grabbers;
+};
+queue CanGrabberControl can_grabber_control;
diff --git a/y2015_bot3/autonomous/auto_main.cc b/y2015_bot3/autonomous/auto_main.cc
new file mode 100644
index 0000000..1556561
--- /dev/null
+++ b/y2015_bot3/autonomous/auto_main.cc
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/autonomous/auto.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+ ::aos::Init();
+
+ LOG(INFO, "Auto main started\n");
+ ::y2015_bot3::autonomous::autonomous.FetchLatest();
+ while (!::y2015_bot3::autonomous::autonomous.get()) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+
+ while (true) {
+ while (!::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Starting auto mode\n");
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ ::y2015_bot3::autonomous::HandleAuto();
+
+ ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+ LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
+ elapsed_time.ToSeconds());
+ while (::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Waiting for auto to start back up.\n");
+ }
+ ::aos::Cleanup();
+ return 0;
+}
+
diff --git a/y2015_bot3/autonomous/autonomous.gyp b/y2015_bot3/autonomous/autonomous.gyp
new file mode 100644
index 0000000..11dd524
--- /dev/null
+++ b/y2015_bot3/autonomous/autonomous.gyp
@@ -0,0 +1,49 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'auto_queue',
+ 'type': 'static_library',
+ 'sources': ['auto.q'],
+ 'variables': {
+ 'header_path': 'bot3/autonomous',
+ },
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'auto_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'auto.cc',
+ ],
+ 'dependencies': [
+ 'auto_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_lib',
+ '<(DEPTH)/bot3/actors/actors.gyp:drivetrain_action_lib',
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_queue',
+ '<(DEPTH)/bot3/control_loops/intake/intake.gyp:intake_queue',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/util/util.gyp:phased_loop',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ ],
+ },
+ {
+ 'target_name': 'auto_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'auto_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'auto_queue',
+ 'auto_lib',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/bot3.gyp b/y2015_bot3/bot3.gyp
new file mode 100644
index 0000000..1a710d9
--- /dev/null
+++ b/y2015_bot3/bot3.gyp
@@ -0,0 +1,26 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'joystick_reader_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'joystick_reader.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/prime/input/input.gyp:joystick_input',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/util/util.gyp:log_interval',
+ '<(AOS)/common/actions/actions.gyp:action_lib',
+
+ '<(DEPTH)/frc971/queues/queues.gyp:gyro',
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_lib',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_queue',
+ '<(DEPTH)/bot3/control_loops/intake/intake.gyp:intake_queue',
+ '<(DEPTH)/bot3/autonomous/autonomous.gyp:auto_queue',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/control_loops/BUILD b/y2015_bot3/control_loops/BUILD
new file mode 100644
index 0000000..02315af
--- /dev/null
+++ b/y2015_bot3/control_loops/BUILD
@@ -0,0 +1,14 @@
+package(default_visibility = ['//visibility:public'])
+
+cc_library(
+ name = 'position_sensor_sim',
+ srcs = [
+ 'position_sensor_sim.cc',
+ ],
+ hdrs = [
+ 'position_sensor_sim.h',
+ ],
+ deps = [
+ '//y2015_bot3/control_loops/elevator:elevator_queue',
+ ],
+)
diff --git a/y2015_bot3/control_loops/control_loops.gyp b/y2015_bot3/control_loops/control_loops.gyp
new file mode 100644
index 0000000..0c49272
--- /dev/null
+++ b/y2015_bot3/control_loops/control_loops.gyp
@@ -0,0 +1,12 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'position_sensor_sim',
+ 'type': 'static_library',
+ 'sources': ['position_sensor_sim.cc'],
+ 'dependencies': [
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_queue',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/control_loops/drivetrain/BUILD b/y2015_bot3/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..ad1ec39
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/BUILD
@@ -0,0 +1,98 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+cc_binary(
+ name = 'replay_drivetrain',
+ srcs = [
+ 'replay_drivetrain.cc',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//aos/common/controls:replay_control_loop',
+ '//aos/linux_code:init',
+ ],
+)
+
+queue_library(
+ name = 'drivetrain_queue',
+ srcs = [
+ 'drivetrain.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain_plants',
+ srcs = [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_lib',
+ srcs = [
+ 'drivetrain.cc',
+ 'polydrivetrain_cim_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_dog_motor_plant.cc',
+ ],
+ hdrs = [
+ 'drivetrain.h',
+ 'polydrivetrain_cim_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//aos/common/controls:control_loop',
+ '//aos/common/controls:polytope',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//frc971/queues:gyro',
+ '//frc971:shifter_hall_effect',
+ '//aos/common/util:log_interval',
+ '//aos/common:math',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain_lib_test',
+ srcs = [
+ 'drivetrain_lib_test.cc',
+ ],
+ deps = [
+ '//third_party/googletest',
+ ':drivetrain_queue',
+ ':drivetrain_lib',
+ '//aos/common/controls:control_loop_test',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/queues:gyro',
+ '//aos/common:queues',
+ '//aos/common/network:team_number',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':drivetrain_lib',
+ ':drivetrain_queue',
+ ],
+)
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.cc b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
new file mode 100644
index 0000000..b126ad2
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
@@ -0,0 +1,764 @@
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+
+#include <stdio.h>
+#include <sched.h>
+#include <cmath>
+#include <memory>
+#include "Eigen/Dense"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/queues/gyro.q.h"
+#include "frc971/shifter_hall_effect.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+// A consistent way to mark code that goes away without shifters.
+#define HAVE_SHIFTERS 0
+
+using ::frc971::sensors::gyro_reading;
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+class DrivetrainMotorsSS {
+ public:
+ class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
+ public:
+ LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop)
+ : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
+ U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0, -1, 0, 0, 1, 0, -1)
+ .finished(),
+ (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0, 12.0, 12.0)
+ .finished()) {
+ ::aos::controls::HPolytope<0>::Init();
+ T << 1, -1, 1, 1;
+ T_inverse = T.inverse();
+ }
+
+ bool output_was_capped() const { return output_was_capped_; }
+
+ private:
+ virtual void CapU() {
+ const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
+
+ if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
+ mutable_U() =
+ U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
+ LOG_MATRIX(DEBUG, "U is now", U());
+ // TODO(Austin): Figure out why the polytope stuff wasn't working and
+ // remove this hack.
+ output_was_capped_ = true;
+ return;
+
+ LOG_MATRIX(DEBUG, "U at start", U());
+ LOG_MATRIX(DEBUG, "R at start", R());
+ LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
+
+ Eigen::Matrix<double, 2, 2> position_K;
+ position_K << K(0, 0), K(0, 2), K(1, 0), K(1, 2);
+ Eigen::Matrix<double, 2, 2> velocity_K;
+ velocity_K << K(0, 1), K(0, 3), K(1, 1), K(1, 3);
+
+ Eigen::Matrix<double, 2, 1> position_error;
+ position_error << error(0, 0), error(2, 0);
+ const auto drive_error = T_inverse * position_error;
+ Eigen::Matrix<double, 2, 1> velocity_error;
+ velocity_error << error(1, 0), error(3, 0);
+ LOG_MATRIX(DEBUG, "error", error);
+
+ const auto &poly = U_Poly_;
+ const Eigen::Matrix<double, 4, 2> pos_poly_H =
+ poly.H() * position_K * T;
+ const Eigen::Matrix<double, 4, 1> pos_poly_k =
+ poly.k() - poly.H() * velocity_K * velocity_error;
+ const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
+
+ Eigen::Matrix<double, 2, 1> adjusted_pos_error;
+ {
+ const auto &P = drive_error;
+
+ Eigen::Matrix<double, 1, 2> L45;
+ L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
+ const double w45 = 0;
+
+ Eigen::Matrix<double, 1, 2> LH;
+ if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
+ LH << 0, 1;
+ } else {
+ LH << 1, 0;
+ }
+ const double wh = LH.dot(P);
+
+ Eigen::Matrix<double, 2, 2> standard;
+ standard << L45, LH;
+ Eigen::Matrix<double, 2, 1> W;
+ W << w45, wh;
+ const Eigen::Matrix<double, 2, 1> intersection =
+ standard.inverse() * W;
+
+ bool is_inside_h;
+ const auto adjusted_pos_error_h = frc971::control_loops::DoCoerceGoal(
+ pos_poly, LH, wh, drive_error, &is_inside_h);
+ const auto adjusted_pos_error_45 =
+ frc971::control_loops::DoCoerceGoal(pos_poly, L45, w45,
+ intersection, nullptr);
+ if (pos_poly.IsInside(intersection)) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ if (is_inside_h) {
+ if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ }
+ }
+
+ LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+ mutable_U() =
+ velocity_K * velocity_error + position_K * T * adjusted_pos_error;
+ LOG_MATRIX(DEBUG, "U is now", U());
+ } else {
+ output_was_capped_ = false;
+ }
+ }
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
+ Eigen::Matrix<double, 2, 2> T, T_inverse;
+ bool output_was_capped_ = false;
+ ;
+ };
+
+ DrivetrainMotorsSS()
+ : loop_(new LimitedDrivetrainLoop(
+ ::y2015_bot3::control_loops::MakeDrivetrainLoop())),
+ filtered_offset_(0.0),
+ gyro_(0.0),
+ left_goal_(0.0),
+ right_goal_(0.0),
+ raw_left_(0.0),
+ raw_right_(0.0) {
+ // Low gear on both.
+ loop_->set_controller_index(0);
+ }
+
+ void SetGoal(double left, double left_velocity, double right,
+ double right_velocity) {
+ left_goal_ = left;
+ right_goal_ = right;
+ loop_->mutable_R() << left, left_velocity, right, right_velocity;
+ }
+ void SetRawPosition(double left, double right) {
+ raw_right_ = right;
+ raw_left_ = left;
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left + filtered_offset_, right - filtered_offset_;
+ loop_->Correct(Y);
+ }
+ void SetPosition(double left, double right, double gyro) {
+ // Decay the offset quickly because this gyro is great.
+ const double offset = (right - left - gyro * kDrivetrainTurnWidth) / 2.0;
+ filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
+ gyro_ = gyro;
+ SetRawPosition(left, right);
+ }
+
+ void SetExternalMotors(double left_voltage, double right_voltage) {
+ loop_->mutable_U() << left_voltage, right_voltage;
+ }
+
+ void Update(bool stop_motors, bool enable_control_loop) {
+ if (enable_control_loop) {
+ loop_->Update(stop_motors);
+ } else {
+ if (stop_motors) {
+ loop_->mutable_U().setZero();
+ loop_->mutable_U_uncapped().setZero();
+ }
+ loop_->UpdateObserver();
+ }
+ ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
+ LOG_MATRIX(DEBUG, "E", E);
+ }
+
+ double GetEstimatedRobotSpeed() const {
+ // lets just call the average of left and right velocities close enough
+ return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
+ }
+
+ double GetEstimatedLeftEncoder() const { return loop_->X_hat(0, 0); }
+
+ double GetEstimatedRightEncoder() const { return loop_->X_hat(2, 0); }
+
+ bool OutputWasCapped() const { return loop_->output_was_capped(); }
+
+ void SendMotors(DrivetrainQueue::Output *output) const {
+ if (output) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = false;
+ output->right_high = false;
+ }
+ }
+
+ const LimitedDrivetrainLoop &loop() const { return *loop_; }
+
+ private:
+ ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
+
+ double filtered_offset_;
+ double gyro_;
+ double left_goal_;
+ double right_goal_;
+ double raw_left_;
+ double raw_right_;
+};
+
+class PolyDrivetrain {
+ public:
+ enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
+ // Stall Torque in N m
+ static constexpr double kStallTorque = 2.42;
+ // Stall Current in Amps
+ static constexpr double kStallCurrent = 133.0;
+ // Free Speed in RPM. Used number from last year.
+ static constexpr double kFreeSpeed = 4650.0;
+ // Free Current in Amps
+ static constexpr double kFreeCurrent = 2.7;
+ // Moment of inertia of the drivetrain in kg m^2
+ // Just borrowed from last year.
+ static constexpr double J = 10;
+ // Mass of the robot, in kg.
+ static constexpr double m = 68;
+ // Radius of the robot, in meters (from last year).
+ static constexpr double rb = 0.66675 / 2.0;
+ static constexpr double kWheelRadius = 0.0515938;
+ // Resistance of the motor, divided by the number of motors.
+ static constexpr double kR =
+ (12.0 / kStallCurrent / 4 + 0.03) / (0.93 * 0.93);
+ // Motor velocity constant
+ static constexpr double Kv =
+ ((kFreeSpeed / 60.0 * 2.0 * M_PI) / (12.0 - kR * kFreeCurrent));
+ // Torque constant
+ static constexpr double Kt = kStallTorque / kStallCurrent;
+
+ PolyDrivetrain()
+ : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+ /*[*/ -1, 0 /*]*/,
+ /*[*/ 0, 1 /*]*/,
+ /*[*/ 0, -1 /*]]*/).finished(),
+ (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]]*/).finished()),
+ loop_(new StateFeedbackLoop<2, 2, 2>(
+ ::y2015_bot3::control_loops::MakeVelocityDrivetrainLoop())),
+ ttrust_(1.1),
+ wheel_(0.0),
+ throttle_(0.0),
+ quickturn_(false),
+ stale_count_(0),
+ position_time_delta_(0.01),
+ left_gear_(LOW),
+ right_gear_(LOW),
+ counter_(0) {
+ last_position_.Zero();
+ position_.Zero();
+ }
+ static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
+
+ static double MotorSpeed(
+ const frc971::constants::ShifterHallEffect &hall_effect,
+ double shifter_position, double velocity) {
+ // TODO(austin): G_high, G_low and kWheelRadius
+ const double avg_hall_effect =
+ (hall_effect.clear_high + hall_effect.clear_low) / 2.0;
+
+ if (shifter_position > avg_hall_effect) {
+ return velocity / kDrivetrainHighGearRatio / kWheelRadius;
+ } else {
+ return velocity / kDrivetrainLowGearRatio / kWheelRadius;
+ }
+ }
+
+ Gear ComputeGear(const frc971::constants::ShifterHallEffect &hall_effect,
+ double velocity, Gear current) {
+ const double low_omega = MotorSpeed(hall_effect, 0.0, ::std::abs(velocity));
+ const double high_omega =
+ MotorSpeed(hall_effect, 1.0, ::std::abs(velocity));
+
+ double high_torque = ((12.0 - high_omega / Kv) * Kt / kR);
+ double low_torque = ((12.0 - low_omega / Kv) * Kt / kR);
+ double high_power = high_torque * high_omega;
+ double low_power = low_torque * low_omega;
+
+ // TODO(aschuh): Do this right!
+ if ((current == HIGH || high_power > low_power + 160) &&
+ ::std::abs(velocity) > 0.14) {
+ return HIGH;
+ } else {
+ return LOW;
+ }
+ }
+
+ void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
+ const double kWheelNonLinearity = 0.5;
+ // Apply a sin function that's scaled to make it feel better.
+ const double angular_range = M_PI_2 * kWheelNonLinearity;
+
+ quickturn_ = quickturn;
+ wheel_ = sin(angular_range * wheel) / sin(angular_range);
+ wheel_ = sin(angular_range * wheel_) / sin(angular_range);
+ if (!quickturn_) {
+ wheel_ *= 1.5;
+ }
+
+ static const double kThrottleDeadband = 0.05;
+ if (::std::abs(throttle) < kThrottleDeadband) {
+ throttle_ = 0;
+ } else {
+ throttle_ = copysign((::std::abs(throttle) - kThrottleDeadband) /
+ (1.0 - kThrottleDeadband),
+ throttle);
+ }
+
+ // TODO(austin): Fix the upshift logic to include states.
+ Gear requested_gear;
+ if (false) {
+ const double current_left_velocity =
+ (position_.left_encoder - last_position_.left_encoder) /
+ position_time_delta_;
+ const double current_right_velocity =
+ (position_.right_encoder - last_position_.right_encoder) /
+ position_time_delta_;
+
+ Gear left_requested = ComputeGear(kDrivetrainLeftShifter,
+ current_left_velocity, left_gear_);
+ Gear right_requested = ComputeGear(kDrivetrainRightShifter,
+ current_right_velocity, right_gear_);
+ requested_gear =
+ (left_requested == HIGH || right_requested == HIGH) ? HIGH : LOW;
+ } else {
+ requested_gear = highgear ? HIGH : LOW;
+ }
+
+ const Gear shift_up = kDrivetrainClutchTransmission ? HIGH : SHIFTING_UP;
+ const Gear shift_down = kDrivetrainClutchTransmission ? LOW : SHIFTING_DOWN;
+
+ if (left_gear_ != requested_gear) {
+ if (IsInGear(left_gear_)) {
+ if (requested_gear == HIGH) {
+ left_gear_ = shift_up;
+ } else {
+ left_gear_ = shift_down;
+ }
+ } else {
+ if (requested_gear == HIGH && left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = SHIFTING_UP;
+ } else if (requested_gear == LOW && left_gear_ == SHIFTING_UP) {
+ left_gear_ = SHIFTING_DOWN;
+ }
+ }
+ }
+ if (right_gear_ != requested_gear) {
+ if (IsInGear(right_gear_)) {
+ if (requested_gear == HIGH) {
+ right_gear_ = shift_up;
+ } else {
+ right_gear_ = shift_down;
+ }
+ } else {
+ if (requested_gear == HIGH && right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = SHIFTING_UP;
+ } else if (requested_gear == LOW && right_gear_ == SHIFTING_UP) {
+ right_gear_ = SHIFTING_DOWN;
+ }
+ }
+ }
+ }
+ void SetPosition(const DrivetrainQueue::Position *position) {
+ if (position == NULL) {
+ ++stale_count_;
+ } else {
+ last_position_ = position_;
+ position_ = *position;
+ position_time_delta_ = (stale_count_ + 1) * 0.01;
+ stale_count_ = 0;
+ }
+
+#if HAVE_SHIFTERS
+ if (position) {
+ GearLogging gear_logging;
+ // Switch to the correct controller.
+ const double left_middle_shifter_position =
+ (kDrivetrainLeftShifter.clear_high +
+ kDrivetrainLeftShifter.clear_low) /
+ 2.0;
+ const double right_middle_shifter_position =
+ (kDrivetrainRightShifter.clear_high +
+ kDrivetrainRightShifter.clear_low) /
+ 2.0;
+
+ if (position->left_shifter_position < left_middle_shifter_position ||
+ left_gear_ == LOW) {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 0);
+ } else {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 1);
+ }
+ } else {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 2);
+ } else {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 3);
+ }
+ }
+
+ // TODO(austin): Constants.
+ if (position->left_shifter_position > kDrivetrainLeftShifter.clear_high &&
+ left_gear_ == SHIFTING_UP) {
+ left_gear_ = HIGH;
+ }
+ if (position->left_shifter_position < kDrivetrainLeftShifter.clear_low &&
+ left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = LOW;
+ }
+ if (position->right_shifter_position >
+ kDrivetrainRightShifter.clear_high &&
+ right_gear_ == SHIFTING_UP) {
+ right_gear_ = HIGH;
+ }
+ if (position->right_shifter_position <
+ kDrivetrainRightShifter.clear_low &&
+ right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = LOW;
+ }
+
+ gear_logging.left_state = left_gear_;
+ gear_logging.right_state = right_gear_;
+ LOG_STRUCT(DEBUG, "state", gear_logging);
+ }
+#endif
+ }
+
+ double FilterVelocity(double throttle) {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage = ::aos::Clip(
+ throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return (adjusted_ff_voltage +
+ ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) /
+ 2.0) /
+ (ttrust_ * min_K_sum + min_FF_sum);
+ }
+
+ double MaxVelocity() {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ // const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage =
+ ::aos::Clip(12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return adjusted_ff_voltage / min_FF_sum;
+ }
+
+ void Update() {
+ // TODO(austin): Observer for the current velocity instead of difference
+ // calculations.
+ ++counter_;
+#if HAVE_SHIFTERS
+ const double current_left_velocity =
+ (position_.left_encoder - last_position_.left_encoder) /
+ position_time_delta_;
+ const double current_right_velocity =
+ (position_.right_encoder - last_position_.right_encoder) /
+ position_time_delta_;
+ const double left_motor_speed =
+ MotorSpeed(kDrivetrainLeftShifter, position_.left_shifter_position,
+ current_left_velocity);
+ const double right_motor_speed =
+ MotorSpeed(kDrivetrainRightShifter, position_.right_shifter_position,
+ current_right_velocity);
+
+ {
+ CIMLogging logging;
+
+ // Reset the CIM model to the current conditions to be ready for when we
+ // shift.
+ if (IsInGear(left_gear_)) {
+ logging.left_in_gear = true;
+ } else {
+ logging.left_in_gear = false;
+ }
+ logging.left_motor_speed = left_motor_speed;
+ logging.left_velocity = current_left_velocity;
+ if (IsInGear(right_gear_)) {
+ logging.right_in_gear = true;
+ } else {
+ logging.right_in_gear = false;
+ }
+ logging.right_motor_speed = right_motor_speed;
+ logging.right_velocity = current_right_velocity;
+
+ LOG_STRUCT(DEBUG, "currently", logging);
+ }
+#endif
+
+#if HAVE_SHIFTERS
+ if (IsInGear(left_gear_) && IsInGear(right_gear_)) {
+#else
+ {
+#endif
+ // FF * X = U (steady state)
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ // Invert the plant to figure out how the velocity filter would have to
+ // work
+ // out in order to filter out the forwards negative inertia.
+ // This math assumes that the left and right power and velocity are
+ // equals,
+ // and that the plant is the same on the left and right.
+ const double fvel = FilterVelocity(throttle_);
+
+ const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
+ double steering_velocity;
+ if (quickturn_) {
+ steering_velocity = wheel_ * MaxVelocity();
+ } else {
+ steering_velocity = ::std::abs(fvel) * wheel_;
+ }
+ const double left_velocity = fvel - steering_velocity;
+ const double right_velocity = fvel + steering_velocity;
+ LOG(DEBUG, "l=%f r=%f\n", left_velocity, right_velocity);
+
+ // Integrate velocity to get the position.
+ // This position is used to get integral control.
+ loop_->mutable_R() << left_velocity, right_velocity;
+
+ if (!quickturn_) {
+ // K * R = w
+ Eigen::Matrix<double, 1, 2> equality_k;
+ equality_k << 1 + sign_svel, -(1 - sign_svel);
+ const double equality_w = 0.0;
+
+ // Construct a constraint on R by manipulating the constraint on U
+ ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
+ U_Poly_.H() * (loop_->K() + FF),
+ U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
+
+ // Limit R back inside the box.
+ loop_->mutable_R() = frc971::control_loops::CoerceGoal(
+ R_poly, equality_k, equality_w, loop_->R());
+ }
+
+ const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
+ const Eigen::Matrix<double, 2, 1> U_ideal =
+ loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
+
+ for (int i = 0; i < 2; i++) {
+ loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ }
+
+ // TODO(austin): Model this better.
+ // TODO(austin): Feed back?
+ loop_->mutable_X_hat() =
+ loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
+#if HAVE_SHIFTERS
+ } else {
+ // Any motor is not in gear. Speed match.
+ ::Eigen::Matrix<double, 1, 1> R_left;
+ ::Eigen::Matrix<double, 1, 1> R_right;
+ R_left(0, 0) = left_motor_speed;
+ R_right(0, 0) = right_motor_speed;
+
+ const double wiggle =
+ (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+
+ loop_->mutable_U(0, 0) =
+ ::aos::Clip((R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U(1, 0) = ::aos::Clip(
+ (R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle), -12.0,
+ 12.0);
+ loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
+#endif
+ }
+ }
+
+ void SendMotors(DrivetrainQueue::Output *output) {
+ if (output != NULL) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
+ output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
+ }
+ }
+
+ private:
+ const ::aos::controls::HPolytope<2> U_Poly_;
+
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+
+ const double ttrust_;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ int stale_count_;
+ double position_time_delta_;
+ Gear left_gear_;
+ Gear right_gear_;
+ DrivetrainQueue::Position last_position_;
+ DrivetrainQueue::Position position_;
+ int counter_;
+};
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::J;
+constexpr double PolyDrivetrain::m;
+constexpr double PolyDrivetrain::rb;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
+void DrivetrainLoop::RunIteration(const DrivetrainQueue::Goal *goal,
+ const DrivetrainQueue::Position *position,
+ DrivetrainQueue::Output *output,
+ DrivetrainQueue::Status *status) {
+ // TODO(aschuh): These should be members of the class.
+ static DrivetrainMotorsSS dt_closedloop;
+ static PolyDrivetrain dt_openloop;
+
+ bool bad_pos = false;
+ if (position == nullptr) {
+ LOG_INTERVAL(no_position_);
+ bad_pos = true;
+ }
+ no_position_.Print();
+
+ bool control_loop_driving = false;
+ if (goal) {
+ double wheel = goal->steering;
+ double throttle = goal->throttle;
+ bool quickturn = goal->quickturn;
+#if HAVE_SHIFTERS
+ bool highgear = goal->highgear;
+#endif
+
+ control_loop_driving = goal->control_loop_driving;
+ double left_goal = goal->left_goal;
+ double right_goal = goal->right_goal;
+
+ dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+ goal->right_velocity_goal);
+#if HAVE_SHIFTERS
+ dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
+#else
+ dt_openloop.SetGoal(wheel, throttle, quickturn, false);
+#endif
+ }
+
+ if (!bad_pos) {
+ const double left_encoder = position->left_encoder;
+ const double right_encoder = position->right_encoder;
+ if (gyro_reading.FetchLatest()) {
+ LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
+ dt_closedloop.SetPosition(left_encoder, right_encoder,
+ gyro_reading->angle);
+ } else {
+ dt_closedloop.SetRawPosition(left_encoder, right_encoder);
+ }
+ }
+ dt_openloop.SetPosition(position);
+ dt_openloop.Update();
+
+ if (control_loop_driving) {
+ dt_closedloop.Update(output == NULL, true);
+ dt_closedloop.SendMotors(output);
+ } else {
+ dt_openloop.SendMotors(output);
+ if (output) {
+ dt_closedloop.SetExternalMotors(output->left_voltage,
+ output->right_voltage);
+ }
+ dt_closedloop.Update(output == NULL, false);
+ }
+
+ // set the output status of the control loop state
+ if (status) {
+ bool done = false;
+ if (goal) {
+ done = ((::std::abs(goal->left_goal -
+ dt_closedloop.GetEstimatedLeftEncoder()) <
+ kDrivetrainDoneDistance) &&
+ (::std::abs(goal->right_goal -
+ dt_closedloop.GetEstimatedRightEncoder()) <
+ kDrivetrainDoneDistance));
+ }
+ status->is_done = done;
+ status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
+ status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
+ status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
+
+ status->filtered_left_velocity = dt_closedloop.loop().X_hat(1, 0);
+ status->filtered_right_velocity = dt_closedloop.loop().X_hat(3, 0);
+ status->output_was_capped = dt_closedloop.OutputWasCapped();
+ status->uncapped_left_voltage = dt_closedloop.loop().U_uncapped(0, 0);
+ status->uncapped_right_voltage = dt_closedloop.loop().U_uncapped(1, 0);
+ }
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.gyp b/y2015_bot3/control_loops/drivetrain/drivetrain.gyp
new file mode 100644
index 0000000..92678d1
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.gyp
@@ -0,0 +1,105 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'replay_drivetrain_bot3',
+ 'type': 'executable',
+ 'variables': {
+ 'no_rsync': 1,
+ },
+ 'sources': [
+ 'replay_drivetrain.cc',
+ ],
+ 'dependencies': [
+ 'drivetrain_queue',
+ '<(AOS)/common/controls/controls.gyp:replay_control_loop',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_queue',
+ 'type': 'static_library',
+ 'sources': ['drivetrain.q'],
+ 'variables': {
+ 'header_path': 'bot3/control_loops/drivetrain',
+ },
+ 'dependencies': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'polydrivetrain_plants',
+ 'type': 'static_library',
+ 'sources': [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'drivetrain.cc',
+ 'polydrivetrain_cim_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_dog_motor_plant.cc',
+ ],
+ 'dependencies': [
+ 'drivetrain_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(AOS)/common/controls/controls.gyp:polytope',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
+ '<(DEPTH)/frc971/queues/queues.gyp:gyro',
+ '<(AOS)/common/util/util.gyp:log_interval',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(AOS)/common/logging/logging.gyp:matrix_logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:polytope',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ 'drivetrain_queue',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_lib_test_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'drivetrain_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ 'drivetrain_queue',
+ 'drivetrain_lib',
+ '<(AOS)/common/controls/controls.gyp:control_loop_test',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(DEPTH)/frc971/queues/queues.gyp:gyro',
+ '<(AOS)/common/common.gyp:queues',
+ '<(AOS)/common/network/network.gyp:team_number',
+ ],
+ },
+ {
+ 'target_name': 'drivetrain_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'drivetrain_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'drivetrain_lib',
+ 'drivetrain_queue',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.h b/y2015_bot3/control_loops/drivetrain/drivetrain.h
new file mode 100644
index 0000000..b89c1dd
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.h
@@ -0,0 +1,60 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
+#define Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "Eigen/Dense"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/util/log_interval.h"
+
+#include "frc971/shifter_hall_effect.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+// Constants
+// TODO(comran): Get actual constants.
+constexpr double kDrivetrainTurnWidth = 0.63;
+constexpr double kDrivetrainDoneDistance = 0.02;
+constexpr double kDrivetrainEncoderRatio = 18.0 / 44.0;
+constexpr double kDrivetrainHighGearRatio =
+ kDrivetrainEncoderRatio * 18.0 / 60.0;
+constexpr double kDrivetrainLowGearRatio = kDrivetrainHighGearRatio;
+const bool kDrivetrainClutchTransmission = false;
+const ::frc971::constants::ShifterHallEffect kDrivetrainRightShifter{
+ 555, 657, 660, 560, 0.2, 0.7};
+const ::frc971::constants::ShifterHallEffect kDrivetrainLeftShifter{
+ 555, 660, 644, 552, 0.2, 0.7};
+// End constants
+
+class DrivetrainLoop
+ : public aos::controls::ControlLoop<control_loops::DrivetrainQueue> {
+ public:
+ // Constructs a control loop which can take a Drivetrain or defaults to the
+ // drivetrain at y2015_bot3::control_loops::drivetrain
+ explicit DrivetrainLoop(control_loops::DrivetrainQueue *my_drivetrain =
+ &control_loops::drivetrain_queue)
+ : aos::controls::ControlLoop<control_loops::DrivetrainQueue>(
+ my_drivetrain) {
+ ::aos::controls::HPolytope<0>::Init();
+ }
+
+ protected:
+ // Executes one cycle of the control loop.
+ virtual void RunIteration(
+ const control_loops::DrivetrainQueue::Goal *goal,
+ const control_loops::DrivetrainQueue::Position *position,
+ control_loops::DrivetrainQueue::Output *output,
+ control_loops::DrivetrainQueue::Status *status);
+
+ typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
+ SimpleLogInterval no_position_ = SimpleLogInterval(
+ ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
+};
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.q b/y2015_bot3/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..5bbbb25
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,71 @@
+package y2015_bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+struct GearLogging {
+ int8_t controller_index;
+ bool left_loop_high;
+ bool right_loop_high;
+ int8_t left_state;
+ int8_t right_state;
+};
+
+struct CIMLogging {
+ bool left_in_gear;
+ bool right_in_gear;
+ double left_motor_speed;
+ double right_motor_speed;
+ double left_velocity;
+ double right_velocity;
+};
+
+queue_group DrivetrainQueue {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ double steering;
+ double throttle;
+ //bool highgear;
+ bool quickturn;
+ bool control_loop_driving;
+ double left_goal;
+ double left_velocity_goal;
+ double right_goal;
+ double right_velocity_goal;
+ };
+
+ message Position {
+ double left_encoder;
+ double right_encoder;
+ //double left_shifter_position;
+ //double right_shifter_position;
+ };
+
+ message Output {
+ double left_voltage;
+ double right_voltage;
+ bool left_high;
+ bool right_high;
+ };
+
+ message Status {
+ double robot_speed;
+ double filtered_left_position;
+ double filtered_right_position;
+ double filtered_left_velocity;
+ double filtered_right_velocity;
+
+ double uncapped_left_voltage;
+ double uncapped_right_voltage;
+ bool output_was_capped;
+
+ bool is_done;
+ };
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group DrivetrainQueue drivetrain_queue;
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..25e728a
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
@@ -0,0 +1,133 @@
+#include "y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.0048650405221, 0.0, 4.30452834469e-05, 0.0, 0.946557122299, 0.0, 0.0169038781857, 0.0, 4.30452834469e-05, 1.0, 0.0048650405221, 0.0, 0.0169038781857, 0.0, 0.946557122299;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 3.44936607298e-05, -1.10017423477e-05, 0.0136592147549, -0.00432038303814, -1.10017423477e-05, 3.44936607298e-05, -0.00432038303814, 0.0136592147549;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.0048650405221, 0.0, 4.30452834469e-05, 0.0, 0.946557122299, 0.0, 0.0169038781857, 0.0, 4.30452834469e-05, 1.0, 0.0048650405221, 0.0, 0.0169038781857, 0.0, 0.946557122299;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 3.44936607298e-05, -1.10017423477e-05, 0.0136592147549, -0.00432038303814, -1.10017423477e-05, 3.44936607298e-05, -0.00432038303814, 0.0136592147549;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.0048650405221, 0.0, 4.30452834469e-05, 0.0, 0.946557122299, 0.0, 0.0169038781857, 0.0, 4.30452834469e-05, 1.0, 0.0048650405221, 0.0, 0.0169038781857, 0.0, 0.946557122299;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 3.44936607298e-05, -1.10017423477e-05, 0.0136592147549, -0.00432038303814, -1.10017423477e-05, 3.44936607298e-05, -0.00432038303814, 0.0136592147549;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.0048650405221, 0.0, 4.30452834469e-05, 0.0, 0.946557122299, 0.0, 0.0169038781857, 0.0, 4.30452834469e-05, 1.0, 0.0048650405221, 0.0, 0.0169038781857, 0.0, 0.946557122299;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 3.44936607298e-05, -1.10017423477e-05, 0.0136592147549, -0.00432038303814, -1.10017423477e-05, 3.44936607298e-05, -0.00432038303814, 0.0136592147549;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.2465571223, 0.0169038781857, 72.6644245424, 3.50262182277, 0.0169038781857, 1.2465571223, 3.50262182277, 72.6644245424;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 156.707528421, 12.1845100817, 3.29243225373, 1.51015663937, 3.29243225372, 1.51015663937, 156.707528421, 12.1845100817;
+ Eigen::Matrix<double, 4, 4> A_inv;
+ A_inv << 1.0, -0.00514054935697, 0.0, 4.63257162805e-05, 0.0, 1.0567973091, 0.0, -0.01887257785, 0.0, 4.63257162805e-05, 1.0, -0.00514054935697, 0.0, -0.01887257785, 0.0, 1.0567973091;
+ return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.2465571223, 0.0169038781857, 72.6644245424, 3.50262182277, 0.0169038781857, 1.2465571223, 3.50262182277, 72.6644245424;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 156.707528421, 12.1845100817, 3.29243225373, 1.51015663937, 3.29243225372, 1.51015663937, 156.707528421, 12.1845100817;
+ Eigen::Matrix<double, 4, 4> A_inv;
+ A_inv << 1.0, -0.00514054935697, 0.0, 4.63257162805e-05, 0.0, 1.0567973091, 0.0, -0.01887257785, 0.0, 4.63257162805e-05, 1.0, -0.00514054935697, 0.0, -0.01887257785, 0.0, 1.0567973091;
+ return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.2465571223, 0.0169038781857, 72.6644245424, 3.50262182277, 0.0169038781857, 1.2465571223, 3.50262182277, 72.6644245424;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 156.707528421, 12.1845100817, 3.29243225373, 1.51015663937, 3.29243225372, 1.51015663937, 156.707528421, 12.1845100817;
+ Eigen::Matrix<double, 4, 4> A_inv;
+ A_inv << 1.0, -0.00514054935697, 0.0, 4.63257162805e-05, 0.0, 1.0567973091, 0.0, -0.01887257785, 0.0, 4.63257162805e-05, 1.0, -0.00514054935697, 0.0, -0.01887257785, 0.0, 1.0567973091;
+ return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.2465571223, 0.0169038781857, 72.6644245424, 3.50262182277, 0.0169038781857, 1.2465571223, 3.50262182277, 72.6644245424;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 156.707528421, 12.1845100817, 3.29243225373, 1.51015663937, 3.29243225372, 1.51015663937, 156.707528421, 12.1845100817;
+ Eigen::Matrix<double, 4, 4> A_inv;
+ A_inv << 1.0, -0.00514054935697, 0.0, 4.63257162805e-05, 0.0, 1.0567973091, 0.0, -0.01887257785, 0.0, 4.63257162805e-05, 1.0, -0.00514054935697, 0.0, -0.01887257785, 0.0, 1.0567973091;
+ return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>> plants(4);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowLowPlantCoefficients()));
+ plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowHighPlantCoefficients()));
+ plants[2] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighLowPlantCoefficients()));
+ plants[3] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighHighPlantCoefficients()));
+ return StateFeedbackPlant<4, 2, 2>(&plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<4, 2, 2>>> controllers(4);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowLowController()));
+ controllers[1] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowHighController()));
+ controllers[2] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighLowController()));
+ controllers[3] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighHighController()));
+ return StateFeedbackLoop<4, 2, 2>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h b/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..041e06e
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController();
+
+StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain_lib_test.cc b/y2015_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
new file mode 100644
index 0000000..8848535
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -0,0 +1,296 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/network/team_number.h"
+#include "aos/common/queue_testutils.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop_test.h"
+
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "frc971/queues/gyro.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+namespace testing {
+
+class Environment : public ::testing::Environment {
+ public:
+ virtual ~Environment() {}
+ // how to set up the environment.
+ virtual void SetUp() {
+ aos::controls::HPolytope<0>::Init();
+ }
+};
+::testing::Environment* const holder_env =
+ ::testing::AddGlobalTestEnvironment(new Environment);
+
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+ // Override this to define how to set up the environment.
+ virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
+};
+
+::testing::Environment* const team_number_env =
+ ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
+
+// Class which simulates the drivetrain and sends out queue messages containing
+// the position.
+class DrivetrainSimulation {
+ public:
+ // Constructs a motor simulation.
+ // TODO(aschuh) Do we want to test the clutch one too?
+ DrivetrainSimulation()
+ : drivetrain_plant_(
+ new StateFeedbackPlant<4, 2, 2>(MakeDrivetrainPlant())),
+ my_drivetrain_queue_(".y2015_bot3.control_loops.drivetrain", 0x8a8dde77,
+ ".y2015_bot3.control_loops.drivetrain.goal",
+ ".y2015_bot3.control_loops.drivetrain.position",
+ ".y2015_bot3.control_loops.drivetrain.output",
+ ".y2015_bot3.control_loops.drivetrain.status") {
+ Reinitialize();
+ }
+
+ // Resets the plant.
+ void Reinitialize() {
+ drivetrain_plant_->mutable_X(0, 0) = 0.0;
+ drivetrain_plant_->mutable_X(1, 0) = 0.0;
+ drivetrain_plant_->mutable_Y() =
+ drivetrain_plant_->C() * drivetrain_plant_->X();
+ last_left_position_ = drivetrain_plant_->Y(0, 0);
+ last_right_position_ = drivetrain_plant_->Y(1, 0);
+ }
+
+ // Returns the position of the drivetrain.
+ double GetLeftPosition() const { return drivetrain_plant_->Y(0, 0); }
+ double GetRightPosition() const { return drivetrain_plant_->Y(1, 0); }
+
+ // Sends out the position queue messages.
+ void SendPositionMessage() {
+ const double left_encoder = GetLeftPosition();
+ const double right_encoder = GetRightPosition();
+
+ ::aos::ScopedMessagePtr<control_loops::DrivetrainQueue::Position> position =
+ my_drivetrain_queue_.position.MakeMessage();
+ position->left_encoder = left_encoder;
+ position->right_encoder = right_encoder;
+ position.Send();
+ }
+
+ // Simulates the drivetrain moving for one timestep.
+ void Simulate() {
+ last_left_position_ = drivetrain_plant_->Y(0, 0);
+ last_right_position_ = drivetrain_plant_->Y(1, 0);
+ EXPECT_TRUE(my_drivetrain_queue_.output.FetchLatest());
+ drivetrain_plant_->mutable_U() << my_drivetrain_queue_.output->left_voltage,
+ my_drivetrain_queue_.output->right_voltage;
+ drivetrain_plant_->Update();
+ }
+
+ ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> drivetrain_plant_;
+ private:
+ DrivetrainQueue my_drivetrain_queue_;
+ double last_left_position_;
+ double last_right_position_;
+};
+
+class DrivetrainTest : public ::aos::testing::ControlLoopTest {
+ protected:
+ // Create a new instance of the test queue so that it invalidates the queue
+ // that it points to. Otherwise, we will have a pointer to shared memory that
+ // is no longer valid.
+ DrivetrainQueue my_drivetrain_queue_;
+
+ // Create a loop and simulation plant.
+ DrivetrainLoop drivetrain_motor_;
+ DrivetrainSimulation drivetrain_motor_plant_;
+
+ DrivetrainTest()
+ : my_drivetrain_queue_(".y2015_bot3.control_loops.drivetrain", 0x8a8dde77,
+ ".y2015_bot3.control_loops.drivetrain.goal",
+ ".y2015_bot3.control_loops.drivetrain.position",
+ ".y2015_bot3.control_loops.drivetrain.output",
+ ".y2015_bot3.control_loops.drivetrain.status"),
+ drivetrain_motor_(&my_drivetrain_queue_),
+ drivetrain_motor_plant_() {
+ ::frc971::sensors::gyro_reading.Clear();
+ }
+
+ void VerifyNearGoal() {
+ my_drivetrain_queue_.goal.FetchLatest();
+ my_drivetrain_queue_.position.FetchLatest();
+ EXPECT_NEAR(my_drivetrain_queue_.goal->left_goal,
+ drivetrain_motor_plant_.GetLeftPosition(),
+ 1e-2);
+ EXPECT_NEAR(my_drivetrain_queue_.goal->right_goal,
+ drivetrain_motor_plant_.GetRightPosition(),
+ 1e-2);
+ }
+
+ virtual ~DrivetrainTest() {
+ ::frc971::sensors::gyro_reading.Clear();
+ }
+};
+
+// Tests that the drivetrain converges on a goal.
+TEST_F(DrivetrainTest, ConvergesCorrectly) {
+ my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
+ .left_goal(-1.0)
+ .right_goal(1.0).Send();
+ for (int i = 0; i < 200; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ SimulateTimestep(true);
+ }
+ VerifyNearGoal();
+}
+
+// Tests that it survives disabling.
+TEST_F(DrivetrainTest, SurvivesDisabling) {
+ my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
+ .left_goal(-1.0)
+ .right_goal(1.0).Send();
+ for (int i = 0; i < 500; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ if (i > 20 && i < 200) {
+ SimulateTimestep(false);
+ } else {
+ SimulateTimestep(true);
+ }
+ }
+ VerifyNearGoal();
+}
+
+// Tests that never having a goal doesn't break.
+TEST_F(DrivetrainTest, NoGoalStart) {
+ for (int i = 0; i < 20; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ }
+}
+
+// Tests that never having a goal, but having driver's station messages, doesn't
+// break.
+TEST_F(DrivetrainTest, NoGoalWithRobotState) {
+ for (int i = 0; i < 20; ++i) {
+ drivetrain_motor_plant_.SendPositionMessage();
+ drivetrain_motor_.Iterate();
+ drivetrain_motor_plant_.Simulate();
+ SimulateTimestep(true);
+ }
+}
+
+::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
+ double x2_min, double x2_max) {
+ Eigen::Matrix<double, 4, 2> box_H;
+ box_H << /*[[*/ 1.0, 0.0 /*]*/,
+ /*[*/-1.0, 0.0 /*]*/,
+ /*[*/ 0.0, 1.0 /*]*/,
+ /*[*/ 0.0,-1.0 /*]]*/;
+ Eigen::Matrix<double, 4, 1> box_k;
+ box_k << /*[[*/ x1_max /*]*/,
+ /*[*/-x1_min /*]*/,
+ /*[*/ x2_max /*]*/,
+ /*[*/-x2_min /*]]*/;
+ ::aos::controls::HPolytope<2> t_poly(box_H, box_k);
+ return t_poly;
+}
+
+class CoerceGoalTest : public ::testing::Test {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+// WHOOOHH!
+TEST_F(CoerceGoalTest, Inside) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << /*[[*/ 1, -1 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << /*[[*/ 1.5, 1.5 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(R(0, 0), output(0, 0));
+ EXPECT_EQ(R(1, 0), output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_no_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(3, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(3.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Middle_Of_Edge) {
+ ::aos::controls::HPolytope<2> box = MakeBox(0, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << -1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, PerpendicularLine) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(1.0, output(0, 0));
+ EXPECT_EQ(1.0, output(1, 0));
+}
+
+} // namespace testing
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2015_bot3/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..eef49a8
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,11 @@
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+ ::aos::Init();
+ ::y2015_bot3::control_loops::DrivetrainLoop drivetrain;
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
new file mode 100644
index 0000000..b1ce57f
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
@@ -0,0 +1,49 @@
+#include "y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients() {
+ Eigen::Matrix<double, 1, 1> A;
+ A << 0.783924473544;
+ Eigen::Matrix<double, 1, 1> B;
+ B << 8.94979586973;
+ Eigen::Matrix<double, 1, 1> C;
+ C << 1;
+ Eigen::Matrix<double, 1, 1> D;
+ D << 0;
+ Eigen::Matrix<double, 1, 1> U_max;
+ U_max << 12.0;
+ Eigen::Matrix<double, 1, 1> U_min;
+ U_min << -12.0;
+ return StateFeedbackPlantCoefficients<1, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<1, 1, 1> MakeCIMController() {
+ Eigen::Matrix<double, 1, 1> L;
+ L << 0.773924473544;
+ Eigen::Matrix<double, 1, 1> K;
+ K << 0.086473980503;
+ Eigen::Matrix<double, 1, 1> A_inv;
+ A_inv << 1.2756330919;
+ return StateFeedbackController<1, 1, 1>(L, K, A_inv, MakeCIMPlantCoefficients());
+}
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>> plants(1);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>(new StateFeedbackPlantCoefficients<1, 1, 1>(MakeCIMPlantCoefficients()));
+ return StateFeedbackPlant<1, 1, 1>(&plants);
+}
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<1, 1, 1>>> controllers(1);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<1, 1, 1>>(new StateFeedbackController<1, 1, 1>(MakeCIMController()));
+ return StateFeedbackLoop<1, 1, 1>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h b/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
new file mode 100644
index 0000000..ebddeff
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
@@ -0,0 +1,20 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+#define Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients();
+
+StateFeedbackController<1, 1, 1> MakeCIMController();
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant();
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop();
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
diff --git a/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..da0e9b4
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
@@ -0,0 +1,133 @@
+#include "y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.909050248724, 0.0192068507303, 0.0192068507303, 0.909050248724;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0232454208683, -0.00490898900238, -0.00490898900238, 0.0232454208683;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.909050248724, 0.0192068507303, 0.0192068507303, 0.909050248724;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0232454208683, -0.00490898900238, -0.00490898900238, 0.0232454208683;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.909050248724, 0.0192068507303, 0.0192068507303, 0.909050248724;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0232454208683, -0.00490898900238, -0.00490898900238, 0.0232454208683;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.909050248724, 0.0192068507303, 0.0192068507303, 0.909050248724;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0232454208683, -0.00490898900238, -0.00490898900238, 0.0232454208683;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.889050248724, 0.0192068507303, 0.0192068507303, 0.889050248724;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 14.0983425164, 3.80356456422, 3.80356456422, 14.0983425164;
+ Eigen::Matrix<double, 2, 2> A_inv;
+ A_inv << 1.1005404965, -0.0232527487546, -0.0232527487546, 1.1005404965;
+ return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.889050248724, 0.0192068507303, 0.0192068507303, 0.889050248724;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 14.0983425164, 3.80356456422, 3.80356456422, 14.0983425164;
+ Eigen::Matrix<double, 2, 2> A_inv;
+ A_inv << 1.1005404965, -0.0232527487546, -0.0232527487546, 1.1005404965;
+ return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.889050248724, 0.0192068507303, 0.0192068507303, 0.889050248724;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 14.0983425164, 3.80356456422, 3.80356456422, 14.0983425164;
+ Eigen::Matrix<double, 2, 2> A_inv;
+ A_inv << 1.1005404965, -0.0232527487546, -0.0232527487546, 1.1005404965;
+ return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.889050248724, 0.0192068507303, 0.0192068507303, 0.889050248724;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 14.0983425164, 3.80356456422, 3.80356456422, 14.0983425164;
+ Eigen::Matrix<double, 2, 2> A_inv;
+ A_inv << 1.1005404965, -0.0232527487546, -0.0232527487546, 1.1005404965;
+ return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>> plants(4);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowLowPlantCoefficients()));
+ plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowHighPlantCoefficients()));
+ plants[2] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighLowPlantCoefficients()));
+ plants[3] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighHighPlantCoefficients()));
+ return StateFeedbackPlant<2, 2, 2>(&plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 2, 2>>> controllers(4);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowLowController()));
+ controllers[1] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowHighController()));
+ controllers[2] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighLowController()));
+ controllers[3] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighHighController()));
+ return StateFeedbackLoop<2, 2, 2>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..a6afeaf
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2015_bot3/control_loops/drivetrain/replay_drivetrain.cc b/y2015_bot3/control_loops/drivetrain/replay_drivetrain.cc
new file mode 100644
index 0000000..fb14f1f
--- /dev/null
+++ b/y2015_bot3/control_loops/drivetrain/replay_drivetrain.cc
@@ -0,0 +1,25 @@
+#include "aos/common/controls/replay_control_loop.h"
+#include "aos/linux_code/init.h"
+
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+
+// Reads one or more log files and sends out all the queue messages (in the
+// correct order and at the correct time) to feed a "live" drivetrain process.
+
+int main(int argc, char **argv) {
+ if (argc <= 1) {
+ fprintf(stderr, "Need at least one file to replay!\n");
+ return EXIT_FAILURE;
+ }
+
+ ::aos::InitNRT();
+
+ ::aos::controls::ControlLoopReplayer<
+ ::y2015_bot3::control_loops::DrivetrainQueue>
+ replayer(&::y2015_bot3::control_loops::drivetrain_queue, "drivetrain");
+ for (int i = 1; i < argc; ++i) {
+ replayer.ProcessFile(argv[i]);
+ }
+
+ ::aos::Cleanup();
+}
diff --git a/y2015_bot3/control_loops/elevator/BUILD b/y2015_bot3/control_loops/elevator/BUILD
new file mode 100644
index 0000000..b249477
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/BUILD
@@ -0,0 +1,63 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'elevator_queue',
+ srcs = [
+ 'elevator.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ '//frc971/control_loops:queues',
+ ],
+)
+
+cc_library(
+ name = 'elevator_lib',
+ srcs = [
+ 'elevator.cc',
+ 'elevator_motor_plant.cc',
+ 'integral_elevator_motor_plant.cc',
+ ],
+ hdrs = [
+ 'elevator.h',
+ 'elevator_motor_plant.h',
+ 'integral_elevator_motor_plant.h',
+ ],
+ deps = [
+ ':elevator_queue',
+ '//aos/common/logging',
+ '//aos/common/controls:control_loop_queues',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops/voltage_cap:voltage_cap',
+ ],
+)
+
+cc_test(
+ name = 'elevator_lib_test',
+ srcs = [
+ 'elevator_lib_test.cc',
+ ],
+ deps = [
+ '//third_party/googletest',
+ ':elevator_lib',
+ '//y2015_bot3/control_loops:position_sensor_sim',
+ '//frc971/control_loops:state_feedback_loop',
+ '//aos/common/controls:control_loop_test',
+ '//aos/common:time',
+ ],
+)
+
+cc_binary(
+ name = 'elevator',
+ srcs = [
+ 'elevator_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':elevator_lib',
+ ],
+)
diff --git a/y2015_bot3/control_loops/elevator/elevator.cc b/y2015_bot3/control_loops/elevator/elevator.cc
new file mode 100644
index 0000000..2fef56f
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator.cc
@@ -0,0 +1,285 @@
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+
+#include <cmath>
+
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+#include "y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+void SimpleCappedStateFeedbackLoop::CapU() {
+ mutable_U(0, 0) = ::std::min(U(0, 0), max_voltage_);
+ mutable_U(0, 0) = ::std::max(U(0, 0), -max_voltage_);
+}
+
+double SimpleCappedStateFeedbackLoop::UnsaturateOutputGoalChange() {
+ // Compute K matrix to compensate for position errors.
+ double Kp = K(0, 0);
+
+ // Compute how much we need to change R in order to achieve the change in U
+ // that was observed.
+ return -(1.0 / Kp) * (U_uncapped() - U())(0, 0);
+}
+
+Elevator::Elevator(control_loops::ElevatorQueue *elevator)
+ : aos::controls::ControlLoop<control_loops::ElevatorQueue>(elevator),
+ loop_(new SimpleCappedStateFeedbackLoop(MakeIntegralElevatorLoop())),
+ profile_(::aos::controls::kLoopFrequency) {}
+
+bool Elevator::CheckZeroed() {
+ return state_ == RUNNING;
+}
+
+void Elevator::Correct() {
+ Eigen::Matrix<double, 1, 1> Y;
+ Y << current_position();
+ loop_->Correct(Y);
+}
+
+double Elevator::current_position() {
+ return current_position_.encoder + offset_;
+}
+
+double Elevator::GetZeroingVelocity() {
+ return zeroing_velocity_;
+}
+
+// If the hall_effect is true that means we need to move up until is false.
+// Then we should move down.
+double Elevator::FindZeroingVelocity() {
+ if (glitch_filter_.filtered_value()) {
+ zeroing_velocity_ = kZeroingSlowVelocity;
+ } else {
+ zeroing_velocity_ = -kZeroingVelocity;
+ }
+
+ return zeroing_velocity_;
+}
+
+double Elevator::UseUnlessZero(double target_value, double default_value) {
+ if (target_value != 0.0) {
+ return target_value;
+ } else {
+ return default_value;
+ }
+}
+
+void Elevator::SetOffset(double offset) {
+ LOG(INFO, "Changing Elevator offset from %f to %f\n", offset_, offset);
+ double doffset = offset - offset_;
+
+ loop_->mutable_X_hat(0, 0) += doffset;
+
+ // Modify the zeroing goal.
+ goal_ += doffset;
+
+ // Update the cached offset values to the actual values.
+ offset_ = offset;
+}
+
+void Elevator::RunIteration(
+ const control_loops::ElevatorQueue::Goal *unsafe_goal,
+ const control_loops::ElevatorQueue::Position *position,
+ control_loops::ElevatorQueue::Output *output,
+ control_loops::ElevatorQueue::Status *status) {
+ if (WasReset()) {
+ LOG(ERROR, "WPILib reset, restarting\n");
+ state_ = UNINITIALIZED;
+ }
+ glitch_filter_.Update(position->bottom_hall_effect, position->encoder);
+
+ // Bool to track if we should turn the motors on or not.
+ bool disable = output == nullptr;
+
+ // Save the current position so it can be used easily in the class.
+ current_position_ = *position;
+
+ if (state_ != UNINITIALIZED) {
+ Correct();
+ }
+
+ switch (state_) {
+ case UNINITIALIZED:
+ LOG(DEBUG, "Uninitialized\n");
+ // Startup. Assume that we are at the origin everywhere.
+ offset_ = -position->encoder;
+ loop_->mutable_X_hat().setZero();
+ LOG(INFO, "Initializing elevator offset to %f\n", offset_);
+ Correct();
+ state_ = ZEROING;
+ disable = true;
+ glitch_filter_.Reset(position->bottom_hall_effect);
+ break;
+
+ case ZEROING:
+ LOG(DEBUG, "Zeroing elevator\n");
+
+ if (glitch_filter_.negedge()) {
+ state_ = RUNNING;
+ SetOffset(-glitch_filter_.negedge_value() + kHallEffectPosition);
+ }
+
+ // We need to check FindZeroingVelocity() every time
+ // in order for zeroing to work.
+ {
+ double zeroing_velocity_temp = FindZeroingVelocity();
+ if (state_ != RUNNING && !disable) {
+ // Move the elevator either up or down based on where the zeroing hall
+ // effect is located.
+
+ goal_velocity_ = zeroing_velocity_temp;
+ goal_ += goal_velocity_ * ::aos::controls::kLoopFrequency.ToSeconds();
+ }
+ }
+
+ // Bypass motion profiles while we are zeroing.
+ // This is also an important step right after the elevator is zeroed and
+ // we reach into the elevator's state matrix and change it based on the
+ // newly-obtained offset.
+ {
+ Eigen::Matrix<double, 2, 1> current;
+ current.setZero();
+ current << goal_, goal_velocity_;
+ profile_.MoveCurrentState(current);
+ }
+ break;
+
+ case RUNNING:
+ if (unsafe_goal) {
+ profile_.set_maximum_velocity(
+ UseUnlessZero(unsafe_goal->max_velocity, 0.50));
+ profile_.set_maximum_acceleration(
+ UseUnlessZero(unsafe_goal->max_acceleration, 2.0));
+
+ // Use the profiles to limit the elevator's movements.
+ const double unfiltered_goal = ::std::max(
+ ::std::min(unsafe_goal->height, kElevUpperLimit), kElevLowerLimit);
+ ::Eigen::Matrix<double, 2, 1> goal_state =
+ profile_.Update(unfiltered_goal, unsafe_goal->velocity);
+ goal_ = goal_state(0, 0);
+ goal_velocity_ = goal_state(1, 0);
+ }
+
+ if (state_ != RUNNING && state_ != ESTOP) {
+ state_ = UNINITIALIZED;
+ }
+ break;
+
+ case ESTOP:
+ LOG(ERROR, "Estop\n");
+ disable = true;
+ break;
+ }
+
+ // Limit the goals so we can't exceed the hardware limits if we are RUNNING.
+ if (state_ == RUNNING) {
+ // Limit the elevator goal to min/max allowable heights.
+ if (goal_ >= kElevUpperLimit) {
+ LOG(WARNING, "Elevator goal above limit, %f > %f\n", goal_,
+ kElevUpperLimit);
+ goal_ = kElevUpperLimit;
+ }
+
+ if (goal_ <= kElevLowerLimit) {
+ LOG(WARNING, "Elevator goal below limit, %f < %f\n", goal_,
+ kElevLowerLimit);
+ goal_ = kElevLowerLimit;
+ }
+ }
+
+ // Check the hard limits.
+ if (state_ == RUNNING) {
+ if (current_position() >= kElevUpperHardLimit) {
+ LOG(ERROR, "Elevator at %f out of bounds [%f, %f], ESTOPing\n",
+ current_position(), kElevLowerHardLimit, kElevUpperHardLimit);
+ if (output) {
+ state_ = ESTOP;
+ }
+ }
+
+ if (current_position() <= kElevLowerHardLimit) {
+ LOG(ERROR, "Elevator at %f out of bounds [%f, %f], ESTOPing\n",
+ current_position(), kElevLowerHardLimit, kElevUpperHardLimit);
+ if (output) {
+ state_ = ESTOP;
+ }
+ }
+ }
+
+ // Set the goals.
+ loop_->mutable_R() << goal_, goal_velocity_, 0.0;
+
+ const double max_voltage = state_ == RUNNING ? 12.0 : kZeroingVoltage;
+ loop_->set_max_voltage(max_voltage);
+
+ if (state_ == ESTOP) {
+ disable = true;
+ }
+ loop_->Update(disable);
+
+ if (state_ == ZEROING || state_ == RUNNING) {
+ if (loop_->U() != loop_->U_uncapped()) {
+ double deltaR = loop_->UnsaturateOutputGoalChange();
+
+ // Move the elevator goal by the amount observed.
+ LOG(WARNING, "Moving elevator goal by %f to handle saturation\n", deltaR);
+ goal_ += deltaR;
+
+ Eigen::Matrix<double, 2, 1> current;
+ current.setZero();
+ current << goal_, goal_velocity_;
+ profile_.MoveCurrentState(current);
+ }
+ }
+
+ if (output) {
+ output->elevator = loop_->U(0, 0);
+ if(unsafe_goal) {
+ output->passive_support = unsafe_goal->passive_support;
+ output->can_support = unsafe_goal->can_support;
+ }
+ }
+
+ status->zeroed = state_ == RUNNING;
+
+ status->height = loop_->X_hat(0, 0);
+ status->velocity = loop_->X_hat(1, 0);
+
+ status->goal_height = goal_;
+ status->goal_velocity = goal_velocity_;
+
+ status->estopped = (state_ == ESTOP);
+ status->state = state_;
+ status->has_tote = position->has_tote;
+}
+
+void GlitchFilter::Update(bool hall_effect, double encoder) {
+ posedge_ = false;
+ negedge_ = false;
+ if (hall_effect != accepted_value_) {
+ if (count_ == 0) {
+ first_encoder_ = encoder;
+ }
+ ++count_;
+ } else {
+ last_encoder_ = encoder;
+ count_ = 0;
+ }
+ if (count_ >= 2) {
+ if (hall_effect) {
+ posedge_ = true;
+ posedge_value_ = (first_encoder_ + last_encoder_) / 2.0;
+ } else {
+ negedge_ = true;
+ negedge_value_ = (first_encoder_ + last_encoder_) / 2.0;
+ }
+ accepted_value_ = hall_effect;
+ count_ = 0;
+ }
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/elevator/elevator.gyp b/y2015_bot3/control_loops/elevator/elevator.gyp
new file mode 100644
index 0000000..c184429
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator.gyp
@@ -0,0 +1,71 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'elevator_queue',
+ 'type': 'static_library',
+ 'sources': ['elevator.q'],
+ 'variables': {
+ 'header_path': 'bot3/control_loops/elevator',
+ },
+ 'dependencies': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'elevator_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'elevator.cc',
+ 'elevator_motor_plant.cc',
+ 'integral_elevator_motor_plant.cc',
+ ],
+ 'dependencies': [
+ 'elevator_queue',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(DEPTH)/frc971/control_loops/voltage_cap/voltage_cap.gyp:voltage_cap',
+ ],
+ 'export_dependent_settings': [
+ 'elevator_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'elevator_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'elevator_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ 'elevator_lib',
+ '<(DEPTH)/bot3/control_loops/control_loops.gyp:position_sensor_sim',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/controls/controls.gyp:control_loop_test',
+ '<(AOS)/common/common.gyp:time',
+ ],
+ },
+ {
+ 'target_name': 'elevator',
+ 'type': 'executable',
+ 'sources': [
+ 'elevator_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'elevator_lib',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/control_loops/elevator/elevator.h b/y2015_bot3/control_loops/elevator/elevator.h
new file mode 100644
index 0000000..e6cd483
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator.h
@@ -0,0 +1,191 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_H_
+#define Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_H_
+
+#include <memory>
+
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/util/trapezoid_profile.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+namespace testing {
+class ElevatorTest_DisabledGoalTest_Test;
+class ElevatorTest_ElevatorGoalPositiveWindupTest_Test;
+class ElevatorTest_ElevatorGoalNegativeWindupTest_Test;
+class ElevatorTest_PositiveRunawayProfileTest_Test;
+class ElevatorTest_NegativeRunawayProfileTest_Test;
+} // namespace testing
+
+// Constants
+constexpr double kZeroingVoltage = 4.0;
+// TODO(austin): Slow down the zeroing velocity.
+constexpr double kZeroingVelocity = 0.05;
+constexpr double kZeroingSlowVelocity = 0.01;
+
+// Game pieces
+constexpr double kToteHeight = 0.3;
+
+// Gearing
+constexpr double kElevEncoderRatio = 18.0 / 48.0;
+constexpr double kElevChainReduction = 16.0 / 22.0;
+const int kElevGearboxOutputPulleyTeeth = 22;
+constexpr double kElevGearboxOutputPitch = 0.25 * 0.0254; // 25 pitch chain.
+
+constexpr double kElevGearboxOutputRadianDistance =
+ kElevGearboxOutputPulleyTeeth * kElevGearboxOutputPitch / (2.0 * M_PI);
+
+// Limits
+constexpr double kElevLowerHardLimit = -0.010;
+constexpr double kElevUpperHardLimit = 1.387;
+constexpr double kElevLowerLimit = 0.010;
+constexpr double kElevUpperLimit = 1.350;
+
+// Zeroing
+namespace {
+constexpr double kHallEffectPosition = 0.025;
+} // namespace
+// End constants
+
+class SimpleCappedStateFeedbackLoop : public StateFeedbackLoop<3, 1, 1> {
+ public:
+ SimpleCappedStateFeedbackLoop(StateFeedbackLoop<3, 1, 1> &&loop)
+ : StateFeedbackLoop<3, 1, 1>(::std::move(loop)), max_voltage_(12.0) {}
+
+ void set_max_voltage(double max_voltage) {
+ max_voltage_ = ::std::max(0.0, ::std::min(12.0, max_voltage));
+ }
+
+ void CapU() override;
+
+ // Returns the amount to change the position goal in order to no longer
+ // saturate the controller.
+ double UnsaturateOutputGoalChange();
+
+ private:
+ double max_voltage_;
+};
+
+// The GlitchFilter filters out single cycle changes in order to filter out
+// sensor noise. It also captures the sensor value at the time that the
+// original transition happens (not the de-bounced transition) to remove delay
+// caused by this filter.
+class GlitchFilter {
+ public:
+ void Reset(bool hall_effect) {
+ accepted_value_ = hall_effect;
+ posedge_ = false;
+ negedge_ = false;
+ count_ = 0;
+ }
+
+ // Updates the filter state with new observations.
+ void Update(bool hall_effect, double encoder);
+
+ // Returns a debounced hall effect value.
+ bool filtered_value() const { return accepted_value_; }
+
+ // Returns true if last cycle had a posedge.
+ bool posedge() const { return posedge_; }
+ // Returns the encoder value across the last posedge.
+ double posedge_value() const { return posedge_value_; }
+
+ // Returns true if last cycle had a negedge.
+ bool negedge() const { return negedge_; }
+ // Returns the encoder value across the last negedge.
+ double negedge_value() const { return negedge_value_; }
+
+ private:
+ int count_ = 0;
+ bool accepted_value_ = false;
+ bool posedge_ = false;
+ bool negedge_ = false;
+ double posedge_value_ = 0;
+ double negedge_value_ = 0;
+
+ double first_encoder_ = 0;
+ double last_encoder_ = 0;
+};
+
+class Elevator
+ : public aos::controls::ControlLoop<control_loops::ElevatorQueue> {
+ public:
+ explicit Elevator(control_loops::ElevatorQueue *elevator_queue =
+ &control_loops::elevator_queue);
+
+ bool CheckZeroed();
+
+ // Getter for the current elevator positions with zeroed offset.
+ double current_position();
+
+ double GetZeroingVelocity();
+
+ enum State {
+ // Waiting to receive data before doing anything.
+ UNINITIALIZED = 0,
+ // Moving the elevator to find an index pulse.
+ ZEROING = 2,
+ // All good!
+ RUNNING = 3,
+ // Internal error caused the elevator to abort.
+ ESTOP = 4,
+ };
+
+ State state() const { return state_; }
+
+ protected:
+ void RunIteration(const control_loops::ElevatorQueue::Goal *goal,
+ const control_loops::ElevatorQueue::Position *position,
+ control_loops::ElevatorQueue::Output *output,
+ control_loops::ElevatorQueue::Status *status) override;
+
+ private:
+ friend class testing::ElevatorTest_DisabledGoalTest_Test;
+ friend class testing::ElevatorTest_ElevatorGoalPositiveWindupTest_Test;
+ friend class testing::ElevatorTest_ElevatorGoalNegativeWindupTest_Test;
+ friend class testing::ElevatorTest_PositiveRunawayProfileTest_Test;
+ friend class testing::ElevatorTest_NegativeRunawayProfileTest_Test;
+
+ void SetOffset(double offset);
+
+ // Returns the current elevator zeroing velocity.
+ double FindZeroingVelocity();
+
+ // Corrects the Observer with the current position.
+ void Correct();
+
+ double UseUnlessZero(double target_value, double default_value);
+
+ // The state feedback control loop or loops to talk to.
+ ::std::unique_ptr<SimpleCappedStateFeedbackLoop> loop_;
+
+ // Offsets from the encoder position to the absolute position. Add these to
+ // the encoder position to get the absolute position.
+ double offset_ = 0.0;
+
+ bool zeroed_ = false;
+ State state_ = State::UNINITIALIZED;
+
+ // Variables for detecting the zeroing hall effect edge.
+ bool zeroing_hall_effect_edge_detector_initialized_ = false;
+ bool zeroing_hall_effect_previous_reading_ = false;
+
+ // Current velocity to move at while zeroing.
+ double zeroing_velocity_ = 0.0;
+
+ // The goals for the elevator.
+ double goal_ = 0.0;
+ double goal_velocity_ = 0.0;
+
+ control_loops::ElevatorQueue::Position current_position_;
+
+ aos::util::TrapezoidProfile profile_;
+ GlitchFilter glitch_filter_;
+};
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_H_
diff --git a/y2015_bot3/control_loops/elevator/elevator.q b/y2015_bot3/control_loops/elevator/elevator.q
new file mode 100644
index 0000000..1492f1f
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator.q
@@ -0,0 +1,85 @@
+package y2015_bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+queue_group ElevatorQueue {
+ implements aos.control_loops.ControlLoop;
+
+ // Elevator heights are the vertical distance (in meters) from a defined zero.
+
+ message Goal {
+ // Height of the elevator.
+ double height;
+
+ // Linear velocity of the elevator.
+ float velocity;
+
+ // Maximum elevator profile velocity or 0 for the default.
+ float max_velocity;
+
+ // Maximum elevator profile acceleration or 0 for the default.
+ float max_acceleration;
+
+ // Whether the passive elevator is supporting the stack/can; true means it
+ // is supporting; false means it is not.
+ bool passive_support;
+ // Whether the can support is restraining the can; true means it
+ // is supporting; false means it is not.
+ bool can_support;
+ };
+
+ message Position {
+ double encoder;
+
+ // bottom hall effect sensor for zeroing purposes.
+ bool bottom_hall_effect;
+
+ // True if there is a tote inside the elevator.
+ bool has_tote;
+ };
+
+ message Status {
+ // Is the elevator zeroed?
+ bool zeroed;
+
+ // Estimated height of the elevator.
+ double height;
+
+ // Estimated velocity of the elevator.
+ float velocity;
+
+ // Goal height and velocity of the elevator.
+ double goal_height;
+ float goal_velocity;
+
+ // True if there is a tote inside the elevator.
+ bool has_tote;
+
+ // If true, we have aborted.
+ bool estopped;
+
+ // The internal state of the state machine.
+ int32_t state;
+ };
+
+ message Output {
+ // Voltage for the active elevator.
+ double elevator;
+
+ // Toggle for the passive elevator that supports the stack in the robot.
+ // True means support the stack, false means release the support from the
+ // stack.
+ bool passive_support;
+ // Toggle for the that supports the can in the robot.
+ // True means support the can, false means release the can.
+ bool can_support;
+ };
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group ElevatorQueue elevator_queue;
diff --git a/y2015_bot3/control_loops/elevator/elevator_lib_test.cc b/y2015_bot3/control_loops/elevator/elevator_lib_test.cc
new file mode 100644
index 0000000..2f6b019
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator_lib_test.cc
@@ -0,0 +1,598 @@
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+
+#include <math.h>
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/time.h"
+#include "aos/common/controls/control_loop_test.h"
+#include "y2015_bot3/control_loops/position_sensor_sim.h"
+#include "y2015_bot3/control_loops/elevator/elevator_motor_plant.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+
+using ::aos::time::Time;
+using ::y2015_bot3::control_loops::PositionSensorSimulator;
+
+namespace y2015_bot3 {
+namespace control_loops {
+namespace testing {
+
+
+// TODO(comran+adam): Check these over with Austin, Ben, Brian, and others to
+// make sure we didn't forget anything -- especially the zeroing tests!!!
+
+class ElevatorSimulator {
+ public:
+ ElevatorSimulator()
+ : plant_(new StateFeedbackPlant<2, 1, 1>(MakeElevatorPlant())),
+ position_sim_(),
+ queue_(".y2015_bot3.control_loops.elevator_queue", 0xca8daa3b,
+ ".y2015_bot3.control_loops.elevator_queue.goal",
+ ".y2015_bot3.control_loops.elevator_queue.position",
+ ".y2015_bot3.control_loops.elevator_queue.output",
+ ".y2015_bot3.control_loops.elevator_queue.status") {
+ // Initialize the elevator.
+ InitializePosition(kElevLowerLimit);
+ }
+
+ void InitializePosition(double start_pos) {
+ InitializePosition(start_pos, kHallEffectPosition);
+ }
+
+ void InitializePosition(double start_pos, double hall_effect_position) {
+ plant_->mutable_X(0, 0) = start_pos;
+ plant_->mutable_X(1, 0) = 0.0;
+ position_sim_.Initialize(start_pos, hall_effect_position);
+ }
+
+ void SendPositionMessage() {
+ ::aos::ScopedMessagePtr<control_loops::ElevatorQueue::Position> position =
+ queue_.position.MakeMessage();
+ position_sim_.GetSensorValues(position.get());
+ position.Send();
+ }
+
+ void set_acceleration_offset(double acceleration_offset) {
+ acceleration_offset_ = acceleration_offset;
+ }
+
+ double height() const { return plant_->Y(0, 0); }
+
+ void Simulate() {
+ EXPECT_TRUE(queue_.output.FetchLatest());
+
+ plant_->mutable_U() << queue_.output->elevator;
+
+ plant_->Update();
+ plant_->mutable_X()(1, 0) += acceleration_offset_ * 0.005;
+
+ const double height = plant_->Y(0, 0);
+
+ position_sim_.MoveTo(height);
+
+ EXPECT_GE(height, kElevLowerHardLimit);
+ EXPECT_LE(height, kElevUpperHardLimit);
+ }
+
+ void MoveTo(double position) { position_sim_.MoveTo(position); }
+
+ double GetVoltage() const { return plant_->U()(0,0); }
+
+ private:
+ ::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> plant_;
+
+ PositionSensorSimulator position_sim_;
+
+ ElevatorQueue queue_;
+ double acceleration_offset_ = 0.0;
+};
+
+class ElevatorTest : public ::aos::testing::ControlLoopTest {
+ protected:
+ ElevatorTest()
+ : queue_(".y2015_bot3.control_loops.elevator_queue", 0xca8daa3b,
+ ".y2015_bot3.control_loops.elevator_queue.goal",
+ ".y2015_bot3.control_loops.elevator_queue.position",
+ ".y2015_bot3.control_loops.elevator_queue.output",
+ ".y2015_bot3.control_loops.elevator_queue.status"),
+ elevator_(&queue_),
+ plant_() {}
+
+ // Checks to see if fetching position/status from queues does not return null
+ // pointers.
+ void VerifyNearGoal() {
+ queue_.goal.FetchLatest();
+ queue_.status.FetchLatest();
+ EXPECT_TRUE(queue_.goal.get() != nullptr);
+ EXPECT_TRUE(queue_.status.get() != nullptr);
+ EXPECT_NEAR(queue_.goal->height, queue_.status->height, 0.001);
+ EXPECT_NEAR(queue_.goal->height, plant_.height(), 0.001);
+ }
+
+ // Runs one iteration of the whole simulation.
+ void RunIteration(bool enabled = true) {
+ SendMessages(enabled);
+ plant_.SendPositionMessage();
+ elevator_.Iterate();
+ plant_.Simulate();
+
+ TickTime();
+ }
+
+ // Runs iterations until the specified amount of simulated time has elapsed.
+ void RunForTime(const Time &run_for, bool enabled = true) {
+ const auto start_time = Time::Now();
+ while (Time::Now() < start_time + run_for) {
+ RunIteration(enabled);
+ }
+ }
+
+ // Create a new instance of the test queue so that it invalidates the queue
+ // that it points to. Otherwise, we will have a pointed to shared memory that
+ // is no longer valid.
+ ElevatorQueue queue_;
+
+ // Create a control loop and simulation.
+ Elevator elevator_;
+ ElevatorSimulator plant_;
+};
+
+// Tests that the loop does nothing when the goal is zero.
+TEST_F(ElevatorTest, DoesNothing) {
+ // Set the goals to the starting values. This should theoretically guarantee
+ // that the controller does nothing.
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .height(kElevLowerLimit)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send());
+
+ // Run a few iterations.
+ RunForTime(Time::InSeconds(5));
+
+ VerifyNearGoal();
+}
+
+// Tests that the loop can reach a goal.
+TEST_F(ElevatorTest, ReachesGoal) {
+ // Set a reasonable goal.
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .height(kElevLowerLimit + 0.5)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send());
+
+ // Give it a lot of time to get there.
+ RunForTime(Time::InSeconds(5));
+
+ VerifyNearGoal();
+}
+
+// Tests that the loop doesn't try and go beyond the physical range of the
+// mechanisms.
+TEST_F(ElevatorTest, RespectsRange) {
+ // We're going to send the elevator to -5, which should be significantly too
+ // low.
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .height(-5.0)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send());
+
+ RunForTime(Time::InSeconds(10));
+
+ // Check that we are near our soft limit.
+ queue_.status.FetchLatest();
+ EXPECT_NEAR(kElevLowerLimit, queue_.status->height, 0.001);
+
+ // We're going to give the elevator some ridiculously high goal.
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .height(50.0)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send());
+
+ RunForTime(Time::InSeconds(10));
+
+ // Check that we are near our soft limit.
+ queue_.status.FetchLatest();
+ EXPECT_NEAR(kElevUpperLimit, queue_.status->height, 0.001);
+}
+
+// Tests that the loop zeroes when run for a while.
+TEST_F(ElevatorTest, ZeroTest) {
+ queue_.goal.MakeWithBuilder()
+ .height(0.5)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send();
+ RunForTime(Time::InSeconds(5));
+
+ VerifyNearGoal();
+}
+
+// Tests that starting at the lower hardstops doesn't cause an abort.
+TEST_F(ElevatorTest, LowerHardstopStartup) {
+ plant_.InitializePosition(kElevLowerHardLimit);
+ queue_.goal.MakeWithBuilder().height(0.4).Send();
+ RunForTime(Time::InMS(5000));
+
+ VerifyNearGoal();
+}
+
+// Tests that starting at the upper hardstops doesn't cause an abort.
+TEST_F(ElevatorTest, UpperHardstopStartup) {
+ plant_.InitializePosition(kElevUpperHardLimit);
+ queue_.goal.MakeWithBuilder().height(0.4).Send();
+ RunForTime(Time::InMS(30000));
+
+ VerifyNearGoal();
+}
+
+// Tests that resetting WPILib results in a rezero.
+TEST_F(ElevatorTest, ResetTest) {
+ plant_.InitializePosition(kElevLowerLimit);
+ queue_.goal.MakeWithBuilder().height(0.05).Send();
+ RunForTime(Time::InMS(5000));
+
+ EXPECT_EQ(Elevator::RUNNING, elevator_.state());
+ VerifyNearGoal();
+ SimulateSensorReset();
+ RunForTime(Time::InMS(100));
+ EXPECT_NE(Elevator::RUNNING, elevator_.state());
+ RunForTime(Time::InMS(10000));
+ EXPECT_EQ(Elevator::RUNNING, elevator_.state());
+ VerifyNearGoal();
+}
+
+// Tests that the internal goals don't change while disabled.
+TEST_F(ElevatorTest, DisabledGoalTest) {
+ queue_.goal.MakeWithBuilder().height(0.45).Send();
+
+ RunForTime(Time::InMS(100), false);
+ EXPECT_EQ(0.0, elevator_.goal_);
+
+ // Now make sure they move correctly
+ RunForTime(Time::InMS(4000), true);
+ EXPECT_NE(0.0, elevator_.goal_);
+}
+
+// Tests that the elevator zeroing goals don't wind up too far.
+TEST_F(ElevatorTest, ElevatorGoalPositiveWindupTest) {
+ plant_.InitializePosition(0.0, kHallEffectPosition);
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder().height(0.45).Send());
+
+ while (elevator_.state() != Elevator::ZEROING) {
+ RunIteration();
+ }
+
+ // Kick it.
+ RunForTime(Time::InMS(50));
+ double orig_goal = elevator_.goal_;
+ elevator_.goal_ += 100.0;
+
+ RunIteration();
+ EXPECT_NEAR(orig_goal, elevator_.goal_, 0.05);
+
+ RunIteration();
+ EXPECT_EQ(elevator_.loop_->U(), elevator_.loop_->U_uncapped());
+
+ EXPECT_EQ(elevator_.state(), Elevator::ZEROING);
+}
+
+// Tests that the elevator zeroing goals don't wind up too far.
+TEST_F(ElevatorTest, ElevatorGoalNegativeWindupTest) {
+ plant_.InitializePosition(0.0, kHallEffectPosition);
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder().height(0.45).Send());
+
+ while (elevator_.state() != Elevator::ZEROING) {
+ RunIteration();
+ }
+
+ // Kick it.
+ RunForTime(Time::InMS(50));
+ double orig_goal = elevator_.goal_;
+ elevator_.goal_ -= 100.0;
+
+ RunIteration();
+ EXPECT_NEAR(orig_goal, elevator_.goal_, 0.05);
+
+ RunIteration();
+ EXPECT_EQ(elevator_.loop_->U(), elevator_.loop_->U_uncapped());
+
+ EXPECT_EQ(elevator_.state(), Elevator::ZEROING);
+}
+
+// Tests that the loop zeroes when run for a while.
+TEST_F(ElevatorTest, ZeroNoGoal) {
+ RunForTime(Time::InSeconds(5));
+
+ EXPECT_EQ(Elevator::RUNNING, elevator_.state());
+}
+
+// Zeroing tests
+// TODO(comran+adam): The following tests don't look like they are complete, so
+// we will need to get these tests checked & passed before running the elevator
+// control loop.
+
+// Tests that starting in the middle zeros correctly.
+TEST_F(ElevatorTest, CasualStart) {
+ const double start_position = (kElevUpperLimit + kElevLowerLimit) / 2.0;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ EXPECT_TRUE(elevator_.CheckZeroed());
+ queue_.goal.MakeWithBuilder().height(0.5).Send();
+
+ // Find a reasonable value for the time.
+ RunForTime(Time::InSeconds(5));
+ VerifyNearGoal();
+}
+
+// Tests that a start position above the upper soft limit zeros correctly.
+TEST_F(ElevatorTest, AboveSoftLimitStart) {
+ const double start_position = (kElevUpperHardLimit + kElevUpperLimit) / 2.0;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ EXPECT_TRUE(elevator_.CheckZeroed());
+ queue_.goal.MakeWithBuilder().height(0.5).Send();
+ RunForTime(Time::InSeconds(5));
+ VerifyNearGoal();
+}
+
+// Tests that a start position below the lower soft limit zeros correctly.
+TEST_F(ElevatorTest, BelowSoftLimitStart) {
+ const double start_position = (kElevLowerHardLimit + kElevLowerLimit) / 2;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ EXPECT_TRUE(elevator_.CheckZeroed());
+ queue_.goal.MakeWithBuilder().height(0.4).Send();
+ RunForTime(Time::InSeconds(5));
+ VerifyNearGoal();
+}
+
+// Tests it zeroes when we start above the hall effect sensor.
+TEST_F(ElevatorTest, OverHallEffect) {
+ const double start_position = kHallEffectPosition;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ EXPECT_TRUE(elevator_.CheckZeroed());
+ queue_.goal.MakeWithBuilder().height(0.4).Send();
+ RunForTime(Time::InSeconds(5));
+ VerifyNearGoal();
+}
+
+// Tests that we go down fast, up slow, and then get zeroed.
+TEST_F(ElevatorTest, DownAndUp) {
+ const double start_position = (kElevUpperLimit + kElevLowerLimit) / 2.0;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ EXPECT_TRUE(elevator_.CheckZeroed());
+
+ // Make sure we ended off the hall effect.
+ queue_.position.FetchLatest();
+ EXPECT_TRUE(queue_.position.get() != nullptr);
+ EXPECT_FALSE(queue_.position->bottom_hall_effect);
+}
+
+// Verify that we can zero while disabled.
+TEST_F(ElevatorTest, ZeroWhileDisabled) {
+ const double start_position = (kElevUpperLimit + kElevLowerLimit) / 2.0;
+ plant_.InitializePosition(start_position, kHallEffectPosition);
+
+ // Running iteration while disabled
+ RunIteration(false);
+ RunIteration(false);
+
+ // Move elevator below hall effect.
+ plant_.MoveTo(kHallEffectPosition - 0.1);
+ RunIteration(false);
+ plant_.MoveTo(kHallEffectPosition - 0.1);
+ RunIteration(false);
+ // Make sure it only zeroes while going up.
+ EXPECT_TRUE(!elevator_.CheckZeroed());
+ // Move above the hall effect.
+ plant_.MoveTo(kHallEffectPosition + 0.1);
+ RunIteration(false);
+ RunIteration(false);
+ // Make sure we are zeroed.
+ EXPECT_TRUE(elevator_.CheckZeroed());
+}
+
+// Tests that the loop can reach a goal with a constant force.
+TEST_F(ElevatorTest, ReachesGoalWithIntegral) {
+ // Set a reasonable goal.
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .height(kElevLowerLimit + 0.5)
+ .max_velocity(20)
+ .max_acceleration(20)
+ .Send());
+
+ plant_.set_acceleration_offset(0.1);
+ // Give it a lot of time to get there.
+ RunForTime(Time::InSeconds(5));
+
+ VerifyNearGoal();
+}
+
+// Tests that the goal (with motion profile) doesn't run away from the elevator
+TEST_F(ElevatorTest, PositiveRunawayProfileTest) {
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder().height(0.45).Send());
+
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ // Kick it.
+ RunForTime(Time::InMS(50));
+
+
+ double orig_goal = elevator_.goal_;
+ {
+ Eigen::Matrix<double, 2, 1> current;
+ current.setZero();
+ current << elevator_.goal_ + 100.0, elevator_.goal_velocity_;
+ elevator_.profile_.MoveCurrentState(current);
+ }
+ RunIteration();
+ EXPECT_NEAR(orig_goal, elevator_.goal_, 0.05);
+
+ RunIteration();
+ EXPECT_EQ(elevator_.loop_->U(), elevator_.loop_->U_uncapped());
+
+ EXPECT_EQ(elevator_.state(), Elevator::RUNNING);
+}
+
+// Tests that the goal (with motion profile) doesn't run away from the elevator
+TEST_F(ElevatorTest, NegativeRunawayProfileTest) {
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder().height(0.45).Send());
+
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ // Kick it.
+ RunForTime(Time::InMS(50));
+
+
+ double orig_goal = elevator_.goal_;
+ {
+ Eigen::Matrix<double, 2, 1> current;
+ current.setZero();
+ current << elevator_.goal_ - 100.0, elevator_.goal_velocity_;
+ elevator_.profile_.MoveCurrentState(current);
+ }
+ RunIteration();
+ EXPECT_NEAR(orig_goal, elevator_.goal_, 0.05);
+
+ RunIteration();
+ EXPECT_EQ(elevator_.loop_->U(), elevator_.loop_->U_uncapped());
+
+ EXPECT_EQ(elevator_.state(), Elevator::RUNNING);
+}
+
+// Tests that the glitch filter handles positive edges.
+TEST(GlitchFilterTest, PosedgeDetect) {
+ GlitchFilter filter;
+ filter.Reset(false);
+ EXPECT_FALSE(filter.filtered_value());
+ EXPECT_FALSE(filter.posedge());
+
+ filter.Update(false, 0.0);
+ EXPECT_FALSE(filter.filtered_value());
+ EXPECT_FALSE(filter.posedge());
+
+ filter.Update(true, 1.0);
+ EXPECT_FALSE(filter.filtered_value());
+ EXPECT_FALSE(filter.posedge());
+
+ filter.Update(true, 2.0);
+ EXPECT_TRUE(filter.filtered_value());
+ EXPECT_TRUE(filter.posedge());
+
+ filter.Update(true, 3.0);
+ EXPECT_TRUE(filter.filtered_value());
+ EXPECT_FALSE(filter.posedge());
+ EXPECT_EQ(0.5, filter.posedge_value());
+}
+
+// Tests that the glitch filter handles negative edges.
+TEST(GlitchFilterTest, NegedgeDetect) {
+ GlitchFilter filter;
+ filter.Reset(true);
+ EXPECT_TRUE(filter.filtered_value());
+ EXPECT_FALSE(filter.negedge());
+
+ filter.Update(true, 0.0);
+ EXPECT_TRUE(filter.filtered_value());
+ EXPECT_FALSE(filter.negedge());
+
+ filter.Update(false, 1.0);
+ EXPECT_TRUE(filter.filtered_value());
+ EXPECT_FALSE(filter.negedge());
+
+ filter.Update(false, 2.0);
+ EXPECT_FALSE(filter.filtered_value());
+ EXPECT_TRUE(filter.negedge());
+
+ filter.Update(false, 3.0);
+ EXPECT_FALSE(filter.filtered_value());
+ EXPECT_FALSE(filter.negedge());
+ EXPECT_EQ(0.5, filter.negedge_value());
+}
+
+// Motion Profile Tests
+
+
+// Makes sure low Accel. and TopSpeed don't output high voltage
+TEST_F(ElevatorTest, VeryLowMotionVeryLowVolt) {
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ // Height guarantees it's not the current position
+ queue_.goal.MakeWithBuilder()
+ .height(kElevUpperLimit)
+ .max_velocity(0.2)
+ .max_acceleration(0.2)
+ .Send();
+
+ // Checks voltage is not crazy
+ // Runs for enough time to move to position
+ const auto start_time = Time::Now();
+ const Time run_for = Time::InSeconds(5);
+ // Acceptable range for voltage
+ double voltage_range = 5.5;
+ while (Time::Now() < start_time + run_for) {
+ RunIteration(true);
+ EXPECT_NEAR(0.0, plant_.GetVoltage(), voltage_range);
+ }
+}
+
+// Makes sure low Accel. and TopSpeed don't output high voltage
+TEST_F(ElevatorTest, LowMotionLowVolt) {
+ while (elevator_.state() != Elevator::RUNNING) {
+ RunIteration();
+ }
+
+ // Height guarantees it's not the current position
+ queue_.goal.MakeWithBuilder()
+ .height(kElevUpperLimit)
+ .max_velocity(0.5)
+ .max_acceleration(0.5)
+ .Send();
+
+ // Checks voltage is not crazy
+ // Runs for enough time to move to position
+ const auto start_time = Time::Now();
+ const Time run_for = Time::InSeconds(5);
+ // Acceptable range for voltage
+ double voltage_range = 7.5;
+ while (Time::Now() < start_time + run_for) {
+ RunIteration(true);
+ EXPECT_NEAR(0.0, plant_.GetVoltage(), voltage_range);
+ }
+}
+
+} // namespace testing
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/elevator/elevator_main.cc b/y2015_bot3/control_loops/elevator/elevator_main.cc
new file mode 100644
index 0000000..a6c95dd
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator_main.cc
@@ -0,0 +1,11 @@
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+ ::aos::Init();
+ ::y2015_bot3::control_loops::Elevator elevator;
+ elevator.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2015_bot3/control_loops/elevator/elevator_motor_plant.cc b/y2015_bot3/control_loops/elevator/elevator_motor_plant.cc
new file mode 100644
index 0000000..7fff4ff
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator_motor_plant.cc
@@ -0,0 +1,49 @@
+#include "y2015_bot3/control_loops/elevator/elevator_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeElevatorPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 1.0, 0.00457884608813, 0.0, 0.836406580139;
+ Eigen::Matrix<double, 2, 1> B;
+ B << 5.90742803242e-05, 0.0229468687616;
+ Eigen::Matrix<double, 1, 2> C;
+ C << 1, 0;
+ Eigen::Matrix<double, 1, 1> D;
+ D << 0;
+ Eigen::Matrix<double, 1, 1> U_max;
+ U_max << 12.0;
+ Eigen::Matrix<double, 1, 1> U_min;
+ U_min << -12.0;
+ return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 1, 1> MakeElevatorController() {
+ Eigen::Matrix<double, 2, 1> L;
+ L << 0.937593947018, 16.1192495093;
+ Eigen::Matrix<double, 1, 2> K;
+ K << 597.919635715, 17.5389953523;
+ Eigen::Matrix<double, 2, 2> A_inv;
+ A_inv << 1.0, -0.0054744261904, 0.0, 1.19559078533;
+ return StateFeedbackController<2, 1, 1>(L, K, A_inv, MakeElevatorPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 1, 1> MakeElevatorPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>> plants(1);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>(new StateFeedbackPlantCoefficients<2, 1, 1>(MakeElevatorPlantCoefficients()));
+ return StateFeedbackPlant<2, 1, 1>(&plants);
+}
+
+StateFeedbackLoop<2, 1, 1> MakeElevatorLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 1, 1>>> controllers(1);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 1, 1>>(new StateFeedbackController<2, 1, 1>(MakeElevatorController()));
+ return StateFeedbackLoop<2, 1, 1>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/elevator/elevator_motor_plant.h b/y2015_bot3/control_loops/elevator/elevator_motor_plant.h
new file mode 100644
index 0000000..7be05e6
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/elevator_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_ELEVATOR_MOTOR_PLANT_H_
+#define Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_ELEVATOR_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 1, 1> MakeElevatorPlantCoefficients();
+
+StateFeedbackController<2, 1, 1> MakeElevatorController();
+
+StateFeedbackPlant<2, 1, 1> MakeElevatorPlant();
+
+StateFeedbackLoop<2, 1, 1> MakeElevatorLoop();
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_ELEVATOR_MOTOR_PLANT_H_
diff --git a/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.cc b/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.cc
new file mode 100644
index 0000000..8573618
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.cc
@@ -0,0 +1,49 @@
+#include "y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<3, 1, 1> MakeIntegralElevatorPlantCoefficients() {
+ Eigen::Matrix<double, 3, 3> A;
+ A << 1.0, 0.00457884608813, 5.90742803242e-05, 0.0, 0.836406580139, 0.0229468687616, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 3, 1> B;
+ B << 5.90742803242e-05, 0.0229468687616, 0.0;
+ Eigen::Matrix<double, 1, 3> C;
+ C << 1.0, 0.0, 0.0;
+ Eigen::Matrix<double, 1, 1> D;
+ D << 0;
+ Eigen::Matrix<double, 1, 1> U_max;
+ U_max << 12.0;
+ Eigen::Matrix<double, 1, 1> U_min;
+ U_min << -12.0;
+ return StateFeedbackPlantCoefficients<3, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<3, 1, 1> MakeIntegralElevatorController() {
+ Eigen::Matrix<double, 3, 1> L;
+ L << 0.897632535808, 18.4574278406, 53.6443529697;
+ Eigen::Matrix<double, 1, 3> K;
+ K << 597.919635715, 17.5389953523, 1.0;
+ Eigen::Matrix<double, 3, 3> A_inv;
+ A_inv << 1.0, -0.0054744261904, 6.65466590119e-05, 0.0, 1.19559078533, -0.0274350648434, 0.0, 0.0, 1.0;
+ return StateFeedbackController<3, 1, 1>(L, K, A_inv, MakeIntegralElevatorPlantCoefficients());
+}
+
+StateFeedbackPlant<3, 1, 1> MakeIntegralElevatorPlant() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<3, 1, 1>>> plants(1);
+ plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<3, 1, 1>>(new StateFeedbackPlantCoefficients<3, 1, 1>(MakeIntegralElevatorPlantCoefficients()));
+ return StateFeedbackPlant<3, 1, 1>(&plants);
+}
+
+StateFeedbackLoop<3, 1, 1> MakeIntegralElevatorLoop() {
+ ::std::vector< ::std::unique_ptr<StateFeedbackController<3, 1, 1>>> controllers(1);
+ controllers[0] = ::std::unique_ptr<StateFeedbackController<3, 1, 1>>(new StateFeedbackController<3, 1, 1>(MakeIntegralElevatorController()));
+ return StateFeedbackLoop<3, 1, 1>(&controllers);
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.h b/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.h
new file mode 100644
index 0000000..553c0c3
--- /dev/null
+++ b/y2015_bot3/control_loops/elevator/integral_elevator_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_INTEGRAL_ELEVATOR_MOTOR_PLANT_H_
+#define Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_INTEGRAL_ELEVATOR_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<3, 1, 1> MakeIntegralElevatorPlantCoefficients();
+
+StateFeedbackController<3, 1, 1> MakeIntegralElevatorController();
+
+StateFeedbackPlant<3, 1, 1> MakeIntegralElevatorPlant();
+
+StateFeedbackLoop<3, 1, 1> MakeIntegralElevatorLoop();
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_ELEVATOR_INTEGRAL_ELEVATOR_MOTOR_PLANT_H_
diff --git a/y2015_bot3/control_loops/intake/BUILD b/y2015_bot3/control_loops/intake/BUILD
new file mode 100644
index 0000000..fe21b7f
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/BUILD
@@ -0,0 +1,53 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'intake_queue',
+ srcs = [
+ 'intake.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ ],
+)
+
+cc_library(
+ name = 'intake_lib',
+ srcs = [
+ 'intake.cc',
+ ],
+ hdrs = [
+ 'intake.h',
+ ],
+ deps = [
+ ':intake_queue',
+ '//aos/common/controls:control_loop',
+ ],
+)
+
+cc_test(
+ name = 'intake_lib_test',
+ srcs = [
+ 'intake_lib_test.cc',
+ ],
+ deps = [
+ '//third_party/googletest',
+ ':intake_lib',
+ '//frc971/control_loops:state_feedback_loop',
+ '//aos/common/controls:control_loop_test',
+ '//aos/common:time',
+ '//frc971/control_loops:team_number_test_environment',
+ ],
+)
+
+cc_binary(
+ name = 'intake',
+ srcs = [
+ 'intake_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':intake_lib',
+ ],
+)
diff --git a/y2015_bot3/control_loops/intake/intake.cc b/y2015_bot3/control_loops/intake/intake.cc
new file mode 100644
index 0000000..51bab21
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake.cc
@@ -0,0 +1,30 @@
+#include "y2015_bot3/control_loops/intake/intake.h"
+
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+Intake::Intake(control_loops::IntakeQueue *intake)
+ : aos::controls::ControlLoop<control_loops::IntakeQueue>(intake) {}
+
+void Intake::RunIteration(
+ const control_loops::IntakeQueue::Goal *goal,
+ const control_loops::IntakeQueue::Position * /*position*/,
+ control_loops::IntakeQueue::Output *output,
+ control_loops::IntakeQueue::Status * /*status*/) {
+ if (output != nullptr) {
+ output->Zero();
+
+ if (goal != nullptr) {
+ output->intake = goal->movement;
+ output->claw_closed = goal->claw_closed;
+ } else {
+ output->intake = 0.0;
+ output->claw_closed = false;
+ }
+ }
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/intake/intake.gyp b/y2015_bot3/control_loops/intake/intake.gyp
new file mode 100644
index 0000000..41f1b7f
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake.gyp
@@ -0,0 +1,60 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'intake_queue',
+ 'type': 'static_library',
+ 'sources': ['intake.q'],
+ 'variables': {
+ 'header_path': 'bot3/control_loops/intake',
+ },
+ 'dependencies': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'intake_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'intake.cc',
+ ],
+ 'dependencies': [
+ 'intake_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ ],
+ 'export_dependent_settings': [
+ 'intake_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ ],
+ },
+ {
+ 'target_name': 'intake_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'intake_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ 'intake_lib',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/controls/controls.gyp:control_loop_test',
+ '<(AOS)/common/common.gyp:time',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+ ],
+ },
+ {
+ 'target_name': 'intake',
+ 'type': 'executable',
+ 'sources': [
+ 'intake_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'intake_lib',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/control_loops/intake/intake.h b/y2015_bot3/control_loops/intake/intake.h
new file mode 100644
index 0000000..120b0a3
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake.h
@@ -0,0 +1,28 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_INTAKE_H_
+#define Y2015_BOT3_CONTROL_LOOPS_INTAKE_H_
+
+#include "aos/common/controls/control_loop.h"
+
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+constexpr double kIntakeVoltageFullPower = 12.0;
+
+class Intake : public aos::controls::ControlLoop<control_loops::IntakeQueue> {
+ public:
+ explicit Intake(
+ control_loops::IntakeQueue *intake_queue = &control_loops::intake_queue);
+
+ protected:
+ void RunIteration(const control_loops::IntakeQueue::Goal *goal,
+ const control_loops::IntakeQueue::Position *position,
+ control_loops::IntakeQueue::Output *output,
+ control_loops::IntakeQueue::Status *status) override;
+};
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_INTAKE_H_
diff --git a/y2015_bot3/control_loops/intake/intake.q b/y2015_bot3/control_loops/intake/intake.q
new file mode 100644
index 0000000..f778231
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake.q
@@ -0,0 +1,32 @@
+package y2015_bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+queue_group IntakeQueue {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ // Units: volts
+ double movement;
+
+ bool claw_closed;
+ };
+
+ message Position {};
+
+ message Output {
+ // Positive or negative, depending on whether we're sucking or spitting.
+ double intake;
+
+ bool claw_closed;
+ };
+
+ message Status {};
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group IntakeQueue intake_queue;
diff --git a/y2015_bot3/control_loops/intake/intake_lib_test.cc b/y2015_bot3/control_loops/intake/intake_lib_test.cc
new file mode 100644
index 0000000..6d598fe
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake_lib_test.cc
@@ -0,0 +1,121 @@
+#include "y2015_bot3/control_loops/intake/intake.h"
+
+#include <math.h>
+#include <unistd.h>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/controls/control_loop_test.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+using ::aos::time::Time;
+
+namespace y2015_bot3 {
+namespace control_loops {
+namespace testing {
+
+// Class which simulates the elevator and sends out queue messages with the
+// position.
+class IntakeSimulation {
+ public:
+ // Constructs a simulation.
+ IntakeSimulation()
+ : queue_(".y2015_bot3.control_loops.intake_queue", 0x627ceeeb,
+ ".y2015_bot3.control_loops.intake_queue.goal",
+ ".y2015_bot3.control_loops.intake_queue.position",
+ ".y2015_bot3.control_loops.intake_queue.output",
+ ".y2015_bot3.control_loops.intake_queue.status") {}
+
+ // Simulates for a single timestep.
+ void Simulate() {
+ EXPECT_TRUE(queue_.output.FetchLatest());
+ }
+
+ private:
+ IntakeQueue queue_;
+};
+
+class IntakeTest : public ::aos::testing::ControlLoopTest {
+ protected:
+ IntakeTest()
+ : queue_(".y2015_bot3.control_loops.intake_queue", 0x627ceeeb,
+ ".y2015_bot3.control_loops.intake_queue.goal",
+ ".y2015_bot3.control_loops.intake_queue.position",
+ ".y2015_bot3.control_loops.intake_queue.output",
+ ".y2015_bot3.control_loops.intake_queue.status"),
+ intake_(&queue_),
+ plant_() {
+ set_team_id(971);
+ }
+
+ // Runs one iteration of the whole simulation.
+ void RunIteration(bool enabled = true) {
+ SendMessages(enabled);
+
+ queue_.position.MakeMessage().Send();
+
+ intake_.Iterate();
+
+ TickTime();
+ }
+
+ // Runs iterations until the specified amount of simulated time has elapsed.
+ void RunForTime(const Time &run_for, bool enabled = true) {
+ const auto start_time = Time::Now();
+ while (Time::Now() < start_time + run_for) {
+ RunIteration(enabled);
+ }
+ }
+
+ // Create a new instance of the test queue so that it invalidates the queue
+ // that it points to. Otherwise, we will have a pointed to shared memory that
+ // is no longer valid.
+ IntakeQueue queue_;
+
+ // Create a control loop.
+ Intake intake_;
+ IntakeSimulation plant_;
+};
+
+// Tests that the loop does nothing when the goal is zero.
+TEST_F(IntakeTest, DoesNothing) {
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .movement(0)
+ .Send());
+
+ // Run for a bit.
+ RunForTime(1.0);
+
+ ASSERT_TRUE(queue_.output.FetchLatest());
+ EXPECT_EQ(queue_.output->intake, 0.0);
+}
+
+// Tests that the intake sucks with a positive goal.
+TEST_F(IntakeTest, SuckingGoal) {
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .movement(1)
+ .Send());
+
+ // Run for a bit.
+ RunForTime(1.0);
+
+ ASSERT_TRUE(queue_.output.FetchLatest());
+ EXPECT_GT(queue_.output->intake, 0.0);
+}
+
+// Tests that the intake spits with a negative goal.
+TEST_F(IntakeTest, SpittingGoal) {
+ ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+ .movement(-1)
+ .Send());
+
+ // Run for a bit.
+ RunForTime(1.0);
+
+ ASSERT_TRUE(queue_.output.FetchLatest());
+ EXPECT_LT(queue_.output->intake, 0.0);
+}
+
+} // namespace testing
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/intake/intake_main.cc b/y2015_bot3/control_loops/intake/intake_main.cc
new file mode 100644
index 0000000..095460d
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake_main.cc
@@ -0,0 +1,11 @@
+#include "y2015_bot3/control_loops/intake/intake.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+ ::aos::Init();
+ ::y2015_bot3::control_loops::Intake intake;
+ intake.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2015_bot3/control_loops/position_sensor_sim.cc b/y2015_bot3/control_loops/position_sensor_sim.cc
new file mode 100644
index 0000000..9562a3f
--- /dev/null
+++ b/y2015_bot3/control_loops/position_sensor_sim.cc
@@ -0,0 +1,28 @@
+#include "y2015_bot3/control_loops/position_sensor_sim.h"
+
+#include <cmath>
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+void PositionSensorSimulator::Initialize(double start_position,
+ double hall_effect_position) {
+ hall_effect_position_ = hall_effect_position;
+ start_position_ = start_position;
+ cur_pos_ = start_position;
+}
+
+void PositionSensorSimulator::MoveTo(double new_pos) { cur_pos_ = new_pos; }
+
+void PositionSensorSimulator::GetSensorValues(
+ control_loops::ElevatorQueue::Position* position) {
+ position->encoder = cur_pos_ - start_position_;
+ if (cur_pos_ <= hall_effect_position_) {
+ position->bottom_hall_effect = true;
+ } else {
+ position->bottom_hall_effect = false;
+ }
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3
diff --git a/y2015_bot3/control_loops/position_sensor_sim.h b/y2015_bot3/control_loops/position_sensor_sim.h
new file mode 100644
index 0000000..f4bf56c
--- /dev/null
+++ b/y2015_bot3/control_loops/position_sensor_sim.h
@@ -0,0 +1,47 @@
+#ifndef Y2015_BOT3_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
+#define Y2015_BOT3_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
+
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+// NOTE: All encoder values in this class are assumed to be in
+// translated SI units.
+
+class PositionSensorSimulator {
+ public:
+
+ // Set new parameters for the sensors. This is useful for unit tests to change
+ // the simulated sensors' behavior on the fly.
+ // start_position: The position relative to absolute zero where the simulated
+ // structure starts. For example, to simulate the elevator
+ // starting at 40cm above absolute zero, set this to 0.4.
+ void Initialize(double start_position, double hall_effect_position);
+
+ // Simulate the structure moving to a new position. The new value is measured
+ // relative to absolute zero. This will update the simulated sensors with new
+ // readings.
+ // new_position: The new position relative to absolute zero.
+ void MoveTo(double new_position);
+
+ // Get the current values of the simulated sensors.
+ // values: The target structure will be populated with simulated sensor
+ // readings. The readings will be in SI units. For example the units
+ // can be given in radians, meters, etc.
+ void GetSensorValues(control_loops::ElevatorQueue::Position* position);
+
+ private:
+ // the position of the bottom hall effect sensor.
+ double hall_effect_position_;
+ // Current position of the mechanism relative to absolute zero.
+ double cur_pos_;
+ // Starting position of the mechanism relative to absolute zero. See the
+ // `starting_position` parameter in the constructor for more info.
+ double start_position_;
+};
+
+} // namespace control_loops
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
diff --git a/y2015_bot3/control_loops/python/controls.py b/y2015_bot3/control_loops/python/controls.py
new file mode 100755
index 0000000..b66bd56
--- /dev/null
+++ b/y2015_bot3/control_loops/python/controls.py
@@ -0,0 +1,153 @@
+#!/usr/bin/python
+
+"""
+Control loop pole placement library.
+
+This library will grow to support many different pole placement methods.
+Currently it only supports direct pole placement.
+"""
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+import numpy
+import slycot
+import scipy.signal.cont2discrete
+
+class Error (Exception):
+ """Base class for all control loop exceptions."""
+
+
+class PolePlacementError(Error):
+ """Exception raised when pole placement fails."""
+
+
+# TODO(aschuh): dplace should take a control system object.
+# There should also exist a function to manipulate laplace expressions, and
+# something to plot bode plots and all that.
+def dplace(A, B, poles, alpha=1e-6):
+ """Set the poles of (A - BF) to poles.
+
+ Args:
+ A: numpy.matrix(n x n), The A matrix.
+ B: numpy.matrix(n x m), The B matrix.
+ poles: array(imaginary numbers), The poles to use. Complex conjugates poles
+ must be in pairs.
+
+ Raises:
+ ValueError: Arguments were the wrong shape or there were too many poles.
+ PolePlacementError: Pole placement failed.
+
+ Returns:
+ numpy.matrix(m x n), K
+ """
+ # See http://www.icm.tu-bs.de/NICONET/doc/SB01BD.html for a description of the
+ # fortran code that this is cleaning up the interface to.
+ n = A.shape[0]
+ if A.shape[1] != n:
+ raise ValueError("A must be square")
+ if B.shape[0] != n:
+ raise ValueError("B must have the same number of states as A.")
+ m = B.shape[1]
+
+ num_poles = len(poles)
+ if num_poles > n:
+ raise ValueError("Trying to place more poles than states.")
+
+ out = slycot.sb01bd(n=n,
+ m=m,
+ np=num_poles,
+ alpha=alpha,
+ A=A,
+ B=B,
+ w=numpy.array(poles),
+ dico='D')
+
+ A_z = numpy.matrix(out[0])
+ num_too_small_eigenvalues = out[2]
+ num_assigned_eigenvalues = out[3]
+ num_uncontrollable_eigenvalues = out[4]
+ K = numpy.matrix(-out[5])
+ Z = numpy.matrix(out[6])
+
+ if num_too_small_eigenvalues != 0:
+ raise PolePlacementError("Number of eigenvalues that are too small "
+ "and are therefore unmodified is %d." %
+ num_too_small_eigenvalues)
+ if num_assigned_eigenvalues != num_poles:
+ raise PolePlacementError("Did not place all the eigenvalues that were "
+ "requested. Only placed %d eigenvalues." %
+ num_assigned_eigenvalues)
+ if num_uncontrollable_eigenvalues != 0:
+ raise PolePlacementError("Found %d uncontrollable eigenvlaues." %
+ num_uncontrollable_eigenvalues)
+
+ return K
+
+
+def c2d(A, B, dt):
+ """Converts from continuous time state space representation to discrete time.
+ Returns (A, B). C and D are unchanged."""
+
+ ans_a, ans_b, _, _, _ = scipy.signal.cont2discrete((A, B, None, None), dt)
+ return numpy.matrix(ans_a), numpy.matrix(ans_b)
+
+def ctrb(A, B):
+ """Returns the controlability matrix.
+
+ This matrix must have full rank for all the states to be controlable.
+ """
+ n = A.shape[0]
+ output = B
+ intermediate = B
+ for i in xrange(0, n):
+ intermediate = A * intermediate
+ output = numpy.concatenate((output, intermediate), axis=1)
+
+ return output
+
+def dlqr(A, B, Q, R):
+ """Solves for the optimal lqr controller.
+
+ x(n+1) = A * x(n) + B * u(n)
+ J = sum(0, inf, x.T * Q * x + u.T * R * u)
+ """
+
+ # P = (A.T * P * A) - (A.T * P * B * numpy.linalg.inv(R + B.T * P *B) * (A.T * P.T * B).T + Q
+
+ P, rcond, w, S, T = slycot.sb02od(
+ n=A.shape[0], m=B.shape[1], A=A, B=B, Q=Q, R=R, dico='D')
+
+ F = numpy.linalg.inv(R + B.T * P *B) * B.T * P * A
+ return F
+
+def kalman(A, B, C, Q, R):
+ """Solves for the steady state kalman gain and covariance matricies.
+
+ Args:
+ A, B, C: SS matricies.
+ Q: The model uncertantity
+ R: The measurement uncertainty
+
+ Returns:
+ KalmanGain, Covariance.
+ """
+ P = Q
+
+ I = numpy.matrix(numpy.eye(P.shape[0]))
+ At = A.T
+ Ct = C.T
+ i = 0
+
+ while True:
+ last_P = P
+ P_prior = A * P * At + Q
+ S = C * P_prior * Ct + R
+ K = P_prior * Ct * numpy.linalg.inv(S)
+ P = (I - K * C) * P_prior
+
+ diff = P - last_P
+ i += 1
+ if numpy.linalg.norm(diff) / numpy.linalg.norm(P) < 1e-9:
+ break
+
+ return K, P
diff --git a/y2015_bot3/control_loops/python/drivetrain.py b/y2015_bot3/control_loops/python/drivetrain.py
new file mode 100755
index 0000000..9742167
--- /dev/null
+++ b/y2015_bot3/control_loops/python/drivetrain.py
@@ -0,0 +1,243 @@
+#!/usr/bin/python
+
+import control_loop
+import controls
+import numpy
+import sys
+from matplotlib import pylab
+
+
+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.R = 12.0 / self.stall_current
+ # Motor velocity constant
+ self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+ (12.0 - self.R * 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.R)]])
+ self.B_continuous = numpy.matrix(
+ [[self.Kt / (self.J * self.R)]])
+ 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()
+
+
+class Drivetrain(control_loop.ControlLoop):
+ def __init__(self, name="Drivetrain", left_low=True, right_low=True):
+ super(Drivetrain, self).__init__(name)
+ # Stall Torque in N m
+ self.stall_torque = 2.42
+ # Stall Current in Amps
+ self.stall_current = 133.0
+ # Free Speed in RPM. Used number from last year.
+ self.free_speed = 4650.0
+ # Free Current in Amps
+ self.free_current = 2.7
+ # Moment of inertia of the drivetrain in kg m^2
+ # Just borrowed from last year.
+ self.J = 10
+ # Mass of the robot, in kg.
+ self.m = 68
+ # Radius of the robot, in meters (from last year).
+ self.rb = 0.9603 / 2.0
+ # Radius of the wheels, in meters.
+ self.r = 0.0508
+ # Resistance of the motor, divided by the number of motors.
+ self.R = 12.0 / self.stall_current / 2
+ # Motor velocity constant
+ self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+ (12.0 - self.R * self.free_current))
+ # Torque constant
+ self.Kt = self.stall_torque / self.stall_current
+ # Gear ratios
+ self.G_const = 18.0 / 44.0 * 18.0 / 60.0
+
+ self.G_low = self.G_const
+ self.G_high = self.G_const
+
+ if left_low:
+ self.Gl = self.G_low
+ else:
+ self.Gl = self.G_high
+ if right_low:
+ self.Gr = self.G_low
+ else:
+ self.Gr = self.G_high
+
+ # Control loop time step
+ self.dt = 0.005
+
+ # These describe the way that a given side of a robot will be influenced
+ # by the other side. Units of 1 / kg.
+ self.msp = 1.0 / self.m + self.rb * self.rb / self.J
+ self.msn = 1.0 / self.m - self.rb * self.rb / self.J
+ # The calculations which we will need for A and B.
+ self.tcl = -self.Kt / self.Kv / (self.Gl * self.Gl * self.R * self.r * self.r)
+ self.tcr = -self.Kt / self.Kv / (self.Gr * self.Gr * self.R * self.r * self.r)
+ self.mpl = self.Kt / (self.Gl * self.R * self.r)
+ self.mpr = self.Kt / (self.Gr * self.R * self.r)
+
+ # State feedback matrices
+ # X will be of the format
+ # [[positionl], [velocityl], [positionr], velocityr]]
+ self.A_continuous = numpy.matrix(
+ [[0, 1, 0, 0],
+ [0, self.msp * self.tcl, 0, self.msn * self.tcr],
+ [0, 0, 0, 1],
+ [0, self.msn * self.tcl, 0, self.msp * self.tcr]])
+ self.B_continuous = numpy.matrix(
+ [[0, 0],
+ [self.msp * self.mpl, self.msn * self.mpr],
+ [0, 0],
+ [self.msn * self.mpl, self.msp * self.mpr]])
+ self.C = numpy.matrix([[1, 0, 0, 0],
+ [0, 0, 1, 0]])
+ self.D = numpy.matrix([[0, 0],
+ [0, 0]])
+
+ #print "THE NUMBER I WANT" + str(numpy.linalg.inv(self.A_continuous) * -self.B_continuous * numpy.matrix([[12.0], [12.0]]))
+ self.A, self.B = self.ContinuousToDiscrete(
+ self.A_continuous, self.B_continuous, self.dt)
+
+ # Poles from last year.
+ self.hp = 0.65
+ self.lp = 0.83
+ self.PlaceControllerPoles([self.hp, self.lp, self.hp, self.lp])
+ print self.K
+ q_pos = 0.07
+ q_vel = 1.0
+ self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
+ [0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
+ [0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
+ [0.0, 0.0, 0.0, (1.0 / (q_vel ** 2.0))]])
+
+ self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
+ [0.0, (1.0 / (12.0 ** 2.0))]])
+ self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
+ print self.A
+ print self.B
+ print self.K
+ print numpy.linalg.eig(self.A - self.B * self.K)[0]
+
+ self.hlp = 0.3
+ self.llp = 0.4
+ self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
+
+ self.U_max = numpy.matrix([[12.0], [12.0]])
+ self.U_min = numpy.matrix([[-12.0], [-12.0]])
+ self.InitializeState()
+
+def main(argv):
+ # Simulate the response of the system to a step input.
+ drivetrain = Drivetrain()
+ simulated_left = []
+ simulated_right = []
+ for _ in xrange(100):
+ drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
+ simulated_left.append(drivetrain.X[0, 0])
+ simulated_right.append(drivetrain.X[2, 0])
+
+ #pylab.plot(range(100), simulated_left)
+ #pylab.plot(range(100), simulated_right)
+ #pylab.show()
+
+ # Simulate forwards motion.
+ drivetrain = Drivetrain()
+ close_loop_left = []
+ close_loop_right = []
+ R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
+ for _ in xrange(100):
+ U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+ drivetrain.U_min, drivetrain.U_max)
+ drivetrain.UpdateObserver(U)
+ drivetrain.Update(U)
+ close_loop_left.append(drivetrain.X[0, 0])
+ close_loop_right.append(drivetrain.X[2, 0])
+
+ #pylab.plot(range(100), close_loop_left)
+ #pylab.plot(range(100), close_loop_right)
+ #pylab.show()
+
+ # Try turning in place
+ drivetrain = Drivetrain()
+ close_loop_left = []
+ close_loop_right = []
+ R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
+ for _ in xrange(100):
+ U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+ drivetrain.U_min, drivetrain.U_max)
+ drivetrain.UpdateObserver(U)
+ drivetrain.Update(U)
+ close_loop_left.append(drivetrain.X[0, 0])
+ close_loop_right.append(drivetrain.X[2, 0])
+
+ #pylab.plot(range(100), close_loop_left)
+ #pylab.plot(range(100), close_loop_right)
+ #pylab.show()
+
+ # Try turning just one side.
+ drivetrain = Drivetrain()
+ close_loop_left = []
+ close_loop_right = []
+ R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
+ for _ in xrange(100):
+ U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+ drivetrain.U_min, drivetrain.U_max)
+ drivetrain.UpdateObserver(U)
+ drivetrain.Update(U)
+ close_loop_left.append(drivetrain.X[0, 0])
+ close_loop_right.append(drivetrain.X[2, 0])
+
+ #pylab.plot(range(100), close_loop_left)
+ #pylab.plot(range(100), close_loop_right)
+ #pylab.show()
+
+ # Write the generated constants out to a file.
+ print "Output one"
+ drivetrain_low_low = Drivetrain(name="DrivetrainLowLow", left_low=True, right_low=True)
+ drivetrain_low_high = Drivetrain(name="DrivetrainLowHigh", left_low=True, right_low=False)
+ drivetrain_high_low = Drivetrain(name="DrivetrainHighLow", left_low=False, right_low=True)
+ drivetrain_high_high = Drivetrain(name="DrivetrainHighHigh", left_low=False, right_low=False)
+
+ if len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "Drivetrain", [drivetrain_low_low, drivetrain_low_high,
+ drivetrain_high_low, drivetrain_high_high],
+ namespaces=['y2015_bot3', 'control_loops'])
+ if argv[1][-3:] == '.cc':
+ dog_loop_writer.Write(argv[2], argv[1])
+ else:
+ dog_loop_writer.Write(argv[1], argv[2])
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2015_bot3/control_loops/python/elevator3.py b/y2015_bot3/control_loops/python/elevator3.py
new file mode 100755
index 0000000..853b6b3
--- /dev/null
+++ b/y2015_bot3/control_loops/python/elevator3.py
@@ -0,0 +1,283 @@
+#!/usr/bin/python
+
+import control_loop
+import controls
+import numpy
+import sys
+import matplotlib
+from matplotlib import pylab
+
+class Elevator(control_loop.ControlLoop):
+ def __init__(self, name="Elevator", mass=None):
+ super(Elevator, self).__init__(name)
+ # Stall Torque in N m
+ self.stall_torque = 2.402
+ # Stall Current in Amps
+ self.stall_current = 126.145
+ # Free Speed in RPM
+ self.free_speed = 5015.562
+ # Free Current in Amps
+ self.free_current = 1.170
+ # Mass of the Elevator
+ if mass is None:
+ self.mass = 5.0
+ else:
+ self.mass = mass
+
+ # Number of motors
+ self.num_motors = 2.0
+ # Resistance of the motor
+ 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.num_motors * self.stall_torque) / self.stall_current
+ # Gear ratio
+ self.G = 8
+ # Radius of pulley
+ self.r = 0.0254
+
+ # Control loop time step
+ self.dt = 0.005
+
+ # State is [position, velocity]
+ # Input is [Voltage]
+
+ C1 = self.Kt * self.G * self.G / (self.Kv * self.resistance * self.r * self.r * self.mass)
+ C2 = self.G * self.Kt / (self.resistance * self.r * self.mass)
+
+ self.A_continuous = numpy.matrix(
+ [[0, 1],
+ [0, -C1]])
+
+ # Start with the unmodified input
+ self.B_continuous = numpy.matrix(
+ [[0],
+ [C2]])
+
+ self.C = numpy.matrix([[1, 0]])
+ self.D = numpy.matrix([[0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(
+ self.A_continuous, self.B_continuous, self.dt)
+
+ controlability = controls.ctrb(self.A, self.B)
+
+ q_pos = 0.015
+ q_vel = 0.5
+ self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
+ [0.0, (1.0 / (q_vel ** 2.0))]])
+
+ self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0))]])
+ self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
+
+ print 'K', self.K
+ print 'Poles are', numpy.linalg.eig(self.A - self.B * self.K)[0]
+
+ self.rpl = 0.30
+ self.ipl = 0.10
+ self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
+ self.rpl - 1j * self.ipl])
+
+ # print 'L is', self.L
+
+ q_pos = 0.05
+ q_vel = 2.65
+ self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0],
+ [0.0, (q_vel ** 2.0)]])
+
+ r_volts = 0.025
+ self.R = numpy.matrix([[(r_volts ** 2.0)]])
+
+ self.KalmanGain, self.Q_steady = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+ # print 'Kal', self.KalmanGain
+ self.L = self.A * self.KalmanGain
+ print 'KalL is', self.L
+
+ # The box formed by U_min and U_max must encompass all possible values,
+ # or else Austin's code gets angry.
+ self.U_max = numpy.matrix([[12.0]])
+ self.U_min = numpy.matrix([[-12.0]])
+
+ self.InitializeState()
+
+class IntegralElevator(Elevator):
+ def __init__(self, name="IntegralElevator", mass=None):
+ super(IntegralElevator, self).__init__(name=name, mass=mass)
+
+ self.A_continuous_unaugmented = self.A_continuous
+ self.B_continuous_unaugmented = self.B_continuous
+
+ self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
+ self.A_continuous[0:2, 0:2] = self.A_continuous_unaugmented
+ self.A_continuous[0:2, 2] = self.B_continuous_unaugmented
+
+ self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
+ self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
+
+ self.C_unaugmented = self.C
+ self.C = numpy.matrix(numpy.zeros((1, 3)))
+ self.C[0:1, 0:2] = self.C_unaugmented
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous, self.dt)
+
+ q_pos = 0.08
+ q_vel = 4.00
+ q_voltage = 6.0
+ self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
+ [0.0, (q_vel ** 2.0), 0.0],
+ [0.0, 0.0, (q_voltage ** 2.0)]])
+
+ r_pos = 0.05
+ self.R = numpy.matrix([[(r_pos ** 2.0)]])
+
+ self.KalmanGain, self.Q_steady = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+ self.L = self.A * self.KalmanGain
+
+ self.K_unaugmented = self.K
+ self.K = numpy.matrix(numpy.zeros((1, 3)))
+ self.K[0, 0:2] = self.K_unaugmented
+ self.K[0, 2] = 1
+
+ self.InitializeState()
+
+
+class ScenarioPlotter(object):
+ def __init__(self):
+ # Various lists for graphing things.
+ self.t = []
+ self.x = []
+ self.v = []
+ self.a = []
+ self.x_hat = []
+ self.u = []
+
+ def run_test(self, elevator, goal,
+ iterations=200, controller_elevator=None,
+ observer_elevator=None):
+ """Runs the Elevator plant with an initial condition and goal.
+
+ Args:
+ Elevator: elevator object to use.
+ initial_X: starting state.
+ goal: goal state.
+ iterations: Number of timesteps to run the model for.
+ controller_Elevator: elevator object to get K from, or None if we should
+ use Elevator.
+ observer_Elevator: elevator object to use for the observer, or None if we should
+ use the actual state.
+ """
+
+ if controller_elevator is None:
+ controller_elevator = elevator
+
+ vbat = 10.0
+ if self.t:
+ initial_t = self.t[-1] + elevator.dt
+ else:
+ initial_t = 0
+ for i in xrange(iterations):
+ X_hat = elevator.X
+ if observer_elevator is not None:
+ X_hat = observer_elevator.X_hat
+ self.x_hat.append(observer_elevator.X_hat[0, 0])
+ gravity_compensation = 9.8 * elevator.mass * elevator.r / elevator.G / elevator.Kt * elevator.resistance
+
+ U = controller_elevator.K * (goal - X_hat)
+ U[0, 0] = numpy.clip(U[0, 0], -vbat , vbat )
+ self.x.append(elevator.X[0, 0])
+ if self.v:
+ last_v = self.v[-1]
+ else:
+ last_v = 0
+ self.v.append(elevator.X[1, 0])
+ self.a.append((self.v[-1] - last_v) / elevator.dt)
+
+ if observer_elevator is not None:
+ observer_elevator.Y = elevator.Y
+ observer_elevator.CorrectObserver(U)
+
+ elevator.Update(U - gravity_compensation)
+
+ if observer_elevator is not None:
+ observer_elevator.PredictObserver(U)
+
+ self.t.append(initial_t + i * elevator.dt)
+ self.u.append(U[0, 0])
+# if numpy.abs((goal - X_hat)[0:2, 0]).sum() < .025:
+# print "Time: ", self.t[-1]
+# break
+
+ print "Time: ", self.t[-1]
+
+
+ def Plot(self):
+ pylab.subplot(3, 1, 1)
+ pylab.plot(self.t, self.x, label='x')
+ pylab.plot(self.t, self.x_hat, label='x_hat')
+ pylab.legend()
+
+ pylab.subplot(3, 1, 2)
+ pylab.plot(self.t, self.u, label='u')
+
+ pylab.subplot(3, 1, 3)
+ pylab.plot(self.t, self.a, label='a')
+
+ pylab.legend()
+ pylab.show()
+
+
+def main(argv):
+ loaded_mass = 7+4.0
+ #loaded_mass = 0
+ #observer_elevator = None
+
+ # Test moving the Elevator
+ initial_X = numpy.matrix([[0.0], [0.0]])
+ up_R = numpy.matrix([[0.4572], [0.0], [0.0]])
+ down_R = numpy.matrix([[0.0], [0.0], [0.0]])
+ totemass = 3.54
+ scenario_plotter = ScenarioPlotter()
+
+ elevator_controller = IntegralElevator(mass=4*totemass + loaded_mass)
+ observer_elevator = IntegralElevator(mass=4*totemass + loaded_mass)
+
+ for i in xrange(0, 7):
+ elevator = Elevator(mass=i*totemass + loaded_mass)
+ print 'Actual poles are', numpy.linalg.eig(elevator.A - elevator.B * elevator_controller.K[0, 0:2])[0]
+
+ elevator.X = initial_X
+ scenario_plotter.run_test(elevator, goal=up_R, controller_elevator=elevator_controller,
+ observer_elevator=observer_elevator, iterations=200)
+ scenario_plotter.run_test(elevator, goal=down_R, controller_elevator=elevator_controller,
+ observer_elevator=observer_elevator, iterations=200)
+
+ scenario_plotter.Plot()
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ print "Expected .h file name and .cc file name for the Elevator and integral elevator."
+ else:
+ design_mass = 4*totemass + loaded_mass
+ elevator = Elevator("Elevator", mass=design_mass)
+ loop_writer = control_loop.ControlLoopWriter("Elevator", [elevator],
+ namespaces=['y2015_bot3', 'control_loops'])
+ if argv[1][-3:] == '.cc':
+ loop_writer.Write(argv[2], argv[1])
+ else:
+ loop_writer.Write(argv[1], argv[2])
+
+ integral_elevator = IntegralElevator("IntegralElevator", mass=design_mass)
+ integral_loop_writer = control_loop.ControlLoopWriter("IntegralElevator", [integral_elevator],
+ namespaces=['y2015_bot3', 'control_loops'])
+ if argv[3][-3:] == '.cc':
+ integral_loop_writer.Write(argv[4], argv[3])
+ else:
+ integral_loop_writer.Write(argv[3], argv[4])
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2015_bot3/control_loops/python/polydrivetrain.py b/y2015_bot3/control_loops/python/polydrivetrain.py
new file mode 100755
index 0000000..9aa4821
--- /dev/null
+++ b/y2015_bot3/control_loops/python/polydrivetrain.py
@@ -0,0 +1,506 @@
+#!/usr/bin/python
+
+import numpy
+import sys
+import polytope
+import drivetrain
+import control_loop
+import controls
+from matplotlib import pylab
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+def CoerceGoal(region, K, w, R):
+ """Intersects a line with a region, and finds the closest point to R.
+
+ Finds a point that is closest to R inside the region, and on the line
+ defined by K X = w. If it is not possible to find a point on the line,
+ finds a point that is inside the region and closest to the line. This
+ function assumes that
+
+ Args:
+ region: HPolytope, the valid goal region.
+ K: numpy.matrix (2 x 1), the matrix for the equation [K1, K2] [x1; x2] = w
+ w: float, the offset in the equation above.
+ R: numpy.matrix (2 x 1), the point to be closest to.
+
+ Returns:
+ numpy.matrix (2 x 1), the point.
+ """
+ return DoCoerceGoal(region, K, w, R)[0]
+
+def DoCoerceGoal(region, K, w, R):
+ if region.IsInside(R):
+ return (R, True)
+
+ perpendicular_vector = K.T / numpy.linalg.norm(K)
+ parallel_vector = numpy.matrix([[perpendicular_vector[1, 0]],
+ [-perpendicular_vector[0, 0]]])
+
+ # We want to impose the constraint K * X = w on the polytope H * X <= k.
+ # We do this by breaking X up into parallel and perpendicular components to
+ # the half plane. This gives us the following equation.
+ #
+ # parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) = X
+ #
+ # Then, substitute this into the polytope.
+ #
+ # H * (parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) <= k
+ #
+ # Substitute K * X = w
+ #
+ # H * parallel * (parallel.T \dot X) + H * perpendicular * w <= k
+ #
+ # Move all the knowns to the right side.
+ #
+ # H * parallel * ([parallel1 parallel2] * X) <= k - H * perpendicular * w
+ #
+ # Let t = parallel.T \dot X, the component parallel to the surface.
+ #
+ # H * parallel * t <= k - H * perpendicular * w
+ #
+ # This is a polytope which we can solve, and use to figure out the range of X
+ # that we care about!
+
+ t_poly = polytope.HPolytope(
+ region.H * parallel_vector,
+ region.k - region.H * perpendicular_vector * w)
+
+ vertices = t_poly.Vertices()
+
+ if vertices.shape[0]:
+ # The region exists!
+ # Find the closest vertex
+ min_distance = numpy.infty
+ closest_point = None
+ for vertex in vertices:
+ point = parallel_vector * vertex + perpendicular_vector * w
+ length = numpy.linalg.norm(R - point)
+ if length < min_distance:
+ min_distance = length
+ closest_point = point
+
+ return (closest_point, True)
+ else:
+ # Find the vertex of the space that is closest to the line.
+ region_vertices = region.Vertices()
+ min_distance = numpy.infty
+ closest_point = None
+ for vertex in region_vertices:
+ point = vertex.T
+ length = numpy.abs((perpendicular_vector.T * point)[0, 0])
+ if length < min_distance:
+ min_distance = length
+ closest_point = point
+
+ return (closest_point, False)
+
+
+class VelocityDrivetrainModel(control_loop.ControlLoop):
+ def __init__(self, left_low=True, right_low=True, name="VelocityDrivetrainModel"):
+ super(VelocityDrivetrainModel, self).__init__(name)
+ self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
+ right_low=right_low)
+ self.dt = 0.01
+ self.A_continuous = numpy.matrix(
+ [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
+ [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
+
+ self.B_continuous = numpy.matrix(
+ [[self._drivetrain.B_continuous[1, 0], self._drivetrain.B_continuous[1, 1]],
+ [self._drivetrain.B_continuous[3, 0], self._drivetrain.B_continuous[3, 1]]])
+ self.C = numpy.matrix(numpy.eye(2))
+ self.D = numpy.matrix(numpy.zeros((2, 2)))
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ # FF * X = U (steady state)
+ self.FF = self.B.I * (numpy.eye(2) - self.A)
+
+ self.PlaceControllerPoles([0.6, 0.6])
+ self.PlaceObserverPoles([0.02, 0.02])
+
+ self.G_high = self._drivetrain.G_high
+ self.G_low = self._drivetrain.G_low
+ self.R = self._drivetrain.R
+ self.r = self._drivetrain.r
+ self.Kv = self._drivetrain.Kv
+ self.Kt = self._drivetrain.Kt
+
+ self.U_max = self._drivetrain.U_max
+ self.U_min = self._drivetrain.U_min
+
+
+class VelocityDrivetrain(object):
+ HIGH = 'high'
+ LOW = 'low'
+ SHIFTING_UP = 'up'
+ SHIFTING_DOWN = 'down'
+
+ def __init__(self):
+ self.drivetrain_low_low = VelocityDrivetrainModel(
+ left_low=True, right_low=True, name='VelocityDrivetrainLowLow')
+ self.drivetrain_low_high = VelocityDrivetrainModel(left_low=True, right_low=False, name='VelocityDrivetrainLowHigh')
+ self.drivetrain_high_low = VelocityDrivetrainModel(left_low=False, right_low=True, name = 'VelocityDrivetrainHighLow')
+ self.drivetrain_high_high = VelocityDrivetrainModel(left_low=False, right_low=False, name = 'VelocityDrivetrainHighHigh')
+
+ # X is [lvel, rvel]
+ self.X = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
+ self.U_poly = polytope.HPolytope(
+ numpy.matrix([[1, 0],
+ [-1, 0],
+ [0, 1],
+ [0, -1]]),
+ numpy.matrix([[12],
+ [12],
+ [12],
+ [12]]))
+
+ self.U_max = numpy.matrix(
+ [[12.0],
+ [12.0]])
+ self.U_min = numpy.matrix(
+ [[-12.0000000000],
+ [-12.0000000000]])
+
+ self.dt = 0.01
+
+ self.R = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
+ # ttrust is the comprimise between having full throttle negative inertia,
+ # and having no throttle negative inertia. A value of 0 is full throttle
+ # inertia. A value of 1 is no throttle negative inertia.
+ self.ttrust = 1.1
+
+ self.left_gear = VelocityDrivetrain.LOW
+ self.right_gear = VelocityDrivetrain.LOW
+ self.left_shifter_position = 0.0
+ self.right_shifter_position = 0.0
+ self.left_cim = drivetrain.CIM()
+ self.right_cim = drivetrain.CIM()
+
+ def IsInGear(self, gear):
+ return gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.LOW
+
+ def MotorRPM(self, shifter_position, velocity):
+ if shifter_position > 0.5:
+ return (velocity / self.CurrentDrivetrain().G_high /
+ self.CurrentDrivetrain().r)
+ else:
+ return (velocity / self.CurrentDrivetrain().G_low /
+ self.CurrentDrivetrain().r)
+
+ def CurrentDrivetrain(self):
+ if self.left_shifter_position > 0.5:
+ if self.right_shifter_position > 0.5:
+ return self.drivetrain_high_high
+ else:
+ return self.drivetrain_high_low
+ else:
+ if self.right_shifter_position > 0.5:
+ return self.drivetrain_low_high
+ else:
+ return self.drivetrain_low_low
+
+ def SimShifter(self, gear, shifter_position):
+ if gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.SHIFTING_UP:
+ shifter_position = min(shifter_position + 0.5, 1.0)
+ else:
+ shifter_position = max(shifter_position - 0.5, 0.0)
+
+ if shifter_position == 1.0:
+ gear = VelocityDrivetrain.HIGH
+ elif shifter_position == 0.0:
+ gear = VelocityDrivetrain.LOW
+
+ return gear, shifter_position
+
+ def ComputeGear(self, wheel_velocity, should_print=False, current_gear=False, gear_name=None):
+ high_omega = (wheel_velocity / self.CurrentDrivetrain().G_high /
+ self.CurrentDrivetrain().r)
+ low_omega = (wheel_velocity / self.CurrentDrivetrain().G_low /
+ self.CurrentDrivetrain().r)
+ #print gear_name, "Motor Energy Difference.", 0.5 * 0.000140032647 * (low_omega * low_omega - high_omega * high_omega), "joules"
+ high_torque = ((12.0 - high_omega / self.CurrentDrivetrain().Kv) *
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ low_torque = ((12.0 - low_omega / self.CurrentDrivetrain().Kv) *
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ high_power = high_torque * high_omega
+ low_power = low_torque * low_omega
+ #if should_print:
+ # print gear_name, "High omega", high_omega, "Low omega", low_omega
+ # print gear_name, "High torque", high_torque, "Low torque", low_torque
+ # print gear_name, "High power", high_power, "Low power", low_power
+
+ # Shift algorithm improvements.
+ # TODO(aschuh):
+ # It takes time to shift. Shifting down for 1 cycle doesn't make sense
+ # because you will end up slower than without shifting. Figure out how
+ # to include that info.
+ # If the driver is still in high gear, but isn't asking for the extra power
+ # from low gear, don't shift until he asks for it.
+ goal_gear_is_high = high_power > low_power
+ #goal_gear_is_high = True
+
+ if not self.IsInGear(current_gear):
+ print gear_name, 'Not in gear.'
+ return current_gear
+ else:
+ is_high = current_gear is VelocityDrivetrain.HIGH
+ if is_high != goal_gear_is_high:
+ if goal_gear_is_high:
+ print gear_name, 'Shifting up.'
+ return VelocityDrivetrain.SHIFTING_UP
+ else:
+ print gear_name, 'Shifting down.'
+ return VelocityDrivetrain.SHIFTING_DOWN
+ else:
+ return current_gear
+
+ def FilterVelocity(self, throttle):
+ # Invert the plant to figure out how the velocity filter would have to work
+ # out in order to filter out the forwards negative inertia.
+ # This math assumes that the left and right power and velocity are equal.
+
+ # The throttle filter should filter such that the motor in the highest gear
+ # should be controlling the time constant.
+ # Do this by finding the index of FF that has the lowest value, and computing
+ # the sums using that index.
+ FF_sum = self.CurrentDrivetrain().FF.sum(axis=1)
+ min_FF_sum_index = numpy.argmin(FF_sum)
+ min_FF_sum = FF_sum[min_FF_sum_index, 0]
+ min_K_sum = self.CurrentDrivetrain().K[min_FF_sum_index, :].sum()
+ # Compute the FF sum for high gear.
+ high_min_FF_sum = self.drivetrain_high_high.FF[0, :].sum()
+
+ # U = self.K[0, :].sum() * (R - x_avg) + self.FF[0, :].sum() * R
+ # throttle * 12.0 = (self.K[0, :].sum() + self.FF[0, :].sum()) * R
+ # - self.K[0, :].sum() * x_avg
+
+ # R = (throttle * 12.0 + self.K[0, :].sum() * x_avg) /
+ # (self.K[0, :].sum() + self.FF[0, :].sum())
+
+ # U = (K + FF) * R - K * X
+ # (K + FF) ^-1 * (U + K * X) = R
+
+ # Scale throttle by min_FF_sum / high_min_FF_sum. This will make low gear
+ # have the same velocity goal as high gear, and so that the robot will hold
+ # the same speed for the same throttle for all gears.
+ adjusted_ff_voltage = numpy.clip(throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0)
+ return ((adjusted_ff_voltage + self.ttrust * min_K_sum * (self.X[0, 0] + self.X[1, 0]) / 2.0)
+ / (self.ttrust * min_K_sum + min_FF_sum))
+
+ def Update(self, throttle, steering):
+ # Shift into the gear which sends the most power to the floor.
+ # This is the same as sending the most torque down to the floor at the
+ # wheel.
+
+ self.left_gear = self.right_gear = True
+ if False:
+ self.left_gear = self.ComputeGear(self.X[0, 0], should_print=True,
+ current_gear=self.left_gear,
+ gear_name="left")
+ self.right_gear = self.ComputeGear(self.X[1, 0], should_print=True,
+ current_gear=self.right_gear,
+ gear_name="right")
+ if self.IsInGear(self.left_gear):
+ self.left_cim.X[0, 0] = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+
+ if self.IsInGear(self.right_gear):
+ self.right_cim.X[0, 0] = self.MotorRPM(self.right_shifter_position, self.X[0, 0])
+
+ steering *= 2.3
+ if True or self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ # Filter the throttle to provide a nicer response.
+ fvel = self.FilterVelocity(throttle)
+
+ # Constant radius means that angualar_velocity / linear_velocity = constant.
+ # Compute the left and right velocities.
+ steering_velocity = numpy.abs(fvel) * steering
+ left_velocity = fvel - steering_velocity
+ right_velocity = fvel + steering_velocity
+
+ # Write this constraint in the form of K * R = w
+ # angular velocity / linear velocity = constant
+ # (left - right) / (left + right) = constant
+ # left - right = constant * left + constant * right
+
+ # (fvel - steering * numpy.abs(fvel) - fvel - steering * numpy.abs(fvel)) /
+ # (fvel - steering * numpy.abs(fvel) + fvel + steering * numpy.abs(fvel)) =
+ # constant
+ # (- 2 * steering * numpy.abs(fvel)) / (2 * fvel) = constant
+ # (-steering * sign(fvel)) = constant
+ # (-steering * sign(fvel)) * (left + right) = left - right
+ # (steering * sign(fvel) + 1) * left + (steering * sign(fvel) - 1) * right = 0
+
+ equality_k = numpy.matrix(
+ [[1 + steering * numpy.sign(fvel), -(1 - steering * numpy.sign(fvel))]])
+ equality_w = 0.0
+
+ self.R[0, 0] = left_velocity
+ self.R[1, 0] = right_velocity
+
+ # Construct a constraint on R by manipulating the constraint on U
+ # Start out with H * U <= k
+ # U = FF * R + K * (R - X)
+ # H * (FF * R + K * R - K * X) <= k
+ # H * (FF + K) * R <= k + H * K * X
+ R_poly = polytope.HPolytope(
+ self.U_poly.H * (self.CurrentDrivetrain().K + self.CurrentDrivetrain().FF),
+ self.U_poly.k + self.U_poly.H * self.CurrentDrivetrain().K * self.X)
+
+ # Limit R back inside the box.
+ self.boxed_R = CoerceGoal(R_poly, equality_k, equality_w, self.R)
+
+ FF_volts = self.CurrentDrivetrain().FF * self.boxed_R
+ self.U_ideal = self.CurrentDrivetrain().K * (self.boxed_R - self.X) + FF_volts
+ else:
+ print 'Not all in gear'
+ if not self.IsInGear(self.left_gear) and not self.IsInGear(self.right_gear):
+ # TODO(austin): Use battery volts here.
+ R_left = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+ self.U_ideal[0, 0] = numpy.clip(
+ self.left_cim.K * (R_left - self.left_cim.X) + R_left / self.left_cim.Kv,
+ self.left_cim.U_min, self.left_cim.U_max)
+ self.left_cim.Update(self.U_ideal[0, 0])
+
+ R_right = self.MotorRPM(self.right_shifter_position, self.X[1, 0])
+ self.U_ideal[1, 0] = numpy.clip(
+ self.right_cim.K * (R_right - self.right_cim.X) + R_right / self.right_cim.Kv,
+ self.right_cim.U_min, self.right_cim.U_max)
+ self.right_cim.Update(self.U_ideal[1, 0])
+ else:
+ assert False
+
+ self.U = numpy.clip(self.U_ideal, self.U_min, self.U_max)
+
+ # TODO(austin): Model the robot as not accelerating when you shift...
+ # This hack only works when you shift at the same time.
+ if True or self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ self.X = self.CurrentDrivetrain().A * self.X + self.CurrentDrivetrain().B * self.U
+
+ self.left_gear, self.left_shifter_position = self.SimShifter(
+ self.left_gear, self.left_shifter_position)
+ self.right_gear, self.right_shifter_position = self.SimShifter(
+ self.right_gear, self.right_shifter_position)
+
+ print "U is", self.U[0, 0], self.U[1, 0]
+ print "Left shifter", self.left_gear, self.left_shifter_position, "Right shifter", self.right_gear, self.right_shifter_position
+
+
+def main(argv):
+ vdrivetrain = VelocityDrivetrain()
+
+ if len(argv) != 7:
+ print "Expected .h file name and .cc file name"
+ else:
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
+ vdrivetrain.drivetrain_low_high,
+ vdrivetrain.drivetrain_high_low,
+ vdrivetrain.drivetrain_high_high],
+ namespaces=['y2015_bot3', 'control_loops'])
+
+ if argv[1][-3:] == '.cc':
+ dog_loop_writer.Write(argv[2], argv[1])
+ else:
+ dog_loop_writer.Write(argv[1], argv[2])
+
+ cim_writer = control_loop.ControlLoopWriter(
+ "CIM", [drivetrain.CIM()],
+ namespaces=['y2015_bot3', 'control_loops'])
+
+ if argv[5][-3:] == '.cc':
+ cim_writer.Write(argv[6], argv[5])
+ else:
+ cim_writer.Write(argv[5], argv[6])
+ return
+
+ vl_plot = []
+ vr_plot = []
+ ul_plot = []
+ ur_plot = []
+ radius_plot = []
+ t_plot = []
+ left_gear_plot = []
+ right_gear_plot = []
+ vdrivetrain.left_shifter_position = 0.0
+ vdrivetrain.right_shifter_position = 0.0
+ vdrivetrain.left_gear = VelocityDrivetrain.LOW
+ vdrivetrain.right_gear = VelocityDrivetrain.LOW
+
+ print "K is", vdrivetrain.CurrentDrivetrain().K
+
+ if vdrivetrain.left_gear is VelocityDrivetrain.HIGH:
+ print "Left is high"
+ else:
+ print "Left is low"
+ if vdrivetrain.right_gear is VelocityDrivetrain.HIGH:
+ print "Right is high"
+ else:
+ print "Right is low"
+
+ for t in numpy.arange(0, 1.7, vdrivetrain.dt):
+ if t < 0.5:
+ vdrivetrain.Update(throttle=0.00, steering=1.0)
+ elif t < 1.2:
+ vdrivetrain.Update(throttle=0.5, steering=1.0)
+ else:
+ vdrivetrain.Update(throttle=0.00, steering=1.0)
+ t_plot.append(t)
+ vl_plot.append(vdrivetrain.X[0, 0])
+ vr_plot.append(vdrivetrain.X[1, 0])
+ ul_plot.append(vdrivetrain.U[0, 0])
+ ur_plot.append(vdrivetrain.U[1, 0])
+ left_gear_plot.append((vdrivetrain.left_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+ right_gear_plot.append((vdrivetrain.right_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+
+ fwd_velocity = (vdrivetrain.X[1, 0] + vdrivetrain.X[0, 0]) / 2
+ turn_velocity = (vdrivetrain.X[1, 0] - vdrivetrain.X[0, 0])
+ if abs(fwd_velocity) < 0.0000001:
+ radius_plot.append(turn_velocity)
+ else:
+ radius_plot.append(turn_velocity / fwd_velocity)
+
+ cim_velocity_plot = []
+ cim_voltage_plot = []
+ cim_time = []
+ cim = drivetrain.CIM()
+ R = numpy.matrix([[300]])
+ for t in numpy.arange(0, 0.5, cim.dt):
+ U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)
+ cim.Update(U)
+ cim_velocity_plot.append(cim.X[0, 0])
+ cim_voltage_plot.append(U[0, 0] * 10)
+ cim_time.append(t)
+ pylab.plot(cim_time, cim_velocity_plot, label='cim spinup')
+ pylab.plot(cim_time, cim_voltage_plot, label='cim voltage')
+ pylab.legend()
+ pylab.show()
+
+ # TODO(austin):
+ # Shifting compensation.
+
+ # Tighten the turn.
+ # Closed loop drive.
+
+ pylab.plot(t_plot, vl_plot, label='left velocity')
+ pylab.plot(t_plot, vr_plot, label='right velocity')
+ pylab.plot(t_plot, ul_plot, label='left voltage')
+ pylab.plot(t_plot, ur_plot, label='right voltage')
+ pylab.plot(t_plot, radius_plot, label='radius')
+ pylab.plot(t_plot, left_gear_plot, label='left gear high')
+ pylab.plot(t_plot, right_gear_plot, label='right gear high')
+ pylab.legend()
+ pylab.show()
+ return 0
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2015_bot3/control_loops/python/polydrivetrain_test.py b/y2015_bot3/control_loops/python/polydrivetrain_test.py
new file mode 100755
index 0000000..434cdca
--- /dev/null
+++ b/y2015_bot3/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+import polydrivetrain
+import numpy
+from numpy.testing import *
+import polytope
+import unittest
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+class TestVelocityDrivetrain(unittest.TestCase):
+ def MakeBox(self, x1_min, x1_max, x2_min, x2_max):
+ H = numpy.matrix([[1, 0],
+ [-1, 0],
+ [0, 1],
+ [0, -1]])
+ K = numpy.matrix([[x1_max],
+ [-x1_min],
+ [x2_max],
+ [-x2_min]])
+ return polytope.HPolytope(H, K)
+
+ def test_coerce_inside(self):
+ """Tests coercion when the point is inside the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w,
+ numpy.matrix([[1.5], [1.5]])),
+ numpy.matrix([[1.5], [1.5]]))
+
+ def test_coerce_outside_intersect(self):
+ """Tests coercion when the line intersects the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_outside_no_intersect(self):
+ """Tests coercion when the line does not intersect the box."""
+ box = self.MakeBox(3, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[3.0], [2.0]]))
+
+ def test_coerce_middle_of_edge(self):
+ """Tests coercion when the line intersects the middle of an edge."""
+ box = self.MakeBox(0, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[-1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_perpendicular_line(self):
+ """Tests coercion when the line does not intersect and is in quadrant 2."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = -x2
+ K = numpy.matrix([[1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[1.0], [1.0]]))
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/y2015_bot3/control_loops/update_drivetrain.sh b/y2015_bot3/control_loops/update_drivetrain.sh
new file mode 100755
index 0000000..b5757d3
--- /dev/null
+++ b/y2015_bot3/control_loops/update_drivetrain.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+#
+# Updates the drivetrain controllers.
+
+cd $(dirname $0)
+
+export PYTHONPATH=../../frc971/control_loops/python
+
+./python/drivetrain.py drivetrain/drivetrain_dog_motor_plant.h \
+ drivetrain/drivetrain_dog_motor_plant.cc \
+ drivetrain/drivetrain_clutch_motor_plant.h \
+ drivetrain/drivetrain_clutch_motor_plant.cc
diff --git a/y2015_bot3/control_loops/update_elevator.sh b/y2015_bot3/control_loops/update_elevator.sh
new file mode 100755
index 0000000..4f0e359
--- /dev/null
+++ b/y2015_bot3/control_loops/update_elevator.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+#
+# Updates the elevator controllers.
+
+cd $(dirname $0)
+
+export PYTHONPATH=../../frc971/control_loops/python
+
+./python/elevator3.py elevator/elevator_motor_plant.h \
+ elevator/elevator_motor_plant.cc elevator/integral_elevator_motor_plant.cc elevator/integral_elevator_motor_plant.h
diff --git a/y2015_bot3/control_loops/update_polydrivetrain.sh b/y2015_bot3/control_loops/update_polydrivetrain.sh
new file mode 100755
index 0000000..b1bb2b4
--- /dev/null
+++ b/y2015_bot3/control_loops/update_polydrivetrain.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+#
+# Updates the polydrivetrain controllers and CIM models.
+
+cd $(dirname $0)
+
+export PYTHONPATH=../../frc971/control_loops/python
+
+./python/polydrivetrain.py drivetrain/polydrivetrain_dog_motor_plant.h \
+ drivetrain/polydrivetrain_dog_motor_plant.cc \
+ drivetrain/polydrivetrain_clutch_motor_plant.h \
+ drivetrain/polydrivetrain_clutch_motor_plant.cc \
+ drivetrain/polydrivetrain_cim_plant.h \
+ drivetrain/polydrivetrain_cim_plant.cc
diff --git a/y2015_bot3/joystick_reader.cc b/y2015_bot3/joystick_reader.cc
new file mode 100644
index 0000000..0d00e5c
--- /dev/null
+++ b/y2015_bot3/joystick_reader.cc
@@ -0,0 +1,386 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <math.h>
+
+#include "aos/linux_code/init.h"
+#include "aos/prime/input/joystick_input.h"
+#include "aos/common/input/driver_station_data.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/common/time.h"
+#include "aos/common/actions/actions.h"
+
+#include "frc971/queues/gyro.q.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::y2015_bot3::control_loops::elevator_queue;
+using ::y2015_bot3::control_loops::intake_queue;
+using ::frc971::sensors::gyro_reading;
+
+using ::aos::input::driver_station::ButtonLocation;
+using ::aos::input::driver_station::POVLocation;
+using ::aos::input::driver_station::JoystickAxis;
+using ::aos::input::driver_station::ControlBit;
+
+namespace y2015_bot3 {
+namespace input {
+namespace joysticks {
+
+struct ProfileParams {
+ double velocity;
+ double acceleration;
+};
+
+// Preset motion limits.
+constexpr ProfileParams kElevatorMove{0.3, 1.0};
+constexpr ProfileParams kFastElevatorMove{1.0, 5.0};
+
+// Preset goals for autostacking
+constexpr double kOneToteHeight{0.46};
+constexpr double kCarryHeight{0.180};
+constexpr double kGroundHeight{0.030};
+
+// Joystick & button addresses.
+const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
+const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
+const ButtonLocation kQuickTurn(1, 5);
+
+// essential
+const ButtonLocation kMoveToteHeight(4, 9);
+const ButtonLocation kOpenIntake(3, 8);
+const ButtonLocation kCloseIntake(3, 6);
+const ButtonLocation kOpenCanRestraint(4, 5);
+const ButtonLocation kCloseCanRestraint(4, 1);
+const POVLocation kOpenPassiveSupport(4, 0);
+const POVLocation kClosePassiveSupport(4, 180);
+
+const ButtonLocation kIntakeOut(3, 7);
+const ButtonLocation kIntakeIn(4, 12);
+
+const ButtonLocation kAutoStack(4, 7);
+const ButtonLocation kManualStack(4, 6);
+
+const ButtonLocation kCarry(4, 10);
+const ButtonLocation kSetDown(3, 9);
+const ButtonLocation kSkyscraper(4, 11);
+
+const ButtonLocation kScoreBegin(4, 8);
+
+const ButtonLocation kCanGrabberLift(3, 2);
+const ButtonLocation kFastCanGrabberLift(2, 3);
+const ButtonLocation kCanGrabberLower(3, 5);
+
+class Reader : public ::aos::input::JoystickInput {
+ public:
+ Reader() : was_running_(false) {}
+
+ virtual void RunIteration(const ::aos::input::driver_station::Data &data) {
+ bool last_auto_running = auto_running_;
+ auto_running_ = data.GetControlBit(ControlBit::kAutonomous) &&
+ data.GetControlBit(ControlBit::kEnabled);
+ if (auto_running_ != last_auto_running) {
+ if (auto_running_) {
+ StartAuto();
+ } else {
+ StopAuto();
+ }
+ intake_closed_ = true;
+ can_restraint_open_ = false;
+ passive_support_open_ = true;
+ }
+
+ if (!data.GetControlBit(ControlBit::kAutonomous)) {
+ HandleDrivetrain(data);
+ HandleTeleop(data);
+ }
+ }
+
+ void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+ const double wheel = -data.GetAxis(kSteeringWheel);
+ const double throttle = -data.GetAxis(kDriveThrottle);
+
+ if (!drivetrain_queue.goal.MakeWithBuilder()
+ .steering(wheel)
+ .throttle(throttle)
+ .quickturn(data.IsPressed(kQuickTurn))
+ .control_loop_driving(false)
+ .Send()) {
+ LOG(WARNING, "sending stick values failed\n");
+ }
+ }
+
+ void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ double intake_goal = 0;
+
+ if (!data.GetControlBit(ControlBit::kEnabled)) {
+ action_queue_.CancelAllActions();
+ LOG(DEBUG, "Canceling\n");
+ }
+
+ elevator_queue.status.FetchLatest();
+ if (!elevator_queue.status.get()) {
+ LOG(ERROR, "Got no elevator status packet.\n");
+ }
+
+ if (elevator_queue.status.get() && elevator_queue.status->zeroed) {
+ if (waiting_for_zero_) {
+ LOG(INFO, "Zeroed! Starting teleop mode.\n");
+ waiting_for_zero_ = false;
+
+ // Set the initial goals to the bottom, since otherwise the driver seems
+ // to get confused and think that the end of the zeroing sequence is the
+ // same location and then wonders why it doesn't work...
+ elevator_goal_ = kGroundHeight;
+ }
+ } else {
+ waiting_for_zero_ = true;
+ }
+
+ if (data.PosEdge(kAutoStack)) {
+ action_queue_.CancelAllActions();
+ if (tote_count_ == 6) {
+ stacking_state_machine_ = FULL;
+ } else {
+ stacking_state_machine_ = WAITING;
+ }
+ }
+ if (data.IsPressed(kAutoStack)) {
+ switch (stacking_state_machine_) {
+ case WAITING:
+ elevator_params_ = kFastElevatorMove;
+ elevator_goal_ = kOneToteHeight;
+ if (elevator_queue.status->has_tote) {
+ stacking_state_machine_ = GOING_DOWN;
+ }
+ break;
+ case GOING_DOWN:
+ elevator_params_ = kFastElevatorMove;
+ elevator_goal_ = kGroundHeight;
+ if (elevator_queue.status->height < 0.05) {
+ ++tote_count_;
+ if (tote_count_ == 6) {
+ stacking_state_machine_ = FULL;
+ } else {
+ stacking_state_machine_ = GOING_UP;
+ }
+ }
+ break;
+ case GOING_UP:
+ elevator_params_ = kFastElevatorMove;
+ elevator_goal_ = kOneToteHeight;
+ if (elevator_queue.status->height > kOneToteHeight - 0.05) {
+ stacking_state_machine_ = WAITING;
+ }
+ break;
+ case FULL:
+ elevator_goal_ = kCarryHeight;
+ elevator_params_ = kFastElevatorMove;
+ break;
+ case OFF:
+ stacking_state_machine_ = WAITING;
+ break;
+ }
+ } else {
+ stacking_state_machine_ = OFF;
+ }
+
+ // Buttons for intaking.
+ if (data.IsPressed(kIntakeIn)) {
+ intake_goal = 10.0;
+ if (stacking_state_machine_ != OFF &&
+ elevator_queue.status->height < 0.43) {
+ intake_goal = 0.0;
+ }
+ } else if (data.IsPressed(kIntakeOut)) {
+ intake_goal = -10.0;
+
+ action_queue_.CancelAllActions();
+ }
+ // TODO(Adam): Implement essential actors/goals.
+ if (data.PosEdge(kMoveToteHeight)) {
+ elevator_goal_ = 0.45;
+ elevator_params_ = {1.0, 5.0};
+ action_queue_.CancelAllActions();
+ }
+
+ if (data.IsPressed(kOpenIntake)) {
+ intake_closed_ = false;
+ }
+
+ if (data.IsPressed(kCloseIntake)) {
+ intake_closed_ = true;
+ }
+
+ if (data.IsPressed(kOpenCanRestraint)) {
+ can_restraint_open_ = true;
+ }
+
+ if (data.IsPressed(kCloseCanRestraint)) {
+ can_restraint_open_ = false;
+ }
+
+ if (data.IsPressed(kOpenPassiveSupport)) {
+ passive_support_open_ = true;
+ }
+
+ if (data.IsPressed(kClosePassiveSupport)) {
+ passive_support_open_ = false;
+ }
+
+ // Buttons for elevator.
+ if (data.IsPressed(kCarry)) {
+ // TODO(comran): Get actual height/velocity/acceleration values.
+ elevator_goal_ = 0.180;
+ elevator_params_ = {1.0, 2.0};
+ action_queue_.CancelAllActions();
+ }
+
+ if (data.IsPressed(kSetDown)) {
+ // TODO(comran): Get actual height/velocity/acceleration values.
+ elevator_goal_ = 0.005;
+ elevator_params_ = {1.0, 5.0};
+ action_queue_.CancelAllActions();
+ }
+
+ if (data.IsPressed(kSkyscraper)) {
+ // TODO(comran): Get actual height/velocity/acceleration values.
+ elevator_goal_ = 1.0;
+ elevator_params_ = {1.0, 5.0};
+ }
+
+ if (data.IsPressed(kScoreBegin)) {
+ // TODO(comran): Get actual height/velocity/acceleration values.
+ elevator_goal_ = 0.005;
+ elevator_params_ = {1.0, 5.0};
+ intake_closed_ = false;
+ can_restraint_open_ = true;
+ passive_support_open_ = true;
+ tote_count_ = 0;
+ }
+
+ // Buttons for can grabber.
+ if (data.IsPressed(kCanGrabberLift)) {
+ ::y2015_bot3::autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(-3)
+ .can_grabbers(false)
+ .Send();
+ } else if (data.IsPressed(kFastCanGrabberLift)) {
+ ::y2015_bot3::autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(-12).can_grabbers(false).Send();
+ } else if (data.IsPressed(kCanGrabberLower)) {
+ if (grab_delay_ > 5) {
+ ::y2015_bot3::autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(2).can_grabbers(true).Send();
+ } else {
+ ::y2015_bot3::autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(0).can_grabbers(true).Send();
+ }
+ ++grab_delay_;
+ } else {
+ grab_delay_ = 0;
+ }
+
+ // Send our goals if everything looks OK.
+ if (!waiting_for_zero_) {
+ if (!action_queue_.Running()) {
+ // Send our elevator goals, with limits set in the profile params.
+ auto new_elevator_goal = elevator_queue.goal.MakeMessage();
+ new_elevator_goal->max_velocity = elevator_params_.velocity;
+ new_elevator_goal->max_acceleration = elevator_params_.acceleration;
+ new_elevator_goal->height = elevator_goal_;
+ new_elevator_goal->velocity = 0.0;
+ new_elevator_goal->passive_support = passive_support_open_;
+ new_elevator_goal->can_support = can_restraint_open_;
+
+ if (new_elevator_goal.Send()) {
+ LOG(DEBUG, "sending goals: elevator: %f\n", elevator_goal_);
+ } else {
+ LOG(ERROR, "Sending elevator goal failed.\n");
+ }
+ }
+ }
+
+ // Send our intake goals.
+ if (!intake_queue.goal.MakeWithBuilder().movement(intake_goal)
+ .claw_closed(intake_closed_).Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ // If an action is running, use the action's goals for the profiled
+ // superstructure subsystems & bypass others.
+ if (action_queue_.Running()) {
+ control_loops::elevator_queue.status.FetchLatest();
+ if (control_loops::elevator_queue.status.get()) {
+ elevator_goal_ = control_loops::elevator_queue.status->goal_height;
+ } else {
+ LOG(ERROR, "No elevator status!\n");
+ }
+ }
+ action_queue_.Tick();
+ was_running_ = action_queue_.Running();
+ }
+
+ private:
+ void StartAuto() {
+ LOG(INFO, "Starting auto mode\n");
+ ::y2015_bot3::autonomous::autonomous.MakeWithBuilder().run_auto(true).Send();
+ }
+
+ void StopAuto() {
+ LOG(INFO, "Stopping auto mode\n");
+ ::y2015_bot3::autonomous::autonomous.MakeWithBuilder().run_auto(false).Send();
+ }
+
+ bool was_running_;
+
+ double elevator_goal_ = 0.2;
+
+ ProfileParams elevator_params_ = kElevatorMove;
+
+ // If we're waiting for the subsystems to zero.
+ bool waiting_for_zero_ = true;
+
+ bool auto_running_ = false;
+
+ bool intake_closed_ = false;
+
+ bool can_restraint_open_ = true;
+
+ bool passive_support_open_ = true;
+
+ int tote_count_ = 0;
+
+ ::aos::common::actions::ActionQueue action_queue_;
+
+ enum StackingStateMachine {
+ WAITING,
+ GOING_DOWN,
+ GOING_UP,
+ FULL,
+ OFF
+ };
+
+ StackingStateMachine stacking_state_machine_;
+
+ ::aos::util::SimpleLogInterval no_drivetrain_status_ =
+ ::aos::util::SimpleLogInterval(::aos::time::Time::InSeconds(0.2), WARNING,
+ "no drivetrain status");
+ int grab_delay_ = 0;
+};
+
+} // namespace joysticks
+} // namespace input
+} // namespace y2015_bot3
+
+int main() {
+ ::aos::Init();
+ ::y2015_bot3::input::joysticks::Reader reader;
+ reader.Run();
+ ::aos::Cleanup();
+}
diff --git a/y2015_bot3/prime/BUILD b/y2015_bot3/prime/BUILD
new file mode 100644
index 0000000..7f30673
--- /dev/null
+++ b/y2015_bot3/prime/BUILD
@@ -0,0 +1,20 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/prime/downloader/downloader', 'aos_downloader')
+
+aos_downloader(
+ name = 'download',
+ start_srcs = [
+ '//aos:prime_start_binaries',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain',
+ '//y2015_bot3/control_loops/intake:intake',
+ '//y2015_bot3:joystick_reader',
+ '//y2015_bot3/control_loops/elevator:elevator',
+ '//y2015_bot3/autonomous:auto',
+ '//y2015_bot3/actors:binaries',
+ '//y2015_bot3/wpilib:wpilib_interface',
+ ],
+ srcs = [
+ '//aos:prime_binaries',
+ ],
+)
diff --git a/y2015_bot3/prime/build.sh b/y2015_bot3/prime/build.sh
new file mode 100755
index 0000000..9586590
--- /dev/null
+++ b/y2015_bot3/prime/build.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+cd $(dirname $0)
+
+exec ../../aos/build/build.py $0 prime bot3 prime.gyp "$@"
diff --git a/y2015_bot3/prime/prime.gyp b/y2015_bot3/prime/prime.gyp
new file mode 100644
index 0000000..bbc59ad
--- /dev/null
+++ b/y2015_bot3/prime/prime.gyp
@@ -0,0 +1,40 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'All',
+ 'type': 'none',
+ 'dependencies': [
+ '../../frc971/frc971.gyp:All',
+
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop_test',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:position_sensor_sim_test',
+ '../control_loops/drivetrain/drivetrain.gyp:drivetrain_bot3',
+ '../control_loops/drivetrain/drivetrain.gyp:drivetrain_lib_test_bot3',
+ '../control_loops/drivetrain/drivetrain.gyp:replay_drivetrain_bot3',
+ '../control_loops/intake/intake.gyp:intake',
+ '../control_loops/intake/intake.gyp:intake_lib_test',
+ '../bot3.gyp:joystick_reader_bot3',
+ '../control_loops/elevator/elevator.gyp:elevator',
+ '../control_loops/elevator/elevator.gyp:elevator_lib_test',
+ #'../control_loops/elevator/elevator.gyp:replay_elevator',
+ '../autonomous/autonomous.gyp:auto_bot3',
+ '../actors/actors.gyp:binaries',
+ ],
+ 'copies': [
+ {
+ 'destination': '<(rsync_dir)',
+ 'files': [
+ 'start_list.txt',
+ ],
+ },
+ ],
+ 'conditions': [
+ ['ARCHITECTURE=="arm_frc"', {
+ 'dependencies': [
+ '../wpilib/wpilib.gyp:wpilib_interface_bot3',
+ ],
+ }],
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/wpilib/BUILD b/y2015_bot3/wpilib/BUILD
new file mode 100644
index 0000000..3e7453b
--- /dev/null
+++ b/y2015_bot3/wpilib/BUILD
@@ -0,0 +1,32 @@
+package(default_visibility = ['//visibility:public'])
+
+cc_binary(
+ name = 'wpilib_interface',
+ srcs = [
+ 'wpilib_interface.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ '//aos/common:stl_mutex',
+ '//aos/common/logging',
+ '//aos/externals:wpilib',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:log_interval',
+ '//aos/common:time',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/messages:robot_state',
+ '//aos/common/util:phased_loop',
+ '//aos/common/util:wrapping_counter',
+ '//frc971/wpilib:joystick_sender',
+ '//frc971/wpilib:loop_output_handler',
+ '//frc971/wpilib:buffered_pcm',
+ '//frc971/wpilib:gyro_sender',
+ '//frc971/control_loops:queues',
+ '//frc971/wpilib:logging_queue',
+ '//y2015_bot3/autonomous:auto_queue',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_lib',
+ '//y2015_bot3/control_loops/elevator:elevator_lib',
+ '//y2015_bot3/control_loops/intake:intake_lib',
+ ],
+)
diff --git a/y2015_bot3/wpilib/wpilib.gyp b/y2015_bot3/wpilib/wpilib.gyp
new file mode 100644
index 0000000..81f2e9a
--- /dev/null
+++ b/y2015_bot3/wpilib/wpilib.gyp
@@ -0,0 +1,36 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'wpilib_interface_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'wpilib_interface.cc'
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ '<(AOS)/common/common.gyp:stl_mutex',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(EXTERNALS):WPILib',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(AOS)/common/util/util.gyp:log_interval',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ '<(AOS)/common/messages/messages.gyp:robot_state',
+ '<(AOS)/common/util/util.gyp:phased_loop',
+ '<(AOS)/common/messages/messages.gyp:robot_state',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:hall_effect',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:joystick_sender',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:loop_output_handler',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:buffered_pcm',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:gyro_sender',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+ '<(DEPTH)/frc971/wpilib/wpilib.gyp:logging_queue',
+ '<(DEPTH)/bot3/autonomous/autonomous.gyp:auto_queue',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_lib',
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_lib',
+ '<(DEPTH)/bot3/control_loops/intake/intake.gyp:intake_lib',
+ ],
+ },
+ ],
+}
diff --git a/y2015_bot3/wpilib/wpilib_interface.cc b/y2015_bot3/wpilib/wpilib_interface.cc
new file mode 100644
index 0000000..f43fe8e
--- /dev/null
+++ b/y2015_bot3/wpilib/wpilib_interface.cc
@@ -0,0 +1,556 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include <thread>
+#include <mutex>
+#include <functional>
+
+#include "Encoder.h"
+#include "Talon.h"
+#include "DriverStation.h"
+#include "AnalogInput.h"
+#include "Compressor.h"
+#include "Relay.h"
+#include "RobotBase.h"
+#include "dma.h"
+#include "ControllerPower.h"
+#ifndef WPILIB2015
+#include "DigitalGlitchFilter.h"
+#endif
+#include "DigitalInput.h"
+#undef ERROR
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/util/wrapping_counter.h"
+#include "aos/common/stl_mutex.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/messages/robot_state.q.h"
+
+#include "frc971/control_loops/control_loops.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/logging.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+#include "y2015_bot3/control_loops/intake/intake.h"
+
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+using ::aos::util::SimpleLogInterval;
+using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::y2015_bot3::control_loops::elevator_queue;
+using ::y2015_bot3::control_loops::intake_queue;
+using ::frc971::wpilib::BufferedPcm;
+using ::frc971::wpilib::BufferedSolenoid;
+using ::frc971::wpilib::LoopOutputHandler;
+using ::frc971::wpilib::JoystickSender;
+using ::frc971::wpilib::GyroSender;
+
+namespace y2015_bot3 {
+namespace wpilib {
+
+double drivetrain_translate(int32_t in) {
+ return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
+ ::y2015_bot3::control_loops::kDrivetrainEncoderRatio *
+ (4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+}
+
+double elevator_translate(int32_t in) {
+ return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
+ ::y2015_bot3::control_loops::kElevEncoderRatio * (2 * M_PI /*radians*/) *
+ ::y2015_bot3::control_loops::kElevChainReduction *
+ ::y2015_bot3::control_loops::kElevGearboxOutputRadianDistance;
+}
+
+static const double kMaximumEncoderPulsesPerSecond =
+ 4650.0 /* free speed RPM */ * 18.0 / 48.0 /* belt reduction */ /
+ 60.0 /* seconds / minute */ * 512.0 /* CPR */ *
+ 4.0 /* index pulse = 1/4 cycle */;
+
+// Reads in our inputs. (sensors, voltages, etc.)
+class SensorReader {
+ public:
+ SensorReader() {
+ // Set it to filter out anything shorter than 1/4 of the minimum pulse width
+ // we should ever see.
+ filter_.SetPeriodNanoSeconds(
+ static_cast<int>(1 / 4.0 / kMaximumEncoderPulsesPerSecond * 1e9 + 0.5));
+ }
+
+ // Drivetrain setters.
+ void set_left_encoder(::std::unique_ptr<Encoder> left_encoder) {
+ left_encoder_ = ::std::move(left_encoder);
+ }
+
+ void set_right_encoder(::std::unique_ptr<Encoder> right_encoder) {
+ right_encoder_ = ::std::move(right_encoder);
+ }
+
+ // Elevator setters.
+ void set_elevator_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ elevator_encoder_ = ::std::move(encoder);
+ }
+
+ void set_elevator_zeroing_hall_effect(::std::unique_ptr<DigitalInput> hall) {
+ zeroing_hall_effect_ = ::std::move(hall);
+ }
+
+ void set_elevator_tote_sensor(::std::unique_ptr<AnalogInput> tote_sensor) {
+ tote_sensor_ = ::std::move(tote_sensor);
+ }
+
+ void operator()() {
+ LOG(INFO, "In sensor reader thread\n");
+ ::aos::SetCurrentThreadName("SensorReader");
+
+ my_pid_ = getpid();
+ ds_ =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
+
+ LOG(INFO, "Things are now started\n");
+
+ ::aos::SetCurrentThreadRealtimePriority(kPriority);
+ while (run_) {
+ ::aos::time::PhasedLoopXMS(5, 4000);
+ RunIteration();
+ }
+ }
+
+ void RunIteration() {
+ // General
+ {
+ auto new_state = ::aos::robot_state.MakeMessage();
+
+ new_state->reader_pid = my_pid_;
+ new_state->outputs_enabled = ds_->IsSysActive();
+ new_state->browned_out = ds_->IsSysBrownedOut();
+
+ new_state->is_3v3_active = ControllerPower::GetEnabled3V3();
+ new_state->is_5v_active = ControllerPower::GetEnabled5V();
+ new_state->voltage_3v3 = ControllerPower::GetVoltage3V3();
+ new_state->voltage_5v = ControllerPower::GetVoltage5V();
+
+ new_state->voltage_roborio_in = ControllerPower::GetInputVoltage();
+ new_state->voltage_battery = ds_->GetBatteryVoltage();
+
+ LOG_STRUCT(DEBUG, "robot_state", *new_state);
+
+ new_state.Send();
+ }
+
+ // Drivetrain
+ {
+ auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+ drivetrain_message->right_encoder =
+ -drivetrain_translate(right_encoder_->GetRaw());
+ drivetrain_message->left_encoder =
+ drivetrain_translate(left_encoder_->GetRaw());
+
+ drivetrain_message.Send();
+ }
+
+ // Elevator
+ {
+ // Update control loop positions.
+ auto elevator_message = elevator_queue.position.MakeMessage();
+ elevator_message->encoder =
+ elevator_translate(elevator_encoder_->GetRaw());
+ elevator_message->bottom_hall_effect = !zeroing_hall_effect_->Get();
+ elevator_message->has_tote = tote_sensor_->GetVoltage() > 2.5;
+
+ elevator_message.Send();
+ }
+
+ // Intake
+ {
+ auto intake_message = intake_queue.position.MakeMessage();
+ intake_message.Send();
+ }
+ }
+
+ void Quit() { run_ = false; }
+
+ private:
+ static const int kPriority = 30;
+ static const int kInterruptPriority = 55;
+
+ int32_t my_pid_;
+ DriverStation *ds_;
+
+ ::std::unique_ptr<Encoder> left_encoder_, right_encoder_, elevator_encoder_;
+ ::std::unique_ptr<DigitalInput> zeroing_hall_effect_;
+ ::std::unique_ptr<AnalogInput> tote_sensor_;
+
+ ::std::atomic<bool> run_{true};
+ DigitalGlitchFilter filter_;
+};
+
+// Writes out our pneumatic outputs.
+class SolenoidWriter {
+ public:
+ SolenoidWriter(const ::std::unique_ptr< ::frc971::wpilib::BufferedPcm> &pcm)
+ : pcm_(pcm),
+ elevator_(".y2015_bot3.control_loops.elevator_queue.output"),
+ intake_(".y2015_bot3.control_loops.intake_queue.output"),
+ can_grabber_control_(".y2015_bot3.autonomous.can_grabber_control") {}
+
+ void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
+ pressure_switch_ = ::std::move(pressure_switch);
+ }
+
+ void set_compressor_relay(::std::unique_ptr<Relay> compressor_relay) {
+ compressor_relay_ = ::std::move(compressor_relay);
+ }
+
+ void set_elevator_passive_support(
+ ::std::unique_ptr<BufferedSolenoid> elevator_passive_support) {
+ elevator_passive_support_ = ::std::move(elevator_passive_support);
+ }
+
+ void set_can_grabber(::std::unique_ptr<BufferedSolenoid> can_grabber) {
+ can_grabber_ = ::std::move(can_grabber);
+ }
+
+ void set_elevator_can_support(
+ ::std::unique_ptr<BufferedSolenoid> elevator_can_support) {
+ elevator_can_support_ = ::std::move(elevator_can_support);
+ }
+
+ void set_intake_claw(::std::unique_ptr<BufferedSolenoid> intake_claw) {
+ intake_claw_ = ::std::move(intake_claw);
+ }
+
+ void operator()() {
+ ::aos::SetCurrentThreadName("Solenoids");
+ ::aos::SetCurrentThreadRealtimePriority(30);
+
+ while (run_) {
+ ::aos::time::PhasedLoopXMS(20, 1000);
+
+ // Can Grabber
+ {
+ can_grabber_control_.FetchLatest();
+ if (can_grabber_control_.get()) {
+ LOG_STRUCT(DEBUG, "solenoids", *can_grabber_control_);
+ can_grabber_->Set(can_grabber_control_->can_grabbers);
+ }
+ }
+
+ // Elevator
+ {
+ elevator_.FetchLatest();
+ if (elevator_.get()) {
+ LOG_STRUCT(DEBUG, "solenoids", *elevator_);
+ elevator_passive_support_->Set(!elevator_->passive_support);
+ elevator_can_support_->Set(!elevator_->can_support);
+ }
+ }
+
+ // Intake
+ {
+ intake_.FetchLatest();
+ if (intake_.get()) {
+ LOG_STRUCT(DEBUG, "solenoids", *intake_);
+ intake_claw_->Set(intake_->claw_closed);
+ }
+ }
+
+ // Compressor
+ ::aos::joystick_state.FetchLatest();
+ {
+ ::frc971::wpilib::PneumaticsToLog to_log;
+ {
+ // Refill if pneumatic pressure goes too low.
+ const bool compressor_on = !pressure_switch_->Get();
+ to_log.compressor_on = compressor_on;
+ if (compressor_on) {
+ compressor_relay_->Set(Relay::kForward);
+ } else {
+ compressor_relay_->Set(Relay::kOff);
+ }
+ }
+
+ pcm_->Flush();
+ to_log.read_solenoids = pcm_->GetAll();
+ LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+ }
+ }
+ }
+
+ void Quit() { run_ = false; }
+
+ private:
+ const ::std::unique_ptr<BufferedPcm> &pcm_;
+
+ ::std::unique_ptr<BufferedSolenoid> elevator_passive_support_;
+ ::std::unique_ptr<BufferedSolenoid> elevator_can_support_;
+ ::std::unique_ptr<BufferedSolenoid> intake_claw_;
+ ::std::unique_ptr<BufferedSolenoid> can_grabber_;
+
+ ::std::unique_ptr<DigitalInput> pressure_switch_;
+ ::std::unique_ptr<Relay> compressor_relay_;
+
+ ::aos::Queue<::y2015_bot3::control_loops::ElevatorQueue::Output> elevator_;
+ ::aos::Queue<::y2015_bot3::control_loops::IntakeQueue::Output> intake_;
+ ::aos::Queue<::y2015_bot3::autonomous::CanGrabberControl> can_grabber_control_;
+
+ ::std::atomic<bool> run_{true};
+};
+
+// Writes out drivetrain voltages.
+class DrivetrainWriter : public LoopOutputHandler {
+ public:
+ void set_left_drivetrain_talon(::std::unique_ptr<Talon> t) {
+ left_drivetrain_talon_ = ::std::move(t);
+ }
+
+ void set_right_drivetrain_talon(::std::unique_ptr<Talon> t) {
+ right_drivetrain_talon_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::y2015_bot3::control_loops::drivetrain_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::y2015_bot3::control_loops::drivetrain_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ left_drivetrain_talon_->Set(queue->left_voltage / 12.0);
+ right_drivetrain_talon_->Set(-queue->right_voltage / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "drivetrain output too old\n");
+ left_drivetrain_talon_->Disable();
+ right_drivetrain_talon_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> left_drivetrain_talon_;
+ ::std::unique_ptr<Talon> right_drivetrain_talon_;
+};
+
+// Writes out elevator voltages.
+class ElevatorWriter : public LoopOutputHandler {
+ public:
+ void set_elevator_talon1(::std::unique_ptr<Talon> t) {
+ elevator_talon1_ = ::std::move(t);
+ }
+ void set_elevator_talon2(::std::unique_ptr<Talon> t) {
+ elevator_talon2_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::y2015_bot3::control_loops::elevator_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::y2015_bot3::control_loops::elevator_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ elevator_talon1_->Set(queue->elevator / 12.0);
+ elevator_talon2_->Set(-queue->elevator / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "Elevator output too old.\n");
+ elevator_talon1_->Disable();
+ elevator_talon2_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> elevator_talon1_;
+ ::std::unique_ptr<Talon> elevator_talon2_;
+};
+
+// Writes out intake voltages.
+class IntakeWriter : public LoopOutputHandler {
+ public:
+ void set_intake_talon1(::std::unique_ptr<Talon> t) {
+ intake_talon1_ = ::std::move(t);
+ }
+ void set_intake_talon2(::std::unique_ptr<Talon> t) {
+ intake_talon2_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::y2015_bot3::control_loops::intake_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::y2015_bot3::control_loops::intake_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ intake_talon1_->Set(queue->intake / 12.0);
+ intake_talon2_->Set(-queue->intake / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "Intake output too old.\n");
+ intake_talon1_->Disable();
+ intake_talon2_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> intake_talon1_;
+ ::std::unique_ptr<Talon> intake_talon2_;
+};
+
+// Writes out can grabber voltages.
+class CanGrabberWriter : public LoopOutputHandler {
+ public:
+ CanGrabberWriter() : LoopOutputHandler(::aos::time::Time::InSeconds(0.05)) {}
+
+ void set_can_grabber_talon1(::std::unique_ptr<Talon> t) {
+ can_grabber_talon1_ = ::std::move(t);
+ }
+
+ void set_can_grabber_talon2(::std::unique_ptr<Talon> t) {
+ can_grabber_talon2_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::y2015_bot3::autonomous::can_grabber_control.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::y2015_bot3::autonomous::can_grabber_control;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ can_grabber_talon1_->Set(queue->can_grabber_voltage / 12.0);
+ can_grabber_talon2_->Set(-queue->can_grabber_voltage / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "Can grabber output too old\n");
+ can_grabber_talon1_->Disable();
+ can_grabber_talon2_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> can_grabber_talon1_, can_grabber_talon2_;
+};
+
+// TODO(brian): Replace this with ::std::make_unique once all our toolchains
+// have support.
+template <class T, class... U>
+std::unique_ptr<T> make_unique(U &&... u) {
+ return std::unique_ptr<T>(new T(std::forward<U>(u)...));
+}
+
+class WPILibRobot : public RobotBase {
+ public:
+ ::std::unique_ptr<Encoder> encoder(int index) {
+ return make_unique<Encoder>(10 + index * 2, 11 + index * 2, false,
+ Encoder::k4X);
+ }
+ virtual void StartCompetition() {
+ ::aos::InitNRT();
+ ::aos::SetCurrentThreadName("StartCompetition");
+
+ JoystickSender joystick_sender;
+ ::std::thread joystick_thread(::std::ref(joystick_sender));
+
+ SensorReader reader;
+ LOG(INFO, "Creating the reader\n");
+
+ reader.set_elevator_encoder(encoder(6));
+ reader.set_elevator_zeroing_hall_effect(make_unique<DigitalInput>(6));
+
+ reader.set_left_encoder(encoder(0));
+ reader.set_right_encoder(encoder(1));
+ reader.set_elevator_tote_sensor(make_unique<AnalogInput>(0));
+
+ ::std::thread reader_thread(::std::ref(reader));
+ GyroSender gyro_sender;
+ ::std::thread gyro_thread(::std::ref(gyro_sender));
+
+ DrivetrainWriter drivetrain_writer;
+ drivetrain_writer.set_left_drivetrain_talon(
+ ::std::unique_ptr<Talon>(new Talon(0)));
+ drivetrain_writer.set_right_drivetrain_talon(
+ ::std::unique_ptr<Talon>(new Talon(7)));
+ ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
+
+ ElevatorWriter elevator_writer;
+ elevator_writer.set_elevator_talon1(::std::unique_ptr<Talon>(new Talon(1)));
+ elevator_writer.set_elevator_talon2(::std::unique_ptr<Talon>(new Talon(6)));
+ ::std::thread elevator_writer_thread(::std::ref(elevator_writer));
+
+ IntakeWriter intake_writer;
+ intake_writer.set_intake_talon1(::std::unique_ptr<Talon>(new Talon(2)));
+ intake_writer.set_intake_talon2(::std::unique_ptr<Talon>(new Talon(5)));
+ ::std::thread intake_writer_thread(::std::ref(intake_writer));
+
+ CanGrabberWriter can_grabber_writer;
+ can_grabber_writer.set_can_grabber_talon1(
+ ::std::unique_ptr<Talon>(new Talon(3)));
+ can_grabber_writer.set_can_grabber_talon2(
+ ::std::unique_ptr<Talon>(new Talon(4)));
+ ::std::thread can_grabber_writer_thread(::std::ref(can_grabber_writer));
+
+ ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
+ new ::frc971::wpilib::BufferedPcm());
+ SolenoidWriter solenoid_writer(pcm);
+ solenoid_writer.set_pressure_switch(make_unique<DigitalInput>(9));
+ solenoid_writer.set_compressor_relay(make_unique<Relay>(0));
+ solenoid_writer.set_elevator_passive_support(pcm->MakeSolenoid(0));
+ solenoid_writer.set_elevator_can_support(pcm->MakeSolenoid(1));
+ solenoid_writer.set_intake_claw(pcm->MakeSolenoid(2));
+ solenoid_writer.set_can_grabber(pcm->MakeSolenoid(3));
+ ::std::thread solenoid_thread(::std::ref(solenoid_writer));
+
+ // Wait forever. Not much else to do...
+ PCHECK(select(0, nullptr, nullptr, nullptr, nullptr));
+
+ LOG(ERROR, "Exiting WPILibRobot\n");
+
+ joystick_sender.Quit();
+ joystick_thread.join();
+ reader.Quit();
+ reader_thread.join();
+ gyro_sender.Quit();
+ gyro_thread.join();
+
+ drivetrain_writer.Quit();
+ drivetrain_writer_thread.join();
+
+ elevator_writer.Quit();
+ elevator_writer_thread.join();
+
+ intake_writer.Quit();
+ intake_writer_thread.join();
+
+ can_grabber_writer.Quit();
+ can_grabber_writer_thread.join();
+
+ solenoid_writer.Quit();
+ solenoid_thread.join();
+
+ ::aos::Cleanup();
+ }
+};
+
+} // namespace wpilib
+} // namespace y2015_bot3
+
+START_ROBOT_CLASS(::y2015_bot3::wpilib::WPILibRobot);