commit 6ea789ee91eac211e601931dcbc1a7e282cd8b01
author Austin Schuh <austin.linux@gmail.com> Sat Jul 27 13:45:53 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 03 22:08:35 2024 -0700
tree 79f73ede4ef2e0a1dd5b79e0a6692fd41322cb71
parent ee7457feb1c2720a665466cc4f815247ef66f731

Add initial velocity MPC

We actually get to a speed!  Need to sort out why steering
overshoots/undershoots, and test more cases when changing direction.

Change-Id: Icd321c1a79b96281f6226886db840bbaeab85142
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 3755ab4..e6a3798 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -131,13 +131,11 @@
         "dynamics.cc",
         "dynamics.h",
         "dynamics.py",
-        "numpy_dynamics.py",
     ],
     args = [
         "--output_base=$(BINDIR)/",
         "--cc_output_path=$(location :dynamics.cc)",
         "--h_output_path=$(location :dynamics.h)",
-        "--py_output_path=$(location :numpy_dynamics.py)",
         "--casadi_py_output_path=$(location :dynamics.py)",
     ],
     tool = ":generate_physics",
@@ -178,18 +176,15 @@
     ],
 )
 
-py_binary(
-    name = "dynamics_sim",
+py_library(
+    name = "dynamics",
     srcs = [
-        "dynamics_sim.py",
-        "numpy_dynamics.py",
+        "bigcaster_dynamics.py",
+        "dynamics.py",
+        "nocaster_dynamics.py",
     ],
     deps = [
-        "//frc971/control_loops/python:controls",
-        "@pip//matplotlib",
-        "@pip//numpy",
-        "@pip//pygobject",
-        "@pip//scipy",
+        "@pip//casadi",
     ],
 )
 
@@ -200,21 +195,25 @@
     ],
     target_compatible_with = ["@platforms//cpu:x86_64"],
     deps = [
+        ":dynamics",
         ":physics_test_utils",
         "@pip//casadi",
         "@pip//numpy",
     ],
 )
 
-py_library(
-    name = "dynamics",
+py_binary(
+    name = "casadi_velocity_mpc",
     srcs = [
-        "bigcaster_dynamics.py",
-        "dynamics.py",
-        "nocaster_dynamics.py",
+        "casadi_velocity_mpc.py",
     ],
     deps = [
+        ":dynamics",
         "@pip//casadi",
+        "@pip//matplotlib",
+        "@pip//numpy",
+        "@pip//pygobject",
+        "@pip//scipy",
     ],
 )