Added a start at a fridge.
Change-Id: I5bab9686f966368161ede528ff7abf038d7bcb9a
diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index a226915..d2e7bbf 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -1,26 +1,479 @@
#include "frc971/control_loops/fridge/fridge.h"
+#include <cmath>
+
#include "aos/common/controls/control_loops.q.h"
#include "aos/common/logging/logging.h"
#include "frc971/control_loops/fridge/elevator_motor_plant.h"
#include "frc971/control_loops/fridge/arm_motor_plant.h"
+#include "frc971/zeroing/zeroing.h"
+
+#include "frc971/constants.h"
namespace frc971 {
namespace control_loops {
+constexpr double Fridge::dt;
+
+namespace {
+constexpr double kZeroingVoltage = 1.0;
+constexpr double kElevatorZeroingVelocity = 0.1;
+constexpr double kArmZeroingVelocity = 0.1;
+} // namespace
+
+
+void CappedStateFeedbackLoop::CapU() {
+ // TODO(austin): Use Campbell's code.
+ if (mutable_U(0, 0) > max_voltage_) {
+ mutable_U(0, 0) = max_voltage_;
+ }
+ if (mutable_U(1, 0) > max_voltage_) {
+ mutable_U(1, 0) = max_voltage_;
+ }
+ if (mutable_U(0, 0) < -max_voltage_) {
+ mutable_U(0, 0) = -max_voltage_;
+ }
+ if (mutable_U(1, 0) < -max_voltage_) {
+ mutable_U(1, 0) = -max_voltage_;
+ }
+}
+
+Eigen::Matrix<double, 2, 1>
+CappedStateFeedbackLoop::UnsaturateOutputGoalChange() {
+ // Compute the K matrix used to compensate for position errors.
+ Eigen::Matrix<double, 2, 2> Kp;
+ Kp.setZero();
+ Kp.col(0) = K().col(0);
+ Kp.col(1) = K().col(2);
+
+ Eigen::Matrix<double, 2, 2> Kp_inv = Kp.inverse();
+
+ // Compute how much we need to change R in order to achieve the change in U
+ // that was observed.
+ Eigen::Matrix<double, 2, 1> deltaR = -Kp_inv * (U_uncapped() - U());
+ return deltaR;
+}
+
Fridge::Fridge(control_loops::FridgeQueue *fridge)
: aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge),
- arm_loop_(new StateFeedbackLoop<4, 2, 2>(MakeArmLoop())),
- elev_loop_(new StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop())) {}
+ arm_loop_(new CappedStateFeedbackLoop(
+ StateFeedbackLoop<4, 2, 2>(MakeArmLoop()))),
+ elevator_loop_(new CappedStateFeedbackLoop(
+ StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop()))),
+ left_arm_estimator_(constants::GetValues().left_arm_zeroing_constants),
+ right_arm_estimator_(constants::GetValues().right_arm_zeroing_constants),
+ left_elevator_estimator_(
+ constants::GetValues().left_elevator_zeroing_constants),
+ right_elevator_estimator_(
+ constants::GetValues().right_elevator_zeroing_constants) {}
-void Fridge::RunIteration(
- const control_loops::FridgeQueue::Goal * /*goal*/,
- const control_loops::FridgeQueue::Position * /*position*/,
- control_loops::FridgeQueue::Output * /*output*/,
- control_loops::FridgeQueue::Status * /*status*/) {
+void Fridge::UpdateZeroingState() {
+ if (left_elevator_estimator_.offset_ratio_ready() < 0.5 ||
+ right_elevator_estimator_.offset_ratio_ready() < 0.5 ||
+ left_arm_estimator_.offset_ratio_ready() < 0.5 ||
+ right_arm_estimator_.offset_ratio_ready() < 0.5) {
+ state_ = INITIALIZING;
+ } else if (!left_elevator_estimator_.zeroed() ||
+ !right_elevator_estimator_.zeroed()) {
+ state_ = ZEROING_ELEVATOR;
+ } else if (!left_arm_estimator_.zeroed() ||
+ !right_arm_estimator_.zeroed()) {
+ state_ = ZEROING_ARM;
+ } else {
+ state_ = RUNNING;
+ }
+}
- LOG(DEBUG, "Hi Brian!\n");
+void Fridge::Correct() {
+ {
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left_elevator(), right_elevator();
+ elevator_loop_->Correct(Y);
+ }
+
+ {
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left_arm(), right_arm();
+ arm_loop_->Correct(Y);
+ }
+}
+
+void Fridge::SetElevatorOffset(double left_offset, double right_offset) {
+ double left_doffset = left_offset - left_elevator_offset_;
+ double right_doffset = right_offset - right_elevator_offset_;
+
+ // Adjust the average height and height difference between the two sides.
+ // The derivatives of both should not need to be updated since the speeds
+ // haven't changed.
+ // The height difference is calculated as left - right, not right - left.
+ elevator_loop_->mutable_X_hat(0, 0) += (left_doffset + right_doffset) / 2;
+ elevator_loop_->mutable_X_hat(2, 0) += (left_doffset - right_doffset) / 2;
+
+ // Modify the zeroing goal.
+ elevator_goal_ += (left_doffset + right_doffset) / 2;
+
+ // Update the cached offset values to the actual values.
+ left_elevator_offset_ = left_offset;
+ right_elevator_offset_ = right_offset;
+}
+
+void Fridge::SetArmOffset(double left_offset, double right_offset) {
+ double left_doffset = left_offset - left_arm_offset_;
+ double right_doffset = right_offset - right_arm_offset_;
+
+ // Adjust the average angle and angle difference between the two sides.
+ // The derivatives of both should not need to be updated since the speeds
+ // haven't changed.
+ arm_loop_->mutable_X_hat(0, 0) += (left_doffset + right_doffset) / 2;
+ arm_loop_->mutable_X_hat(2, 0) += (left_doffset - right_doffset) / 2;
+
+ // Modify the zeroing goal.
+ arm_goal_ += (left_doffset + right_doffset) / 2;
+
+ // Update the cached offset values to the actual values.
+ left_arm_offset_ = left_offset;
+ right_arm_offset_ = right_offset;
+}
+
+double Fridge::estimated_left_elevator() {
+ return current_position_.elevator.left.encoder +
+ left_elevator_estimator_.offset();
+}
+double Fridge::estimated_right_elevator() {
+ return current_position_.elevator.right.encoder +
+ right_elevator_estimator_.offset();
+}
+
+double Fridge::estimated_elevator() {
+ return (estimated_left_elevator() + estimated_right_elevator()) / 2.0;
+}
+
+double Fridge::estimated_left_arm() {
+ return current_position_.elevator.left.encoder + left_arm_estimator_.offset();
+}
+double Fridge::estimated_right_arm() {
+ return current_position_.elevator.right.encoder +
+ right_arm_estimator_.offset();
+}
+double Fridge::estimated_arm() {
+ return (estimated_left_arm() + estimated_right_arm()) / 2.0;
+}
+
+double Fridge::left_elevator() {
+ return current_position_.elevator.left.encoder + left_elevator_offset_;
+}
+double Fridge::right_elevator() {
+ return current_position_.elevator.right.encoder + right_elevator_offset_;
+}
+
+double Fridge::elevator() { return (left_elevator() + right_elevator()) / 2.0; }
+
+double Fridge::left_arm() {
+ return current_position_.arm.left.encoder + left_arm_offset_;
+}
+double Fridge::right_arm() {
+ return current_position_.arm.right.encoder + right_arm_offset_;
+}
+double Fridge::arm() { return (left_arm() + right_arm()) / 2.0; }
+
+double Fridge::elevator_zeroing_velocity() {
+ double average_elevator =
+ (constants::GetValues().fridge.elevator.lower_limit +
+ constants::GetValues().fridge.elevator.upper_limit) /
+ 2.0;
+
+ const double pulse_width = ::std::max(
+ constants::GetValues().left_elevator_zeroing_constants.index_difference,
+ constants::GetValues().right_elevator_zeroing_constants.index_difference);
+
+ if (elevator_zeroing_velocity_ == 0) {
+ if (estimated_elevator() > average_elevator) {
+ elevator_zeroing_velocity_ = -kElevatorZeroingVelocity;
+ } else {
+ elevator_zeroing_velocity_ = kElevatorZeroingVelocity;
+ }
+ } else if (elevator_zeroing_velocity_ > 0 &&
+ estimated_elevator() > average_elevator + 2 * pulse_width) {
+ elevator_zeroing_velocity_ = -kElevatorZeroingVelocity;
+ } else if (elevator_zeroing_velocity_ < 0 &&
+ estimated_elevator() < average_elevator - 2 * pulse_width) {
+ elevator_zeroing_velocity_ = kElevatorZeroingVelocity;
+ }
+ return elevator_zeroing_velocity_;
+}
+
+double Fridge::arm_zeroing_velocity() {
+ const double average_arm = (constants::GetValues().fridge.arm.lower_limit +
+ constants::GetValues().fridge.arm.upper_limit) /
+ 2.0;
+ const double pulse_width = ::std::max(
+ constants::GetValues().right_arm_zeroing_constants.index_difference,
+ constants::GetValues().left_arm_zeroing_constants.index_difference);
+
+ if (arm_zeroing_velocity_ == 0) {
+ if (estimated_arm() > average_arm) {
+ arm_zeroing_velocity_ = -kArmZeroingVelocity;
+ } else {
+ arm_zeroing_velocity_ = kArmZeroingVelocity;
+ }
+ } else if (arm_zeroing_velocity_ > 0.0 &&
+ estimated_arm() > average_arm + 2.0 * pulse_width) {
+ arm_zeroing_velocity_ = -kArmZeroingVelocity;
+ } else if (arm_zeroing_velocity_ < 0.0 &&
+ estimated_arm() < average_arm - 2.0 * pulse_width) {
+ arm_zeroing_velocity_ = kArmZeroingVelocity;
+ }
+ return arm_zeroing_velocity_;
+}
+
+void Fridge::RunIteration(const control_loops::FridgeQueue::Goal *goal,
+ const control_loops::FridgeQueue::Position *position,
+ control_loops::FridgeQueue::Output *output,
+ control_loops::FridgeQueue::Status *status) {
+ // Get a reference to the constants struct since we use it so often in this
+ // code.
+ auto &values = constants::GetValues();
+
+ // Bool to track if we should turn the motors on or not.
+ bool disable = output == nullptr;
+ double elevator_goal_velocity = 0.0;
+ double arm_goal_velocity = 0.0;
+
+ // Save the current position so it can be used easily in the class.
+ current_position_ = *position;
+
+ left_elevator_estimator_.UpdateEstimate(position->elevator.left);
+ right_elevator_estimator_.UpdateEstimate(position->elevator.right);
+ left_arm_estimator_.UpdateEstimate(position->arm.left);
+ right_arm_estimator_.UpdateEstimate(position->arm.right);
+
+ if (state_ != UNINITIALIZED) {
+ Correct();
+ }
+
+ // Zeroing will work as follows:
+ // At startup, record the offset of the two halves of the two subsystems.
+ // Then, start moving the elevator towards the center until both halves are
+ // zeroed.
+ // Then, start moving the claw towards the center until both halves are
+ // zeroed.
+ // Then, done!
+
+ // We'll then need code to do sanity checking on values.
+
+ // Now, we need to figure out which way to go.
+
+ switch (state_) {
+ case UNINITIALIZED:
+ LOG(DEBUG, "Uninitialized\n");
+ // Startup. Assume that we are at the origin everywhere.
+ // This records the encoder offset between the two sides of the elevator.
+ left_elevator_offset_ = -position->elevator.left.encoder;
+ right_elevator_offset_ = -position->elevator.right.encoder;
+ left_arm_offset_ = -position->arm.left.encoder;
+ right_arm_offset_ = -position->arm.right.encoder;
+ Correct();
+ state_ = INITIALIZING;
+ disable = true;
+ break;
+
+ case INITIALIZING:
+ LOG(DEBUG, "Waiting for accurate initial position.\n");
+ disable = true;
+ // Update state_ to accurately represent the state of the zeroing
+ // estimators.
+ UpdateZeroingState();
+ if (state_ != INITIALIZING) {
+ // Set the goals to where we are now.
+ elevator_goal_ = elevator();
+ arm_goal_ = arm();
+ }
+ break;
+
+ case ZEROING_ELEVATOR:
+ LOG(DEBUG, "Zeroing elevator\n");
+ elevator_goal_velocity = elevator_zeroing_velocity();
+ elevator_goal_ += elevator_goal_velocity * dt;
+
+ // Update state_ to accurately represent the state of the zeroing
+ // estimators.
+ UpdateZeroingState();
+ if (left_elevator_estimator_.zeroed() &&
+ right_elevator_estimator_.zeroed()) {
+ SetElevatorOffset(left_elevator_estimator_.offset(),
+ right_elevator_estimator_.offset());
+ LOG(DEBUG, "Zeroed the elevator!\n");
+ }
+ break;
+
+ case ZEROING_ARM:
+ LOG(DEBUG, "Zeroing the arm\n");
+ arm_goal_velocity = arm_zeroing_velocity();
+ arm_goal_ += arm_goal_velocity * dt;
+
+ // Update state_ to accurately represent the state of the zeroing
+ // estimators.
+ UpdateZeroingState();
+ if (left_arm_estimator_.zeroed() && right_arm_estimator_.zeroed()) {
+ SetArmOffset(left_arm_estimator_.offset(),
+ right_arm_estimator_.offset());
+ LOG(DEBUG, "Zeroed the arm!\n");
+ }
+ break;
+
+ case RUNNING:
+ LOG(DEBUG, "Running!\n");
+ arm_goal_velocity = goal->angular_velocity;
+ elevator_goal_velocity = goal->velocity;
+
+ // Update state_ to accurately represent the state of the zeroing
+ // estimators.
+ UpdateZeroingState();
+ arm_goal_ = goal->angle;
+ elevator_goal_ = goal->height;
+
+ if (state_ != RUNNING && state_ != ESTOP) {
+ state_ = UNINITIALIZED;
+ }
+ break;
+
+ case ESTOP:
+ LOG(ERROR, "Estop\n");
+ disable = true;
+ break;
+ }
+
+ // Commence death if either left/right tracking error gets too big. This
+ // should run immediately after the SetArmOffset and SetElevatorOffset
+ // functions to double-check that the hardware is in a sane state.
+ if (::std::abs(left_arm() - right_arm()) >=
+ values.max_allowed_left_right_arm_difference ||
+ ::std::abs(left_elevator() - right_elevator()) >=
+ values.max_allowed_left_right_elevator_difference) {
+ LOG(ERROR, "The two sides went too far apart\n");
+
+ // Indicate an ESTOP condition and stop the motors.
+ state_ = ESTOP;
+ disable = true;
+ }
+
+ // Limit the goals so we can't exceed the hardware limits if we are RUNNING.
+ if (state_ == RUNNING) {
+ // Limit the arm goal to min/max allowable angles.
+ if (arm_goal_ >= values.fridge.arm.upper_limit) {
+ LOG(WARNING, "Arm goal above limit, %f > %f\n", arm_goal_,
+ values.fridge.arm.upper_limit);
+ arm_goal_ = values.fridge.arm.upper_limit;
+ }
+ if (arm_goal_ <= values.fridge.arm.lower_limit) {
+ LOG(WARNING, "Arm goal below limit, %f < %f\n", arm_goal_,
+ values.fridge.arm.lower_limit);
+ arm_goal_ = values.fridge.arm.lower_limit;
+ }
+
+ // Limit the elevator goal to min/max allowable heights.
+ if (elevator_goal_ >= values.fridge.elevator.upper_limit) {
+ LOG(WARNING, "Elevator goal above limit, %f > %f\n", elevator_goal_,
+ values.fridge.elevator.upper_limit);
+ elevator_goal_ = values.fridge.elevator.upper_limit;
+ }
+ if (elevator_goal_ <= values.fridge.elevator.lower_limit) {
+ LOG(WARNING, "Elevator goal below limit, %f < %f\n", elevator_goal_,
+ values.fridge.elevator.lower_limit);
+ elevator_goal_ = values.fridge.elevator.lower_limit;
+ }
+ }
+
+ // Check the lower level hardware limit as well.
+ if (state_ == RUNNING) {
+ if (left_arm() >= values.fridge.arm.upper_hard_limit ||
+ left_arm() <= values.fridge.arm.lower_hard_limit) {
+ LOG(ERROR, "Left arm at %f out of bounds [%f, %f], ESTOPing\n",
+ left_arm(), values.fridge.arm.lower_hard_limit,
+ values.fridge.arm.upper_hard_limit);
+ state_ = ESTOP;
+ }
+
+ if (right_arm() >= values.fridge.arm.upper_hard_limit ||
+ right_arm() <= values.fridge.arm.lower_hard_limit) {
+ LOG(ERROR, "Right arm at %f out of bounds [%f, %f], ESTOPing\n",
+ right_arm(), values.fridge.arm.lower_hard_limit,
+ values.fridge.arm.upper_hard_limit);
+ state_ = ESTOP;
+ }
+
+ if (left_elevator() >= values.fridge.elevator.upper_hard_limit ||
+ left_elevator() <= values.fridge.elevator.lower_hard_limit) {
+ LOG(ERROR, "Left elevator at %f out of bounds [%f, %f], ESTOPing\n",
+ left_elevator(), values.fridge.elevator.lower_hard_limit,
+ values.fridge.elevator.upper_hard_limit);
+ state_ = ESTOP;
+ }
+
+ if (right_elevator() >= values.fridge.elevator.upper_hard_limit ||
+ right_elevator() <= values.fridge.elevator.lower_hard_limit) {
+ LOG(ERROR, "Right elevator at %f out of bounds [%f, %f], ESTOPing\n",
+ right_elevator(), values.fridge.elevator.lower_hard_limit,
+ values.fridge.elevator.upper_hard_limit);
+ state_ = ESTOP;
+ }
+ }
+
+ // Set the goals.
+ arm_loop_->mutable_R() << arm_goal_, arm_goal_velocity, 0.0, 0.0;
+ elevator_loop_->mutable_R() << elevator_goal_, elevator_goal_velocity, 0.0,
+ 0.0;
+
+ const double max_voltage = state_ == RUNNING ? 12.0 : kZeroingVoltage;
+ arm_loop_->set_max_voltage(max_voltage);
+ elevator_loop_->set_max_voltage(max_voltage);
+
+ if (state_ == ESTOP) {
+ disable = true;
+ }
+ arm_loop_->Update(disable);
+ elevator_loop_->Update(disable);
+
+ if (state_ == INITIALIZING || state_ == ZEROING_ELEVATOR ||
+ state_ == ZEROING_ARM) {
+ if (arm_loop_->U() != arm_loop_->U_uncapped()) {
+ Eigen::Matrix<double, 2, 1> deltaR =
+ arm_loop_->UnsaturateOutputGoalChange();
+
+ // Move the average arm goal by the amount observed.
+ LOG(WARNING, "Moving arm goal by %f to handle saturation\n",
+ deltaR(0, 0));
+ arm_goal_ += deltaR(0, 0);
+ }
+
+ if (elevator_loop_->U() != elevator_loop_->U_uncapped()) {
+ Eigen::Matrix<double, 2, 1> deltaR =
+ elevator_loop_->UnsaturateOutputGoalChange();
+
+ // Move the average elevator goal by the amount observed.
+ LOG(WARNING, "Moving elevator goal by %f to handle saturation\n",
+ deltaR(0, 0));
+ elevator_goal_ += deltaR(0, 0);
+ }
+ }
+
+ if (output) {
+ output->left_arm = arm_loop_->U(0, 0);
+ output->right_arm = arm_loop_->U(1, 0);
+ output->left_elevator = elevator_loop_->U(0, 0);
+ output->right_elevator = elevator_loop_->U(1, 0);
+ output->grabbers = goal->grabbers;
+ }
+
+ // TODO(austin): Populate these fully.
+ status->zeroed = false;
+ status->done = false;
+ status->angle = arm_loop_->X_hat(0, 0);
+ status->height = elevator_loop_->X_hat(0, 0);
+ status->grabbers = goal->grabbers;
+ status->estopped = (state_ == ESTOP);
+ last_state_ = state_;
}
} // namespace control_loops
diff --git a/frc971/control_loops/fridge/fridge.gyp b/frc971/control_loops/fridge/fridge.gyp
index 4a39901..a0016e8 100644
--- a/frc971/control_loops/fridge/fridge.gyp
+++ b/frc971/control_loops/fridge/fridge.gyp
@@ -10,11 +10,12 @@
'dependencies': [
'<(AOS)/common/controls/controls.gyp:control_loop_queues',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+ '<(DEPTH)/frc971/zeroing/zeroing.gyp:zeroing',
],
'export_dependent_settings': [
'<(AOS)/common/controls/controls.gyp:control_loop_queues',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
-
+ '<(DEPTH)/frc971/zeroing/zeroing.gyp:zeroing',
],
'includes': ['../../../aos/build/queues.gypi'],
},
diff --git a/frc971/control_loops/fridge/fridge.h b/frc971/control_loops/fridge/fridge.h
index 3d0fa6c..5ee6ed0 100644
--- a/frc971/control_loops/fridge/fridge.h
+++ b/frc971/control_loops/fridge/fridge.h
@@ -8,10 +8,30 @@
#include "frc971/control_loops/fridge/fridge.q.h"
#include "frc971/control_loops/fridge/arm_motor_plant.h"
#include "frc971/control_loops/fridge/elevator_motor_plant.h"
+#include "frc971/zeroing/zeroing.h"
namespace frc971 {
namespace control_loops {
+class CappedStateFeedbackLoop : public StateFeedbackLoop<4, 2, 2> {
+ public:
+ CappedStateFeedbackLoop(StateFeedbackLoop<4, 2, 2> &&loop)
+ : StateFeedbackLoop<4, 2, 2>(::std::move(loop)), max_voltage_(12.0) {}
+
+ void set_max_voltage(double max_voltage) {
+ max_voltage_ = ::std::max(-12.0, ::std::min(12.0, max_voltage));
+ }
+
+ void CapU() override;
+
+ // Returns the amount to change the position goals (average and difference) in
+ // order to no longer saturate the controller.
+ Eigen::Matrix<double, 2, 1> UnsaturateOutputGoalChange();
+
+ private:
+ double max_voltage_;
+};
+
class Fridge
: public aos::controls::ControlLoop<control_loops::FridgeQueue> {
public:
@@ -28,16 +48,92 @@
//static constexpr double dt;
protected:
- virtual void RunIteration(
- const control_loops::FridgeQueue::Goal *goal,
- const control_loops::FridgeQueue::Position *position,
- control_loops::FridgeQueue::Output *output,
- control_loops::FridgeQueue::Status *status);
+ void RunIteration(const control_loops::FridgeQueue::Goal *goal,
+ const control_loops::FridgeQueue::Position *position,
+ control_loops::FridgeQueue::Output *output,
+ control_loops::FridgeQueue::Status *status) override;
private:
+ // Sets state_ to the correct state given the current state of the zeroing
+ // estimators.
+ void UpdateZeroingState();
+
+ void SetElevatorOffset(double left_offset, double right_offset);
+ void SetArmOffset(double left_offset, double right_offset);
+
+ // Getters for the current elevator positions.
+ double left_elevator();
+ double right_elevator();
+ double elevator();
+
+ // Getters for the current arm positions.
+ double left_arm();
+ double right_arm();
+ double arm();
+
+ // Our best guess at the current position of the elevator.
+ double estimated_left_elevator();
+ double estimated_right_elevator();
+ double estimated_elevator();
+
+ // Our best guess at the current position of the arm.
+ double estimated_left_arm();
+ double estimated_right_arm();
+ double estimated_arm();
+
+ // Returns the current zeroing velocity for either subsystem.
+ // If the subsystem is too far away from the center, these will switch
+ // directions.
+ double elevator_zeroing_velocity();
+ double arm_zeroing_velocity();
+
+ // Corrects the Observer with the current position.
+ void Correct();
+
+ enum State {
+ // Waiting to receive data before doing anything.
+ UNINITIALIZED = 0,
+ // Estimating the starting location.
+ INITIALIZING = 1,
+ // Moving the elevator to find an index pulse.
+ ZEROING_ELEVATOR = 2,
+ // Moving the arm to find an index pulse.
+ ZEROING_ARM = 3,
+ // All good!
+ RUNNING = 4,
+ // Internal error caused the fridge to abort.
+ ESTOP = 5,
+ };
+
// The state feedback control loop or loops to talk to.
- ::std::unique_ptr<StateFeedbackLoop<4, 2, 2>> arm_loop_;
- ::std::unique_ptr<StateFeedbackLoop<4, 2, 2>> elev_loop_;
+ ::std::unique_ptr<CappedStateFeedbackLoop> arm_loop_;
+ ::std::unique_ptr<CappedStateFeedbackLoop> elevator_loop_;
+
+ zeroing::ZeroingEstimator left_arm_estimator_;
+ zeroing::ZeroingEstimator right_arm_estimator_;
+ zeroing::ZeroingEstimator left_elevator_estimator_;
+ zeroing::ZeroingEstimator right_elevator_estimator_;
+
+ // Offsets from the encoder position to the absolute position. Add these to
+ // the encoder position to get the absolute position.
+ double left_elevator_offset_ = 0.0;
+ double right_elevator_offset_ = 0.0;
+ double left_arm_offset_ = 0.0;
+ double right_arm_offset_ = 0.0;
+
+ // Current velocity to move at while zeroing.
+ double elevator_zeroing_velocity_ = 0.0;
+ double arm_zeroing_velocity_ = 0.0;
+
+ // The goals for the elevator and arm.
+ double elevator_goal_ = 0.0;
+ double arm_goal_ = 0.0;
+
+ State state_ = UNINITIALIZED;
+ State last_state_ = UNINITIALIZED;
+
+ control_loops::FridgeQueue::Position current_position_;
+ static constexpr double dt = 0.005;
};
} // namespace control_loops
diff --git a/frc971/control_loops/fridge/fridge.q b/frc971/control_loops/fridge/fridge.q
index c85efa5..07a0646 100644
--- a/frc971/control_loops/fridge/fridge.q
+++ b/frc971/control_loops/fridge/fridge.q
@@ -29,6 +29,13 @@
// Height of the elevator.
double height;
+ // Angular velocity of the arm.
+ double angular_velocity;
+ // Linear velocity of the elevator.
+ double velocity;
+
+ // TODO(austin): Do I need acceleration here too?
+
GrabberPistons grabbers;
};
@@ -50,6 +57,9 @@
double height;
// state of the grabber pistons
GrabberPistons grabbers;
+
+ // TODO(austin): Internal state.
+ bool estopped;
};
message Output {
diff --git a/frc971/control_loops/fridge/fridge_lib_test.cc b/frc971/control_loops/fridge/fridge_lib_test.cc
index 03f1d1b..2bc3d02 100644
--- a/frc971/control_loops/fridge/fridge_lib_test.cc
+++ b/frc971/control_loops/fridge/fridge_lib_test.cc
@@ -22,53 +22,59 @@
// position.
class FridgeSimulation {
public:
+ static constexpr double kNoiseScalar = 3.0;
// Constructs a simulation.
FridgeSimulation()
: arm_plant_(new StateFeedbackPlant<4, 2, 2>(MakeArmPlant())),
elev_plant_(new StateFeedbackPlant<4, 2, 2>(MakeElevatorPlant())),
left_arm_pot_encoder_(
- constants::GetValues().fridge.arm.lower_limit,
- constants::GetValues().left_arm_zeroing_constants.index_difference,
- constants::GetValues().left_arm_zeroing_constants.index_difference
- / 3.0),
+ constants::GetValues().left_arm_zeroing_constants.index_difference),
right_arm_pot_encoder_(
- constants::GetValues().fridge.arm.lower_limit,
- constants::GetValues().right_arm_zeroing_constants.index_difference,
- constants::GetValues().right_arm_zeroing_constants.index_difference
- / 3.0),
+ constants::GetValues()
+ .right_arm_zeroing_constants.index_difference),
left_elev_pot_encoder_(
- constants::GetValues().fridge.elevator.lower_limit,
constants::GetValues()
- .left_elevator_zeroing_constants.index_difference,
- constants::GetValues()
- .left_elevator_zeroing_constants.index_difference / 3.0),
+ .left_elevator_zeroing_constants.index_difference),
right_elev_pot_encoder_(
- constants::GetValues().fridge.elevator.lower_limit,
constants::GetValues()
- .right_elevator_zeroing_constants.index_difference,
- constants::GetValues()
- .right_elevator_zeroing_constants.index_difference / 3.0),
+ .right_elevator_zeroing_constants.index_difference),
fridge_queue_(".frc971.control_loops.fridge_queue", 0xe4e05855,
".frc971.control_loops.fridge_queue.goal",
".frc971.control_loops.fridge_queue.position",
".frc971.control_loops.fridge_queue.output",
- ".frc971.control_loops.fridge_queue.status") {}
-
- // Do specific initialization for all the sensors.
- void SetLeftElevatorSensors(double start_pos, double pot_noise_stddev) {
- left_elev_pot_encoder_.OverrideParams(start_pos, pot_noise_stddev);
+ ".frc971.control_loops.fridge_queue.status") {
+ // Initialize the elevator.
+ SetElevatorSensors(
+ constants::GetValues().fridge.elevator.lower_limit,
+ constants::GetValues().fridge.elevator.lower_limit,
+ kNoiseScalar *
+ constants::GetValues()
+ .right_elevator_zeroing_constants.index_difference);
+ // Initialize the arm.
+ SetArmSensors(0.0, 0.0,
+ kNoiseScalar *
+ constants::GetValues()
+ .right_arm_zeroing_constants.index_difference);
}
- void SetRightElevatorSensors(double start_pos, double pot_noise_stddev) {
- right_elev_pot_encoder_.OverrideParams(start_pos, pot_noise_stddev);
+ void SetElevatorSensors(double left_start_pos, double right_start_pos,
+ double pot_noise_stddev) {
+ // Update the internal state of the elevator plant.
+ elev_plant_->mutable_X(0, 0) = (left_start_pos + right_start_pos) / 2.0;
+ elev_plant_->mutable_X(2, 0) = (left_start_pos - right_start_pos) / 2.0;
+
+ right_elev_pot_encoder_.Initialize(right_start_pos, pot_noise_stddev);
+ left_elev_pot_encoder_.Initialize(left_start_pos, pot_noise_stddev);
}
- void SetLeftArmSensors(double start_pos, double pot_noise_stddev) {
- left_arm_pot_encoder_.OverrideParams(start_pos, pot_noise_stddev);
- }
+ void SetArmSensors(double left_start_pos, double right_start_pos,
+ double pot_noise_stddev) {
+ // Update the internal state of the arm plant.
+ arm_plant_->mutable_X(0, 0) = (left_start_pos + right_start_pos) / 2.0;
+ arm_plant_->mutable_X(2, 0) = (left_start_pos - right_start_pos) / 2.0;
- void SetRightArmSensors(double start_pos, double pot_noise_stddev) {
- right_arm_pot_encoder_.OverrideParams(start_pos, pot_noise_stddev);
+ left_arm_pot_encoder_.Initialize(left_start_pos, pot_noise_stddev);
+ right_arm_pot_encoder_.Initialize(right_start_pos, pot_noise_stddev);
}
// Sends a queue message with the position.
@@ -99,8 +105,6 @@
arm_plant_->Update();
elev_plant_->Update();
- // TODO (phil) Make sure that the correct values are retrieved from the
- // plant.
const double left_arm_angle = arm_plant_->Y(0, 0);
const double right_arm_angle = arm_plant_->Y(1, 0);
const double left_elev_height = elev_plant_->Y(0, 0);
@@ -158,9 +162,9 @@
void VerifyNearGoal() {
fridge_queue_.goal.FetchLatest();
fridge_queue_.status.FetchLatest();
- // TODO(danielp): I think those tens need to change...
- EXPECT_NEAR(fridge_queue_.goal->angle, fridge_queue_.status->angle, 10.0);
- EXPECT_NEAR(fridge_queue_.goal->height, fridge_queue_.status->height, 10.0);
+ EXPECT_NEAR(fridge_queue_.goal->angle, fridge_queue_.status->angle, 0.001);
+ EXPECT_NEAR(fridge_queue_.goal->height, fridge_queue_.status->height,
+ 0.001);
}
// Runs one iteration of the whole simulation and checks that separation
@@ -206,7 +210,7 @@
.Send());
// Run a few iterations.
- RunForTime(Time::InMS(50));
+ RunForTime(Time::InMS(5000));
VerifyNearGoal();
}
@@ -218,7 +222,7 @@
const double soft_limit = values.fridge.elevator.lower_limit;
ASSERT_TRUE(fridge_queue_.goal.MakeWithBuilder()
.angle(M_PI / 4.0)
- .height(soft_limit + 0.5)
+ .height(soft_limit + 0.2)
.Send());
// Give it a lot of time to get there.
@@ -234,8 +238,8 @@
// We're going to send the elevator to zero, which should be significantly too
// low.
ASSERT_TRUE(fridge_queue_.goal.MakeWithBuilder()
- .angle(M_PI / 2.0)
- .height(0.0)
+ .angle(M_PI)
+ .height(-5.0)
.Send());
RunForTime(Time::InMS(4000));
@@ -243,14 +247,15 @@
// Check that we are near our soft limit.
fridge_queue_.status.FetchLatest();
const auto values = constants::GetValues();
- EXPECT_NEAR(values.fridge.elevator.lower_limit,
- fridge_queue_.status->height,
- 0.05);
+ EXPECT_NEAR(values.fridge.elevator.lower_limit, fridge_queue_.status->height,
+ 0.001);
+ EXPECT_NEAR(values.fridge.arm.upper_limit, fridge_queue_.status->angle,
+ 0.001);
// Put the arm down to get it out of the way.
// We're going to give the elevator some ridiculously high goal.
ASSERT_TRUE(fridge_queue_.goal.MakeWithBuilder()
- .angle(-M_PI / 2.0)
+ .angle(-M_PI)
.height(50.0)
.Send());
@@ -258,11 +263,45 @@
// Check that we are near our soft limit.
fridge_queue_.status.FetchLatest();
- EXPECT_NEAR(values.fridge.elevator.upper_limit,
- fridge_queue_.status->height,
- 0.05);
+ EXPECT_NEAR(values.fridge.elevator.upper_limit, fridge_queue_.status->height,
+ 0.001);
+ EXPECT_NEAR(values.fridge.arm.lower_limit, fridge_queue_.status->angle,
+ 0.001);
}
+// Tests that the loop zeroes when run for a while.
+TEST_F(FridgeTest, ZeroTest) {
+ fridge_queue_.goal.MakeWithBuilder().angle(0.0).height(0.5).Send();
+ while (::aos::time::Time::Now() < ::aos::time::Time::InMS(4000)) {
+ SendMessages(true);
+ fridge_plant_.SendPositionMessage();
+ fridge_.Iterate();
+ fridge_plant_.Simulate();
+ TickTime();
+ }
+
+ VerifyNearGoal();
+}
+
+// TODO(austin): Update unit test to abort when limits are violated.
+// TODO(austin): Test that voltages are within 12 volt ranges.
+
+// TODO(austin): Test starting with nonzero encoder values.
+// TODO(austin): Test that we ignore DMA counts during the uninitialized period
+// TODO(austin): Test starting with nonzero DMA counts.
+
+// TODO(austin): Test starting at all 4 hard limits.
+
+// TODO(austin): Check that we don't move the zeroing goals if disabled.
+// TODO(austin): Test that windup works correctly for both the arm and elevator.
+// TODO(austin): Check that we e-stop if the joints start too far apart.
+
+// Nice to have below here.
+
+// TODO(austin): Check that we e-stop if encoder index pulse is not n revolutions away from last one. (got extra counts from noise, etc).
+// TODO(austin): Check that we e-stop if pot disagrees too much with encoder after we are zeroed.
+
+
} // namespace testing
} // namespace control_loops
} // namespace frc971