Build hybrid velocity loop for each drivetrain
This provides a way to get to the continuous time drivetrain model from
C++ without doing crazy codegen for all gears.
Change-Id: Iadd7388b74628a94a74ec19efb972fa01efe70c9
diff --git a/motors/seems_reasonable/polydrivetrain.py b/motors/seems_reasonable/polydrivetrain.py
index 4d3720e..a006c67 100644
--- a/motors/seems_reasonable/polydrivetrain.py
+++ b/motors/seems_reasonable/polydrivetrain.py
@@ -19,12 +19,14 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
polydrivetrain.WritePolyDrivetrain(
argv[1:3],
- argv[3:5], ['motors', 'seems_reasonable'],
+ argv[3:5],
+ argv[5:7],
+ ['motors', 'seems_reasonable'],
drivetrain.kDrivetrain,
scalar_type='float')