commit 74425153f10ef1b5f7b5f60f8edd375b92bd9006
author Austin Schuh <austin.linux@gmail.com> Fri Dec 21 11:37:14 2018 +1100
committer Austin Schuh <austin@peloton-tech.com> Thu Dec 20 20:34:05 2018 -0800
tree 5ecc0655b6f461f297445c9ee445fdcc2b580e52
parent 2314c81cdbc8767b4a57f2d3ba2e8373221e9247

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

y2018_bot3/control_loops/drivetrain/BUILD

diff --git a/y2018_bot3/control_loops/drivetrain/BUILD b/y2018_bot3/control_loops/drivetrain/BUILD
index a0d5683..d3fabe1 100644
--- a/y2018_bot3/control_loops/drivetrain/BUILD
+++ b/y2018_bot3/control_loops/drivetrain/BUILD
@@ -21,6 +21,8 @@
         "polydrivetrain_dog_motor_plant.cc",
         "polydrivetrain_cim_plant.h",
         "polydrivetrain_cim_plant.cc",
+        "hybrid_velocity_drivetrain.h",
+        "hybrid_velocity_drivetrain.cc",
     ],
     cmd = "$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)",
     tools = [
@@ -32,15 +34,18 @@
     name = "polydrivetrain_plants",
     srcs = [
         "drivetrain_dog_motor_plant.cc",
+        "hybrid_velocity_drivetrain.cc",
         "kalman_drivetrain_motor_plant.cc",
         "polydrivetrain_dog_motor_plant.cc",
     ],
     hdrs = [
         "drivetrain_dog_motor_plant.h",
+        "hybrid_velocity_drivetrain.h",
         "kalman_drivetrain_motor_plant.h",
         "polydrivetrain_dog_motor_plant.h",
     ],
     deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
         "//frc971/control_loops:state_feedback_loop",
     ],
 )
@@ -65,6 +70,7 @@
     srcs = [
         "drivetrain_main.cc",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":drivetrain_base",
         "//aos:init",

y2018_bot3/control_loops/python/polydrivetrain.py

diff --git a/y2018_bot3/control_loops/python/polydrivetrain.py b/y2018_bot3/control_loops/python/polydrivetrain.py
index d7799ae..6037138 100644
--- a/y2018_bot3/control_loops/python/polydrivetrain.py
+++ b/y2018_bot3/control_loops/python/polydrivetrain.py
@@ -7,6 +7,8 @@
 import gflags
 import glog
 
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
 FLAGS = gflags.FLAGS
 
 try:
@@ -17,11 +19,11 @@
 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], 'y2018_bot3',
-                                       drivetrain.kDrivetrain)
+    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+                                       'y2018_bot3', drivetrain.kDrivetrain)
 
 if __name__ == '__main__':
   argv = FLAGS(sys.argv)