Use cogging constants per pistol grip
Change-Id: Ia48a981e43e7a80cdac913048d8eb090231597d1
diff --git a/motors/pistol_grip/BUILD b/motors/pistol_grip/BUILD
index b86db22..5bdda25 100644
--- a/motors/pistol_grip/BUILD
+++ b/motors/pistol_grip/BUILD
@@ -28,8 +28,10 @@
name = "controller.elf",
srcs = [
"controller.cc",
- "vtable_trigger.cc",
- "vtable_wheel.cc",
+ "vtable_trigger0.cc",
+ "vtable_trigger1.cc",
+ "vtable_wheel0.cc",
+ "vtable_wheel1.cc",
],
restricted_to = mcu_cpus,
deps = [
diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 52bba6d..b9e6683 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -21,13 +21,26 @@
#define MOTOR1_PWM_FTM FTM0
#define MOTOR1_ENCODER_FTM FTM1
-extern const float kWheelCoggingTorque[4096];
-extern const float kTriggerCoggingTorque[4096];
+extern const float kWheelCoggingTorque0[4096];
+extern const float kWheelCoggingTorque1[4096];
+extern const float kTriggerCoggingTorque0[4096];
+extern const float kTriggerCoggingTorque1[4096];
namespace frc971 {
namespace motors {
namespace {
+::std::atomic<const float *> trigger_cogging_torque{nullptr};
+::std::atomic<const float *> wheel_cogging_torque{nullptr};
+
+float TriggerCoggingTorque(uint32_t index) {
+ return trigger_cogging_torque.load(::std::memory_order_relaxed)[index];
+}
+
+float WheelCoggingTorque(uint32_t index) {
+ return wheel_cogging_torque.load(::std::memory_order_relaxed)[index];
+}
+
using ::frc971::control_loops::drivetrain::MakeIntegralHapticTriggerPlant;
using ::frc971::control_loops::drivetrain::MakeIntegralHapticTriggerObserver;
using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelPlant;
@@ -314,7 +327,7 @@
(void)CoggingCurrent1;
float goal_current = global_wheel_current.load(::std::memory_order_relaxed) +
- kWheelCoggingTorque[encoder];
+ WheelCoggingTorque(encoder);
//float goal_current = CoggingCurrent1(encoder, absolute_encoder);
//float goal_current = kWheelCoggingTorque[encoder];
//float goal_current = 0.0f;
@@ -451,7 +464,7 @@
(void)CoggingCurrent0;
const float goal_current =
global_trigger_torque.load(::std::memory_order_relaxed) +
- kTriggerCoggingTorque[encoder];
+ TriggerCoggingTorque(encoder);
//const float goal_current = kTriggerCoggingTorque[encoder];
//const float goal_current = 0.0f;
//const float goal_current = CoggingCurrent0(encoder, absolute_encoder);
@@ -1000,6 +1013,11 @@
printf("heap start: %p\n", __heap_start__);
printf("stack start: %p\n", __stack_end__);
+ trigger_cogging_torque.store(ProcessorIndex() == 0 ? kTriggerCoggingTorque0
+ : kTriggerCoggingTorque1);
+ wheel_cogging_torque.store(ProcessorIndex() == 0 ? kWheelCoggingTorque0
+ : kWheelCoggingTorque1);
+
printf("Zeroing motors for %d:%x\n", static_cast<int>(ProcessorIndex()),
(unsigned int)ProcessorIdentifier());
uint16_t motor0_offset, motor1_offset, wheel_offset;
diff --git a/motors/pistol_grip/vtable_trigger.cc b/motors/pistol_grip/vtable_trigger0.cc
similarity index 99%
rename from motors/pistol_grip/vtable_trigger.cc
rename to motors/pistol_grip/vtable_trigger0.cc
index 44306f1..938cf13 100644
--- a/motors/pistol_grip/vtable_trigger.cc
+++ b/motors/pistol_grip/vtable_trigger0.cc
@@ -1,5 +1,5 @@
-extern const float kTriggerCoggingTorque[4096];
-const float kTriggerCoggingTorque[4096] = {
+extern const float kTriggerCoggingTorque0[4096];
+const float kTriggerCoggingTorque0[4096] = {
0.095850f,
0.095850f,
0.095850f,
@@ -4096,4 +4096,4 @@
-0.204700f,
-0.204700f,
-0.204700f,
-};
\ No newline at end of file
+};
diff --git a/motors/pistol_grip/vtable_trigger1.cc b/motors/pistol_grip/vtable_trigger1.cc
new file mode 100644
index 0000000..a201bb6
--- /dev/null
+++ b/motors/pistol_grip/vtable_trigger1.cc
@@ -0,0 +1,4099 @@
+extern const float kTriggerCoggingTorque1[4096];
+const float kTriggerCoggingTorque1[4096] = {
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+ -0.089237f,
+ -0.107953f,
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+ -0.127580f,
+ -0.126723f,
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+ -0.123380f,
+ -0.121127f,
+ -0.117493f,
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+ -0.113946f,
+ -0.109359f,
+ -0.095870f,
+ -0.081500f,
+ -0.064744f,
+ -0.050322f,
+ -0.033748f,
+ -0.017393f,
+ -0.000215f,
+ 0.016944f,
+ 0.033548f,
+ 0.049326f,
+ 0.061507f,
+ 0.070959f,
+ 0.077911f,
+ 0.083448f,
+ 0.087244f,
+ 0.089800f,
+ 0.092163f,
+ 0.094219f,
+ 0.095856f,
+ 0.094726f,
+ 0.088989f,
+ 0.074230f,
+ 0.058793f,
+ 0.040415f,
+ 0.025330f,
+ 0.005748f,
+ -0.018330f,
+ -0.041778f,
+ -0.063681f,
+ -0.087796f,
+ -0.114000f,
+ -0.140437f,
+ -0.164389f,
+ -0.187463f,
+ -0.211219f,
+ -0.231304f,
+ -0.251863f,
+ -0.267911f,
+ -0.286311f,
+ -0.298496f,
+ -0.309370f,
+ -0.310007f,
+ -0.309893f,
+ -0.308411f,
+ -0.306526f,
+ -0.303419f,
+ -0.300263f,
+ -0.295063f,
+ -0.287881f,
+ -0.278396f,
+ -0.265767f,
+ -0.252300f,
+ -0.236207f,
+ -0.219096f,
+ -0.201778f,
+ -0.183737f,
+ -0.166619f,
+ -0.149678f,
+ -0.135019f,
+ -0.119885f,
+ -0.106937f,
+ -0.094137f,
+ -0.086937f,
+ -0.080700f,
+ -0.076922f,
+ -0.073078f,
+ -0.070074f,
+ -0.068070f,
+ -0.068389f,
+ -0.070104f,
+ -0.074922f,
+ -0.081974f,
+ -0.096530f,
+ -0.112296f,
+ -0.129389f,
+ -0.144789f,
+ -0.162137f,
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+ -0.191015f,
+ -0.205174f,
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+ -0.299822f,
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+ -0.102411f,
+ -0.078159f,
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+ -0.031970f,
+ -0.011396f,
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+ 0.066615f,
+ 0.079937f,
+ 0.087656f,
+ 0.093770f,
+ 0.098159f,
+ 0.102256f,
+ 0.105252f,
+ 0.106852f,
+ 0.108104f,
+ 0.106667f,
+ 0.103526f,
+ 0.094381f,
+ 0.082433f,
+ 0.068759f,
+ 0.054333f,
+ 0.036844f,
+ 0.019219f,
+ 0.003444f,
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+ -0.027407f,
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+ -0.060933f,
+ -0.080293f,
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+ -0.106878f,
+ -0.106300f,
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+ -0.103959f,
+ -0.102189f,
+ -0.099067f,
+ -0.094693f,
+ -0.089048f,
+ -0.082511f,
+ -0.072922f,
+ -0.060356f,
+ -0.043922f,
+ -0.025778f,
+ -0.006859f,
+ 0.012889f,
+ 0.034330f,
+ 0.057085f,
+ 0.079489f,
+ 0.100481f,
+ 0.119241f,
+ 0.138393f,
+ 0.157319f,
+ 0.174074f,
+ 0.188104f,
+ 0.197493f,
+ 0.205637f,
+ 0.209585f,
+ 0.212956f,
+ 0.214904f,
+ 0.216648f,
+ 0.216522f,
+ 0.214859f,
+ 0.210667f,
+ 0.205544f,
+};
diff --git a/motors/pistol_grip/vtable_wheel.cc b/motors/pistol_grip/vtable_wheel0.cc
similarity index 99%
rename from motors/pistol_grip/vtable_wheel.cc
rename to motors/pistol_grip/vtable_wheel0.cc
index 92e9a19..a840128 100644
--- a/motors/pistol_grip/vtable_wheel.cc
+++ b/motors/pistol_grip/vtable_wheel0.cc
@@ -1,5 +1,5 @@
-extern const float kWheelCoggingTorque[4096];
-const float kWheelCoggingTorque[4096] = {
+extern const float kWheelCoggingTorque0[4096];
+const float kWheelCoggingTorque0[4096] = {
-0.161690f,
-0.114243f,
-0.106662f,
@@ -4096,4 +4096,4 @@
-0.182433f,
-0.178810f,
-0.177962f,
-};
\ No newline at end of file
+};
diff --git a/motors/pistol_grip/vtable_wheel1.cc b/motors/pistol_grip/vtable_wheel1.cc
new file mode 100644
index 0000000..4acc47d
--- /dev/null
+++ b/motors/pistol_grip/vtable_wheel1.cc
@@ -0,0 +1,4099 @@
+extern const float kWheelCoggingTorque1[4096];
+const float kWheelCoggingTorque1[4096] = {
+ 0.011700f,
+ -0.001603f,
+ -0.018247f,
+ -0.037706f,
+ -0.054961f,
+ -0.072047f,
+ -0.093239f,
+ -0.115331f,
+ -0.135525f,
+ -0.150347f,
+ -0.164678f,
+ -0.178894f,
+ -0.196842f,
+ -0.213825f,
+ -0.226228f,
+ -0.229914f,
+ -0.229261f,
+ -0.228567f,
+ -0.227528f,
+ -0.226397f,
+ -0.224744f,
+ -0.222606f,
+ -0.219642f,
+ -0.215575f,
+ -0.210458f,
+ -0.203842f,
+ -0.195603f,
+ -0.185269f,
+ -0.173719f,
+ -0.161231f,
+ -0.148767f,
+ -0.135597f,
+ -0.123231f,
+ -0.111097f,
+ -0.101164f,
+ -0.091931f,
+ -0.084619f,
+ -0.078572f,
+ -0.074083f,
+ -0.070275f,
+ -0.066842f,
+ -0.064008f,
+ -0.061917f,
+ -0.060222f,
+ -0.059292f,
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+ -0.062264f,
+ -0.070742f,
+ -0.086806f,
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+ 0.030511f,
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