fixes for the angle adjust code
removed annoying angle adjust comment
angle adjust constant tuning
added printing of absolute pos to angle adjust
angle adjust build fixes
diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 9f3616b..e5af1a9 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -11,9 +11,6 @@
#define M_PI 3.14159265358979323846
#endif
-// Note: So far, none of the Angle Adjust numbers have been measured.
-// Do not rely on them for real life.
-
namespace frc971 {
namespace constants {
@@ -49,17 +46,17 @@
const double kCompAngleAdjustHallEffectStopAngle[2] = {0.1, 1.0};
const double kPracticeAngleAdjustHallEffectStopAngle[2] = {0.1, 1.0};
-const double kPracticeAngleAdjustUpperPhysicalLimit = 0.894481;
-const double kCompAngleAdjustUpperPhysicalLimit = 0.894481;
+const double kPracticeAngleAdjustUpperPhysicalLimit = 0.904737;
+const double kCompAngleAdjustUpperPhysicalLimit = 0.904737;
-const double kPracticeAngleAdjustLowerPhysicalLimit = 0.283616;
-const double kCompAngleAdjustLowerPhysicalLimit = 0.283616;
+const double kPracticeAngleAdjustLowerPhysicalLimit = 0.272451;
+const double kCompAngleAdjustLowerPhysicalLimit = 0.272451;
-const double kPracticeAngleAdjustUpperLimit = 0.85;
-const double kCompAngleAdjustUpperLimit = 0.85;
+const double kPracticeAngleAdjustUpperLimit = 0.87;
+const double kCompAngleAdjustUpperLimit = 0.87;
-const double kPracticeAngleAdjustLowerLimit = 0.32;
-const double kCompAngleAdjustLowerLimit = 0.32;
+const double kPracticeAngleAdjustLowerLimit = 0.30;
+const double kCompAngleAdjustLowerLimit = 0.30;
const double kAngleAdjustZeroingSpeed = -0.2;
const double kAngleAdjustZeroingOffSpeed = -0.5;
diff --git a/frc971/control_loops/angle_adjust/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
index ec06f7a..b4117e2 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -96,10 +96,11 @@
goal->goal, 0.0);
if (position) {
- LOG(DEBUG, "pos=%f bottom_hall: %s middle_hall: %s\n",
+ LOG(DEBUG, "pos: %f bottom_hall: %s middle_hall: %s absolute: %f\n",
position->angle,
position->bottom_hall_effect ? "true" : "false",
- position->middle_hall_effect ? "true" : "false");
+ position->middle_hall_effect ? "true" : "false",
+ zeroed_joint_.absolute_position());
}
if (output) {
diff --git a/frc971/control_loops/angle_adjust/angle_adjust.gyp b/frc971/control_loops/angle_adjust/angle_adjust.gyp
index bc5c26d..fefb832 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.gyp
+++ b/frc971/control_loops/angle_adjust/angle_adjust.gyp
@@ -24,7 +24,6 @@
'unaugmented_angle_adjust_motor_plant.cc',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/frc971.gyp:common',
@@ -46,7 +45,6 @@
],
'dependencies': [
'<(EXTERNALS):gtest',
- '<(AOS)/build/aos.gyp:libaos',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'angle_adjust_lib',
'<(AOS)/common/common.gyp:queue_testutils',
@@ -60,11 +58,11 @@
'angle_adjust_csv.cc',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'<(AOS)/common/common.gyp:time',
'<(AOS)/common/common.gyp:timing',
'angle_adjust_loop',
'<(AOS)/atom_code/atom_code.gyp:init',
+ '<(AOS)/common/common.gyp:queues',
],
},
{
@@ -74,7 +72,6 @@
'angle_adjust_main.cc',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'angle_adjust_lib',
'angle_adjust_loop',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
diff --git a/frc971/control_loops/angle_adjust/angle_adjust_csv.cc b/frc971/control_loops/angle_adjust/angle_adjust_csv.cc
index 6d484d5..109af56 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_csv.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_csv.cc
@@ -1,8 +1,8 @@
#include "stdio.h"
-#include "aos/aos_core.h"
#include "aos/common/control_loop/Timing.h"
#include "aos/common/time.h"
+#include "aos/atom_code/init.h"
#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
using ::frc971::control_loops::angle_adjust;