Update bot3 drivetrain and get defense bot working.
Change-Id: I0e3d5c0e768ee77eaeaf0a963f15c3172389ea6e
diff --git a/NO_BUILD_ROBORIO b/NO_BUILD_ROBORIO
index 503a3a2..bd1907c 100644
--- a/NO_BUILD_ROBORIO
+++ b/NO_BUILD_ROBORIO
@@ -1,6 +1,7 @@
-@slycot_repo//...
-//frc971/control_loops/python/...
-//y2012/control_loops/python/...
+-//y2014_bot3/control_loops/python/...
-//y2014/control_loops/python/...
-//y2015/control_loops/python/...
-//y2015_bot3/control_loops/python/...
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index 3ec0bb5..1c07423 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -16,21 +16,22 @@
'//frc971/queues:gyro',
'//y2014_bot3/autonomous:auto_queue',
'//y2014_bot3/control_loops/rollers:rollers_queue',
- '//y2014_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
],
)
aos_downloader(
- name = 'download',
+ name = 'download_stripped',
start_srcs = [
- '//aos:prime_start_binaries',
- '//y2014_bot3/control_loops/drivetrain:drivetrain',
- '//y2014_bot3/control_loops/rollers:rollers',
- '//y2014_bot3/autonomous:auto',
- ':joystick_reader',
- '//y2014_bot3/wpilib:wpilib_interface',
+ ':joystick_reader.stripped',
+ '//aos:prime_start_binaries_stripped',
+ '//y2014_bot3/autonomous:auto.stripped',
+ '//y2014_bot3/control_loops/drivetrain:drivetrain.stripped',
+ '//y2014_bot3/control_loops/rollers:rollers.stripped',
+ '//y2014_bot3/wpilib:wpilib_interface.stripped',
+
],
srcs = [
- '//aos:prime_binaries',
+ '//aos:prime_binaries_stripped',
],
)
diff --git a/y2014_bot3/autonomous/BUILD b/y2014_bot3/autonomous/BUILD
index f90ce74..bfd7f34 100644
--- a/y2014_bot3/autonomous/BUILD
+++ b/y2014_bot3/autonomous/BUILD
@@ -20,8 +20,7 @@
deps = [
':auto_queue',
'//aos/common/controls:control_loop',
- '//y2014_bot3/control_loops/drivetrain:drivetrain_queue',
- '//y2014_bot3/control_loops/drivetrain:drivetrain_lib',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//y2014_bot3/control_loops/rollers:rollers_queue',
'//aos/common:time',
'//aos/common/util:phased_loop',
diff --git a/y2014_bot3/autonomous/auto.cc b/y2014_bot3/autonomous/auto.cc
index 3724cbe..80f2b09 100644
--- a/y2014_bot3/autonomous/auto.cc
+++ b/y2014_bot3/autonomous/auto.cc
@@ -8,13 +8,12 @@
#include "aos/common/logging/logging.h"
#include "aos/common/logging/queue_logging.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
#include "y2014_bot3/control_loops/rollers/rollers.q.h"
using ::aos::time::Time;
-using ::y2014_bot3::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2014_bot3::control_loops::rollers_queue;
namespace y2014_bot3 {
@@ -35,7 +34,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
.steering(0.0)
.throttle(0.0)
@@ -47,11 +46,11 @@
}
void InitializeEncoders() {
- control_loops::drivetrain_queue.status.FetchAnother();
+ ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
left_initial_position =
- control_loops::drivetrain_queue.status->estimated_left_position;
+ ::frc971::control_loops::drivetrain_queue.status->estimated_left_position;
right_initial_position =
- control_loops::drivetrain_queue.status->estimated_right_position;
+ ::frc971::control_loops::drivetrain_queue.status->estimated_right_position;
}
void HandleAuto() {
@@ -63,7 +62,7 @@
InitializeEncoders();
LOG(INFO, "Driving\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
.highgear(false)
.quickturn(false)
@@ -76,7 +75,7 @@
.Send();
time::SleepFor(time::Time::InSeconds(2.0));
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
.highgear(false)
.quickturn(false)
diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 32afd4b..6bd7e33 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -2,45 +2,6 @@
load('/aos/build/queues', 'queue_library')
-cc_binary(
- name = 'replay_drivetrain',
- srcs = [
- 'replay_drivetrain.cc',
- ],
- deps = [
- ':drivetrain_queue',
- '//aos/common/controls:replay_control_loop',
- '//aos/linux_code:init',
- ],
-)
-
-queue_library(
- name = 'drivetrain_queue',
- srcs = [
- 'drivetrain.q',
- ],
- deps = [
- '//aos/common/controls:control_loop_queues',
- ],
-)
-
-cc_library(
- name = 'polydrivetrain_plants',
- srcs = [
- 'polydrivetrain_dog_motor_plant.cc',
- 'drivetrain_dog_motor_plant.cc',
- 'polydrivetrain_cim_plant.cc',
- ],
- hdrs = [
- 'polydrivetrain_dog_motor_plant.h',
- 'drivetrain_dog_motor_plant.h',
- 'polydrivetrain_cim_plant.h',
- ],
- deps = [
- '//frc971/control_loops:state_feedback_loop',
- ],
-)
-
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
@@ -51,47 +12,55 @@
outs = [
'drivetrain_dog_motor_plant.h',
'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2014_bot3/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2014_bot3/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
],
)
cc_library(
- name = 'drivetrain_lib',
- hdrs = [
- 'drivetrain.h',
- ],
+ name = 'polydrivetrain_plants',
srcs = [
- 'drivetrain.cc',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.h',
],
deps = [
- ':polydrivetrain_plants',
- ':drivetrain_queue',
- '//aos/common/controls:control_loop',
- '//aos/common/controls:polytope',
'//frc971/control_loops:state_feedback_loop',
- '//frc971/control_loops:coerce_goal',
- '//frc971/queues:gyro',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
- '//aos/common:math',
- '//aos/common/util:log_interval',
- '//frc971:shifter_hall_effect',
],
)
-cc_test(
- name = 'drivetrain_lib_test',
+cc_library(
+ name = 'drivetrain_base',
srcs = [
- 'drivetrain_lib_test.cc',
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
],
deps = [
- '//aos/testing:googletest',
- ':drivetrain_queue',
- ':drivetrain_lib',
- '//aos/common/controls:control_loop_test',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/queues:gyro',
- '//aos/common:queues',
- '//aos/common/network:team_number',
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
],
)
@@ -101,8 +70,8 @@
'drivetrain_main.cc',
],
deps = [
- ':drivetrain_lib',
- ':drivetrain_queue',
+ ':drivetrain_base',
'//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
],
)
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.cc b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
deleted file mode 100644
index 125dd24..0000000
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.cc
+++ /dev/null
@@ -1,571 +0,0 @@
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
-
-#include <stdio.h>
-#include <sched.h>
-#include <cmath>
-#include <memory>
-#include "Eigen/Dense"
-
-#include "aos/common/logging/logging.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/commonmath.h"
-#include "aos/common/logging/queue_logging.h"
-#include "aos/common/logging/matrix_logging.h"
-
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/coerce_goal.h"
-#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
-#include "frc971/shifter_hall_effect.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-
-using ::frc971::sensors::gyro_reading;
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-class DrivetrainMotorsSS {
- public:
- class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
- public:
- LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop)
- : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
- U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0, -1, 0, 0, 1, 0, -1)
- .finished(),
- (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0, 12.0, 12.0)
- .finished()) {
- ::aos::controls::HPolytope<0>::Init();
- T << 1, -1, 1, 1;
- T_inverse = T.inverse();
- }
-
- bool output_was_capped() const { return output_was_capped_; }
-
- private:
- virtual void CapU() {
- const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
-
- if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
- mutable_U() =
- U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
- LOG_MATRIX(DEBUG, "U is now", U());
- // TODO(Austin): Figure out why the polytope stuff wasn't working and
- // remove this hack.
- output_was_capped_ = true;
- return;
-
- LOG_MATRIX(DEBUG, "U at start", U());
- LOG_MATRIX(DEBUG, "R at start", R());
- LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
-
- Eigen::Matrix<double, 2, 2> position_K;
- position_K << K(0, 0), K(0, 2), K(1, 0), K(1, 2);
- Eigen::Matrix<double, 2, 2> velocity_K;
- velocity_K << K(0, 1), K(0, 3), K(1, 1), K(1, 3);
-
- Eigen::Matrix<double, 2, 1> position_error;
- position_error << error(0, 0), error(2, 0);
- const auto drive_error = T_inverse * position_error;
- Eigen::Matrix<double, 2, 1> velocity_error;
- velocity_error << error(1, 0), error(3, 0);
- LOG_MATRIX(DEBUG, "error", error);
-
- const auto &poly = U_Poly_;
- const Eigen::Matrix<double, 4, 2> pos_poly_H =
- poly.H() * position_K * T;
- const Eigen::Matrix<double, 4, 1> pos_poly_k =
- poly.k() - poly.H() * velocity_K * velocity_error;
- const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
-
- Eigen::Matrix<double, 2, 1> adjusted_pos_error;
- {
- const auto &P = drive_error;
-
- Eigen::Matrix<double, 1, 2> L45;
- L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
- const double w45 = 0;
-
- Eigen::Matrix<double, 1, 2> LH;
- if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
- LH << 0, 1;
- } else {
- LH << 1, 0;
- }
- const double wh = LH.dot(P);
-
- Eigen::Matrix<double, 2, 2> standard;
- standard << L45, LH;
- Eigen::Matrix<double, 2, 1> W;
- W << w45, wh;
- const Eigen::Matrix<double, 2, 1> intersection =
- standard.inverse() * W;
-
- bool is_inside_h;
- const auto adjusted_pos_error_h = frc971::control_loops::DoCoerceGoal(
- pos_poly, LH, wh, drive_error, &is_inside_h);
- const auto adjusted_pos_error_45 =
- frc971::control_loops::DoCoerceGoal(pos_poly, L45, w45,
- intersection, nullptr);
- if (pos_poly.IsInside(intersection)) {
- adjusted_pos_error = adjusted_pos_error_h;
- } else {
- if (is_inside_h) {
- if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
- adjusted_pos_error = adjusted_pos_error_h;
- } else {
- adjusted_pos_error = adjusted_pos_error_45;
- }
- } else {
- adjusted_pos_error = adjusted_pos_error_45;
- }
- }
- }
-
- LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
- mutable_U() =
- velocity_K * velocity_error + position_K * T * adjusted_pos_error;
- LOG_MATRIX(DEBUG, "U is now", U());
- } else {
- output_was_capped_ = false;
- }
- }
-
- const ::aos::controls::HPolytope<2> U_Poly_;
- Eigen::Matrix<double, 2, 2> T, T_inverse;
- bool output_was_capped_ = false;
- };
-
- DrivetrainMotorsSS()
- : loop_(new LimitedDrivetrainLoop(
- ::y2014_bot3::control_loops::drivetrain::MakeDrivetrainLoop())),
- filtered_offset_(0.0),
- gyro_(0.0),
- left_goal_(0.0),
- right_goal_(0.0),
- raw_left_(0.0),
- raw_right_(0.0) {
- // Low gear on both.
- loop_->set_controller_index(0);
- }
-
- void SetGoal(double left, double left_velocity, double right,
- double right_velocity) {
- left_goal_ = left;
- right_goal_ = right;
- loop_->mutable_R() << left, left_velocity, right, right_velocity;
- }
- void SetRawPosition(double left, double right) {
- raw_right_ = right;
- raw_left_ = left;
- Eigen::Matrix<double, 2, 1> Y;
- Y << left + filtered_offset_, right - filtered_offset_;
- loop_->Correct(Y);
- }
- void SetPosition(double left, double right, double gyro) {
- // Decay the offset quickly because this gyro is great.
- const double offset = (right - left - gyro * kDrivetrainTurnWidth) / 2.0;
- filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
- gyro_ = gyro;
- SetRawPosition(left, right);
- }
-
- void SetExternalMotors(double left_voltage, double right_voltage) {
- loop_->mutable_U() << left_voltage, right_voltage;
- }
-
- void Update(bool stop_motors, bool enable_control_loop) {
- if (enable_control_loop) {
- loop_->Update(stop_motors);
- } else {
- if (stop_motors) {
- loop_->mutable_U().setZero();
- loop_->mutable_U_uncapped().setZero();
- }
- loop_->UpdateObserver(loop_->U());
- }
- ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
- LOG_MATRIX(DEBUG, "E", E);
- }
-
- double GetEstimatedRobotSpeed() const {
- // lets just call the average of left and right velocities close enough
- return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
- }
-
- double GetEstimatedLeftEncoder() const { return loop_->X_hat(0, 0); }
-
- double GetEstimatedRightEncoder() const { return loop_->X_hat(2, 0); }
-
- bool OutputWasCapped() const { return loop_->output_was_capped(); }
-
- void SendMotors(DrivetrainQueue::Output *output) const {
- if (output) {
- output->left_voltage = loop_->U(0, 0);
- output->right_voltage = loop_->U(1, 0);
- output->left_high = false;
- output->right_high = false;
- }
- }
-
- const LimitedDrivetrainLoop &loop() const { return *loop_; }
-
- private:
- ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
-
- double filtered_offset_;
- double gyro_;
- double left_goal_;
- double right_goal_;
- double raw_left_;
- double raw_right_;
-};
-
-class PolyDrivetrain {
- public:
- enum Gear { HIGH, LOW };
- // Stall Torque in N m
- static constexpr double kStallTorque = 2.42;
- // Stall Current in Amps
- static constexpr double kStallCurrent = 133.0;
- // Free Speed in RPM. Used number from last year.
- static constexpr double kFreeSpeed = 4650.0;
- // Free Current in Amps
- static constexpr double kFreeCurrent = 2.7;
- // Moment of inertia of the drivetrain in kg m^2
- // Just borrowed from last year.
- static constexpr double J = 10;
- // Mass of the robot, in kg.
- static constexpr double m = 68;
- // Radius of the robot, in meters (from last year).
- static constexpr double rb = 0.66675 / 2.0;
- static constexpr double kWheelRadius = 0.04445;
- // Resistance of the motor, divided by the number of motors.
- static constexpr double kR =
- (12.0 / kStallCurrent / 4 + 0.03) / (0.93 * 0.93);
- // Motor velocity constant
- static constexpr double Kv =
- ((kFreeSpeed / 60.0 * 2.0 * M_PI) / (12.0 - kR * kFreeCurrent));
- // Torque constant
- static constexpr double Kt = kStallTorque / kStallCurrent;
-
- PolyDrivetrain()
- : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
- /*[*/ -1, 0 /*]*/,
- /*[*/ 0, 1 /*]*/,
- /*[*/ 0, -1 /*]]*/).finished(),
- (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
- /*[*/ 12 /*]*/,
- /*[*/ 12 /*]*/,
- /*[*/ 12 /*]]*/).finished()),
- loop_(new StateFeedbackLoop<2, 2, 2>(
- ::y2014_bot3::control_loops::MakeVelocityDrivetrainLoop())),
- ttrust_(1.1),
- wheel_(0.0),
- throttle_(0.0),
- quickturn_(false),
- stale_count_(0),
- position_time_delta_(0.01),
- left_gear_(LOW),
- right_gear_(LOW),
- counter_(0) {
- last_position_.Zero();
- position_.Zero();
- }
-
- static double MotorSpeed(bool high_gear, double velocity) {
- if (high_gear) {
- return velocity / kDrivetrainHighGearRatio / kWheelRadius;
- } else {
- return velocity / kDrivetrainLowGearRatio / kWheelRadius;
- }
- }
-
- void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
- const double kWheelNonLinearity = 0.5;
- // Apply a sin function that's scaled to make it feel better.
- const double angular_range = M_PI_2 * kWheelNonLinearity;
-
- quickturn_ = quickturn;
- wheel_ = sin(angular_range * wheel) / sin(angular_range);
- wheel_ = sin(angular_range * wheel_) / sin(angular_range);
- if (!quickturn_) {
- wheel_ *= 1.5;
- }
-
- static const double kThrottleDeadband = 0.05;
- if (::std::abs(throttle) < kThrottleDeadband) {
- throttle_ = 0;
- } else {
- throttle_ = copysign((::std::abs(throttle) - kThrottleDeadband) /
- (1.0 - kThrottleDeadband),
- throttle);
- }
-
- Gear requested_gear = highgear ? HIGH : LOW;
- left_gear_ = right_gear_ = requested_gear;
- }
-
- void SetPosition(const DrivetrainQueue::Position *position) {
- if (position == NULL) {
- ++stale_count_;
- } else {
- last_position_ = position_;
- position_ = *position;
- position_time_delta_ = (stale_count_ + 1) * 0.01;
- stale_count_ = 0;
- }
- }
-
- double FilterVelocity(double throttle) {
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- constexpr int kHighGearController = 3;
- const Eigen::Matrix<double, 2, 2> FF_high =
- loop_->controller(kHighGearController).plant.B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() -
- loop_->controller(kHighGearController).plant.A());
-
- ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
- int min_FF_sum_index;
- const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
- const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
- const double high_min_FF_sum = FF_high.col(0).sum();
-
- const double adjusted_ff_voltage = ::aos::Clip(
- throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
- return (adjusted_ff_voltage +
- ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) /
- 2.0) /
- (ttrust_ * min_K_sum + min_FF_sum);
- }
-
- double MaxVelocity() {
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- constexpr int kHighGearController = 3;
- const Eigen::Matrix<double, 2, 2> FF_high =
- loop_->controller(kHighGearController).plant.B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() -
- loop_->controller(kHighGearController).plant.A());
-
- ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
- int min_FF_sum_index;
- const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
- // const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
- const double high_min_FF_sum = FF_high.col(0).sum();
-
- const double adjusted_ff_voltage =
- ::aos::Clip(12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
- return adjusted_ff_voltage / min_FF_sum;
- }
-
- void Update() {
- // TODO(austin): Observer for the current velocity instead of difference
- // calculations.
- ++counter_;
-
- const double current_left_velocity =
- (position_.left_encoder - last_position_.left_encoder) /
- position_time_delta_;
- const double current_right_velocity =
- (position_.right_encoder - last_position_.right_encoder) /
- position_time_delta_;
- const double left_motor_speed = MotorSpeed(left_gear_ == HIGH,
- current_left_velocity);
- const double right_motor_speed = MotorSpeed(right_gear_ == HIGH,
- current_right_velocity);
-
- {
- CIMLogging logging;
-
- // Reset the CIM model to the current conditions to be ready for when we
- // shift.
- logging.left_in_gear = true;
- logging.left_motor_speed = left_motor_speed;
- logging.left_velocity = current_left_velocity;
-
- logging.right_in_gear = true;
- logging.right_motor_speed = right_motor_speed;
- logging.right_velocity = current_right_velocity;
-
- LOG_STRUCT(DEBUG, "currently", logging);
- }
-
- {
- // FF * X = U (steady state)
- const Eigen::Matrix<double, 2, 2> FF =
- loop_->B().inverse() *
- (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
-
- // Invert the plant to figure out how the velocity filter would have to
- // work
- // out in order to filter out the forwards negative inertia.
- // This math assumes that the left and right power and velocity are
- // equals,
- // and that the plant is the same on the left and right.
- const double fvel = FilterVelocity(throttle_);
-
- const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
- double steering_velocity;
- if (quickturn_) {
- steering_velocity = wheel_ * MaxVelocity();
- } else {
- steering_velocity = ::std::abs(fvel) * wheel_;
- }
- const double left_velocity = fvel - steering_velocity;
- const double right_velocity = fvel + steering_velocity;
- LOG(DEBUG, "l=%f r=%f\n", left_velocity, right_velocity);
-
- // Integrate velocity to get the position.
- // This position is used to get integral control.
- loop_->mutable_R() << left_velocity, right_velocity;
-
- if (!quickturn_) {
- // K * R = w
- Eigen::Matrix<double, 1, 2> equality_k;
- equality_k << 1 + sign_svel, -(1 - sign_svel);
- const double equality_w = 0.0;
-
- // Construct a constraint on R by manipulating the constraint on U
- ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
- U_Poly_.H() * (loop_->K() + FF),
- U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
-
- // Limit R back inside the box.
- loop_->mutable_R() = frc971::control_loops::CoerceGoal(
- R_poly, equality_k, equality_w, loop_->R());
- }
-
- const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
- const Eigen::Matrix<double, 2, 1> U_ideal =
- loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
-
- for (int i = 0; i < 2; i++) {
- loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
- }
-
- // TODO(austin): Model this better.
- // TODO(austin): Feedback?
- loop_->mutable_X_hat() =
- loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
- }
- }
-
- void SendMotors(DrivetrainQueue::Output *output) {
- if (output != NULL) {
- output->left_voltage = loop_->U(0, 0);
- output->right_voltage = loop_->U(1, 0);
- output->left_high = left_gear_ == HIGH;
- output->right_high = right_gear_ == HIGH;
- }
- }
-
- private:
- const ::aos::controls::HPolytope<2> U_Poly_;
-
- ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
-
- const double ttrust_;
- double wheel_;
- double throttle_;
- bool quickturn_;
- int stale_count_;
- double position_time_delta_;
- Gear left_gear_;
- Gear right_gear_;
- DrivetrainQueue::Position last_position_;
- DrivetrainQueue::Position position_;
- int counter_;
-};
-
-constexpr double PolyDrivetrain::kStallTorque;
-constexpr double PolyDrivetrain::kStallCurrent;
-constexpr double PolyDrivetrain::kFreeSpeed;
-constexpr double PolyDrivetrain::kFreeCurrent;
-constexpr double PolyDrivetrain::J;
-constexpr double PolyDrivetrain::m;
-constexpr double PolyDrivetrain::rb;
-constexpr double PolyDrivetrain::kWheelRadius;
-constexpr double PolyDrivetrain::kR;
-constexpr double PolyDrivetrain::Kv;
-constexpr double PolyDrivetrain::Kt;
-
-void DrivetrainLoop::RunIteration(const DrivetrainQueue::Goal *goal,
- const DrivetrainQueue::Position *position,
- DrivetrainQueue::Output *output,
- DrivetrainQueue::Status *status) {
- // TODO(aschuh): These should be members of the class.
- static DrivetrainMotorsSS dt_closedloop;
- static PolyDrivetrain dt_openloop;
-
- bool bad_pos = false;
- if (position == nullptr) {
- LOG_INTERVAL(no_position_);
- bad_pos = true;
- }
- no_position_.Print();
-
- bool control_loop_driving = false;
- if (goal) {
- double wheel = goal->steering;
- double throttle = goal->throttle;
- bool quickturn = goal->quickturn;
- bool highgear = goal->highgear;
-
- control_loop_driving = goal->control_loop_driving;
- double left_goal = goal->left_goal;
- double right_goal = goal->right_goal;
-
- dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
- goal->right_velocity_goal);
- dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
- }
-
- if (!bad_pos) {
- const double left_encoder = position->left_encoder;
- const double right_encoder = position->right_encoder;
- if (gyro_reading.FetchLatest()) {
- LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
- dt_closedloop.SetPosition(left_encoder, right_encoder,
- gyro_reading->angle);
- } else {
- dt_closedloop.SetRawPosition(left_encoder, right_encoder);
- }
- }
- dt_openloop.SetPosition(position);
- dt_openloop.Update();
-
- if (control_loop_driving) {
- dt_closedloop.Update(output == NULL, true);
- dt_closedloop.SendMotors(output);
- } else {
- dt_openloop.SendMotors(output);
- if (output) {
- dt_closedloop.SetExternalMotors(output->left_voltage,
- output->right_voltage);
- }
- dt_closedloop.Update(output == NULL, false);
- }
-
- // set the output status of the control loop state
- if (status) {
- status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
- status->estimated_left_position = dt_closedloop.GetEstimatedLeftEncoder();
- status->estimated_right_position = dt_closedloop.GetEstimatedRightEncoder();
-
- status->estimated_left_velocity = dt_closedloop.loop().X_hat(1, 0);
- status->estimated_right_velocity = dt_closedloop.loop().X_hat(3, 0);
- status->output_was_capped = dt_closedloop.OutputWasCapped();
- status->uncapped_left_voltage = dt_closedloop.loop().U_uncapped(0, 0);
- status->uncapped_right_voltage = dt_closedloop.loop().U_uncapped(1, 0);
- }
-}
-
-} // namespace control_loops
-} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.h b/y2014_bot3/control_loops/drivetrain/drivetrain.h
deleted file mode 100644
index dfb7269..0000000
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.h
+++ /dev/null
@@ -1,58 +0,0 @@
-#ifndef Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
-#define Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
-
-#include "Eigen/Dense"
-
-#include "aos/common/controls/polytope.h"
-#include "aos/common/controls/control_loop.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/util/log_interval.h"
-
-#include "frc971/shifter_hall_effect.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-// Constants
-// TODO(comran): Get actual constants.
-constexpr double kDrivetrainTurnWidth = 0.63;
-constexpr double kDrivetrainEncoderRatio = 18.0 / 44.0;
-constexpr double kDrivetrainHighGearRatio =
- kDrivetrainEncoderRatio * 18.0 / 60.0;
-constexpr double kDrivetrainLowGearRatio = kDrivetrainHighGearRatio;
-const ::frc971::constants::ShifterHallEffect kDrivetrainRightShifter{
- 555, 657, 660, 560, 0.2, 0.7};
-const ::frc971::constants::ShifterHallEffect kDrivetrainLeftShifter{
- 555, 660, 644, 552, 0.2, 0.7};
-// End constants
-
-class DrivetrainLoop
- : public aos::controls::ControlLoop<control_loops::DrivetrainQueue> {
- public:
- // Constructs a control loop which can take a Drivetrain or defaults to the
- // drivetrain at y2014_bot3::control_loops::drivetrain
- explicit DrivetrainLoop(control_loops::DrivetrainQueue *my_drivetrain =
- &control_loops::drivetrain_queue)
- : aos::controls::ControlLoop<control_loops::DrivetrainQueue>(
- my_drivetrain) {
- ::aos::controls::HPolytope<0>::Init();
- }
-
- protected:
- // Executes one cycle of the control loop.
- virtual void RunIteration(
- const control_loops::DrivetrainQueue::Goal *goal,
- const control_loops::DrivetrainQueue::Position *position,
- control_loops::DrivetrainQueue::Output *output,
- control_loops::DrivetrainQueue::Status *status);
-
- typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
- SimpleLogInterval no_position_ = SimpleLogInterval(
- ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
-};
-
-} // namespace control_loops
-} // namespace y2014_bot3
-
-#endif // Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.q b/y2014_bot3/control_loops/drivetrain/drivetrain.q
deleted file mode 100644
index 1b97f81..0000000
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.q
+++ /dev/null
@@ -1,104 +0,0 @@
-package y2014_bot3.control_loops;
-
-import "aos/common/controls/control_loops.q";
-
-// For logging information about the state of the shifters.
-struct CIMLogging {
- // Whether the code thinks the left side is currently in gear.
- bool left_in_gear;
- // Whether the code thinks the right side is currently in gear.
- bool right_in_gear;
- // The velocity in rad/s (positive forward) the code thinks the left motor
- // is currently spinning at.
- double left_motor_speed;
- // The velocity in rad/s (positive forward) the code thinks the right motor
- // is currently spinning at.
- double right_motor_speed;
- // The velocity estimate for the left side of the robot in m/s (positive
- // forward) used for shifting.
- double left_velocity;
- // The velocity estimate for the right side of the robot in m/s (positive
- // forward) used for shifting.
- double right_velocity;
-};
-
-queue_group DrivetrainQueue {
- implements aos.control_loops.ControlLoop;
-
- message Goal {
- // Position of the steering wheel (positive = turning left when going
- // forwards).
- double steering;
- // Position of the throttle (positive forwards).
- double throttle;
- // True to shift into high, false to shift into low.
- bool highgear;
- // True to activate quickturn.
- bool quickturn;
- // True to have the closed-loop controller take over.
- bool control_loop_driving;
- // Position goal for the left side in meters when the closed-loop controller
- // is active.
- double left_goal;
- // Velocity goal for the left side in m/s when the closed-loop controller
- // is active.
- double left_velocity_goal;
- // Position goal for the right side in meters when the closed-loop
- // controller is active.
- double right_goal;
- // Velocity goal for the right side in m/s when the closed-loop controller
- // is active.
- double right_velocity_goal;
- };
-
- message Position {
- // Relative position of the left side in meters.
- double left_encoder;
- // Relative position of the right side in meters.
- double right_encoder;
- // The speed in m/s of the left side from the most recent encoder pulse,
- // or 0 if there was no edge within the last 5ms.
- double left_speed;
- // The speed in m/s of the right side from the most recent encoder pulse,
- // or 0 if there was no edge within the last 5ms.
- double right_speed;
- };
-
- message Output {
- // Voltage to send to the left motor(s).
- double left_voltage;
- // Voltage to send to the right motor(s).
- double right_voltage;
- // True to set the left shifter piston for high gear.
- bool left_high;
- // True to set the right shifter piston for high gear.
- bool right_high;
- };
-
- message Status {
- // Estimated speed of the center of the robot in m/s (positive forwards).
- double robot_speed;
- // Estimated relative position of the left side in meters.
- double estimated_left_position;
- // Estimated relative position of the right side in meters.
- double estimated_right_position;
- // Estimated velocity of the left side in m/s.
- double estimated_left_velocity;
- // Estimated velocity of the right side in m/s.
- double estimated_right_velocity;
-
- // The voltage we wanted to send to the left side last cycle.
- double uncapped_left_voltage;
- // The voltage we wanted to send to the right side last cycle.
- double uncapped_right_voltage;
- // True if the output voltage was capped last cycle.
- bool output_was_capped;
- };
-
- queue Goal goal;
- queue Position position;
- queue Output output;
- queue Status status;
-};
-
-queue_group DrivetrainQueue drivetrain_queue;
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..bca3f24
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,47 @@
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2014_bot3/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2014_bot3 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+
+ ::y2014_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2014_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2014_bot3::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+
+ // No shifter sensors, so we could put anything for the things below.
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ false};
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.h b/y2014_bot3/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..d2e54f9
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,20 @@
+#ifndef Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2014_bot3 {
+namespace control_loops {
+namespace drivetrain {
+
+const double kDrivetrainEncoderRatio =
+ (17.0 / 50.0) /*output reduction*/ * (24.0 / 64.0) /*encoder gears*/;
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2014_bot3
+
+#endif // Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h b/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h
deleted file mode 100644
index 28848b0..0000000
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
-#define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
-
-#include "bot3/shifter_hall_effect.h"
-
-namespace bot3 {
-namespace control_loops {
-
-constexpr constants::ShifterHallEffect kBot3LeftDriveShifter =
- {426, 171, 0.6, 0.47};
-constexpr constants::ShifterHallEffect kBot3RightDriveShifter =
- {424, 172, 0.62, 0.55};
-
-constexpr double kBot3TurnWidth = 0.5;
-constexpr double kBot3DrivetrainDoneDistance = 0.02;
-
-constexpr double kBot3LowGearRatio = 14.0 / 60.0 * 17.0 / 50.0;
-constexpr double kBot3HighGearRatio = 30.0 / 44.0 * 17.0 / 50.0;
-
-// If this is true, we don't use the analog hall effects for shifting.
-constexpr bool kBot3SimpleShifting = true;
-
-} // control_loops
-} // bot3
-
-#endif
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
deleted file mode 100644
index 3953951..0000000
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
+++ /dev/null
@@ -1,295 +0,0 @@
-#include <unistd.h>
-
-#include <memory>
-
-#include "gtest/gtest.h"
-#include "aos/common/network/team_number.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/controls/control_loop_test.h"
-
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/coerce_goal.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "frc971/queues/gyro.q.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-namespace testing {
-
-class Environment : public ::testing::Environment {
- public:
- virtual ~Environment() {}
- // how to set up the environment.
- virtual void SetUp() {
- aos::controls::HPolytope<0>::Init();
- }
-};
-::testing::Environment* const holder_env =
- ::testing::AddGlobalTestEnvironment(new Environment);
-
-class TeamNumberEnvironment : public ::testing::Environment {
- public:
- // Override this to define how to set up the environment.
- virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
-};
-
-::testing::Environment* const team_number_env =
- ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
-
-// Class which simulates the drivetrain and sends out queue messages containing
-// the position.
-class DrivetrainSimulation {
- public:
- // Constructs a motor simulation.
- // TODO(aschuh) Do we want to test the clutch one too?
- DrivetrainSimulation()
- : drivetrain_plant_(
- new StateFeedbackPlant<4, 2, 2>(drivetrain::MakeDrivetrainPlant())),
- my_drivetrain_queue_(".y2014_bot3.control_loops.drivetrain",
- 0x8a8dde77, ".y2014_bot3.control_loops.drivetrain.goal",
- ".y2014_bot3.control_loops.drivetrain.position",
- ".y2014_bot3.control_loops.drivetrain.output",
- ".y2014_bot3.control_loops.drivetrain.status") {
- Reinitialize();
- }
-
- // Resets the plant.
- void Reinitialize() {
- drivetrain_plant_->mutable_X(0, 0) = 0.0;
- drivetrain_plant_->mutable_X(1, 0) = 0.0;
- drivetrain_plant_->mutable_Y() =
- drivetrain_plant_->C() * drivetrain_plant_->X();
- last_left_position_ = drivetrain_plant_->Y(0, 0);
- last_right_position_ = drivetrain_plant_->Y(1, 0);
- }
-
- // Returns the position of the drivetrain.
- double GetLeftPosition() const { return drivetrain_plant_->Y(0, 0); }
- double GetRightPosition() const { return drivetrain_plant_->Y(1, 0); }
-
- // Sends out the position queue messages.
- void SendPositionMessage() {
- const double left_encoder = GetLeftPosition();
- const double right_encoder = GetRightPosition();
-
- ::aos::ScopedMessagePtr<control_loops::DrivetrainQueue::Position> position =
- my_drivetrain_queue_.position.MakeMessage();
- position->left_encoder = left_encoder;
- position->right_encoder = right_encoder;
- position.Send();
- }
-
- // Simulates the drivetrain moving for one timestep.
- void Simulate() {
- last_left_position_ = drivetrain_plant_->Y(0, 0);
- last_right_position_ = drivetrain_plant_->Y(1, 0);
- EXPECT_TRUE(my_drivetrain_queue_.output.FetchLatest());
- drivetrain_plant_->mutable_U() << my_drivetrain_queue_.output->left_voltage,
- my_drivetrain_queue_.output->right_voltage;
- drivetrain_plant_->Update();
- }
-
- ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> drivetrain_plant_;
- private:
- DrivetrainQueue my_drivetrain_queue_;
- double last_left_position_;
- double last_right_position_;
-};
-
-class DrivetrainTest : public ::aos::testing::ControlLoopTest {
- protected:
- // Create a new instance of the test queue so that it invalidates the queue
- // that it points to. Otherwise, we will have a pointer to shared memory that
- // is no longer valid.
- DrivetrainQueue my_drivetrain_queue_;
-
- // Create a loop and simulation plant.
- DrivetrainLoop drivetrain_motor_;
- DrivetrainSimulation drivetrain_motor_plant_;
-
- DrivetrainTest() : my_drivetrain_queue_(".y2014_bot3.control_loops.drivetrain",
- 0x8a8dde77,
- ".y2014_bot3.control_loops.drivetrain.goal",
- ".y2014_bot3.control_loops.drivetrain.position",
- ".y2014_bot3.control_loops.drivetrain.output",
- ".y2014_bot3.control_loops.drivetrain.status"),
- drivetrain_motor_(&my_drivetrain_queue_),
- drivetrain_motor_plant_() {
- ::frc971::sensors::gyro_reading.Clear();
- }
-
- void VerifyNearGoal() {
- my_drivetrain_queue_.goal.FetchLatest();
- my_drivetrain_queue_.position.FetchLatest();
- EXPECT_NEAR(my_drivetrain_queue_.goal->left_goal,
- drivetrain_motor_plant_.GetLeftPosition(),
- 1e-2);
- EXPECT_NEAR(my_drivetrain_queue_.goal->right_goal,
- drivetrain_motor_plant_.GetRightPosition(),
- 1e-2);
- }
-
- virtual ~DrivetrainTest() {
- ::frc971::sensors::gyro_reading.Clear();
- }
-};
-
-// Tests that the drivetrain converges on a goal.
-TEST_F(DrivetrainTest, ConvergesCorrectly) {
- my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
- .left_goal(-1.0)
- .right_goal(1.0).Send();
- for (int i = 0; i < 200; ++i) {
- drivetrain_motor_plant_.SendPositionMessage();
- drivetrain_motor_.Iterate();
- drivetrain_motor_plant_.Simulate();
- SimulateTimestep(true);
- }
- VerifyNearGoal();
-}
-
-// Tests that it survives disabling.
-TEST_F(DrivetrainTest, SurvivesDisabling) {
- my_drivetrain_queue_.goal.MakeWithBuilder().control_loop_driving(true)
- .left_goal(-1.0)
- .right_goal(1.0).Send();
- for (int i = 0; i < 500; ++i) {
- drivetrain_motor_plant_.SendPositionMessage();
- drivetrain_motor_.Iterate();
- drivetrain_motor_plant_.Simulate();
- if (i > 20 && i < 200) {
- SimulateTimestep(false);
- } else {
- SimulateTimestep(true);
- }
- }
- VerifyNearGoal();
-}
-
-// Tests that never having a goal doesn't break.
-TEST_F(DrivetrainTest, NoGoalStart) {
- for (int i = 0; i < 20; ++i) {
- drivetrain_motor_plant_.SendPositionMessage();
- drivetrain_motor_.Iterate();
- drivetrain_motor_plant_.Simulate();
- }
-}
-
-// Tests that never having a goal, but having driver's station messages, doesn't
-// break.
-TEST_F(DrivetrainTest, NoGoalWithRobotState) {
- for (int i = 0; i < 20; ++i) {
- drivetrain_motor_plant_.SendPositionMessage();
- drivetrain_motor_.Iterate();
- drivetrain_motor_plant_.Simulate();
- SimulateTimestep(true);
- }
-}
-
-::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
- double x2_min, double x2_max) {
- Eigen::Matrix<double, 4, 2> box_H;
- box_H << /*[[*/ 1.0, 0.0 /*]*/,
- /*[*/-1.0, 0.0 /*]*/,
- /*[*/ 0.0, 1.0 /*]*/,
- /*[*/ 0.0,-1.0 /*]]*/;
- Eigen::Matrix<double, 4, 1> box_k;
- box_k << /*[[*/ x1_max /*]*/,
- /*[*/-x1_min /*]*/,
- /*[*/ x2_max /*]*/,
- /*[*/-x2_min /*]]*/;
- ::aos::controls::HPolytope<2> t_poly(box_H, box_k);
- return t_poly;
-}
-
-class CoerceGoalTest : public ::testing::Test {
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-// WHOOOHH!
-TEST_F(CoerceGoalTest, Inside) {
- ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
-
- Eigen::Matrix<double, 1, 2> K;
- K << /*[[*/ 1, -1 /*]]*/;
-
- Eigen::Matrix<double, 2, 1> R;
- R << /*[[*/ 1.5, 1.5 /*]]*/;
-
- Eigen::Matrix<double, 2, 1> output =
- ::frc971::control_loops::CoerceGoal(box, K, 0, R);
-
- EXPECT_EQ(R(0, 0), output(0, 0));
- EXPECT_EQ(R(1, 0), output(1, 0));
-}
-
-TEST_F(CoerceGoalTest, Outside_Inside_Intersect) {
- ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
-
- Eigen::Matrix<double, 1, 2> K;
- K << 1, -1;
-
- Eigen::Matrix<double, 2, 1> R;
- R << 5, 5;
-
- Eigen::Matrix<double, 2, 1> output =
- ::frc971::control_loops::CoerceGoal(box, K, 0, R);
-
- EXPECT_EQ(2.0, output(0, 0));
- EXPECT_EQ(2.0, output(1, 0));
-}
-
-TEST_F(CoerceGoalTest, Outside_Inside_no_Intersect) {
- ::aos::controls::HPolytope<2> box = MakeBox(3, 4, 1, 2);
-
- Eigen::Matrix<double, 1, 2> K;
- K << 1, -1;
-
- Eigen::Matrix<double, 2, 1> R;
- R << 5, 5;
-
- Eigen::Matrix<double, 2, 1> output =
- ::frc971::control_loops::CoerceGoal(box, K, 0, R);
-
- EXPECT_EQ(3.0, output(0, 0));
- EXPECT_EQ(2.0, output(1, 0));
-}
-
-TEST_F(CoerceGoalTest, Middle_Of_Edge) {
- ::aos::controls::HPolytope<2> box = MakeBox(0, 4, 1, 2);
-
- Eigen::Matrix<double, 1, 2> K;
- K << -1, 1;
-
- Eigen::Matrix<double, 2, 1> R;
- R << 5, 5;
-
- Eigen::Matrix<double, 2, 1> output =
- ::frc971::control_loops::CoerceGoal(box, K, 0, R);
-
- EXPECT_EQ(2.0, output(0, 0));
- EXPECT_EQ(2.0, output(1, 0));
-}
-
-TEST_F(CoerceGoalTest, PerpendicularLine) {
- ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
-
- Eigen::Matrix<double, 1, 2> K;
- K << 1, 1;
-
- Eigen::Matrix<double, 2, 1> R;
- R << 5, 5;
-
- Eigen::Matrix<double, 2, 1> output =
- ::frc971::control_loops::CoerceGoal(box, K, 0, R);
-
- EXPECT_EQ(1.0, output(0, 0));
- EXPECT_EQ(1.0, output(1, 0));
-}
-
-} // namespace testing
-} // namespace control_loops
-} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 588bc89..a0f0a83 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,10 +1,14 @@
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
-
#include "aos/linux_code/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
int main() {
::aos::Init();
- y2014_bot3::control_loops::DrivetrainLoop drivetrain;
+ DrivetrainLoop drivetrain(
+ ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
drivetrain.Run();
::aos::Cleanup();
return 0;
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
deleted file mode 100644
index 75bae13..0000000
--- a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients() {
- Eigen::Matrix<double, 1, 1> A;
- A << 0.783924473544;
- Eigen::Matrix<double, 1, 1> B;
- B << 8.94979586973;
- Eigen::Matrix<double, 1, 1> C;
- C << 1;
- Eigen::Matrix<double, 1, 1> D;
- D << 0;
- Eigen::Matrix<double, 1, 1> U_max;
- U_max << 12.0;
- Eigen::Matrix<double, 1, 1> U_min;
- U_min << -12.0;
- return StateFeedbackPlantCoefficients<1, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<1, 1, 1> MakeCIMController() {
- Eigen::Matrix<double, 1, 1> L;
- L << 0.773924473544;
- Eigen::Matrix<double, 1, 1> K;
- K << 0.086473980503;
- Eigen::Matrix<double, 1, 1> A_inv;
- A_inv << 1.2756330919;
- return StateFeedbackController<1, 1, 1>(L, K, A_inv, MakeCIMPlantCoefficients());
-}
-
-StateFeedbackPlant<1, 1, 1> MakeCIMPlant() {
- ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>> plants(1);
- plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>(new StateFeedbackPlantCoefficients<1, 1, 1>(MakeCIMPlantCoefficients()));
- return StateFeedbackPlant<1, 1, 1>(&plants);
-}
-
-StateFeedbackLoop<1, 1, 1> MakeCIMLoop() {
- ::std::vector< ::std::unique_ptr<StateFeedbackController<1, 1, 1>>> controllers(1);
- controllers[0] = ::std::unique_ptr<StateFeedbackController<1, 1, 1>>(new StateFeedbackController<1, 1, 1>(MakeCIMController()));
- return StateFeedbackLoop<1, 1, 1>(&controllers);
-}
-
-} // namespace control_loops
-} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
deleted file mode 100644
index 0def071..0000000
--- a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
-#define Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients();
-
-StateFeedbackController<1, 1, 1> MakeCIMController();
-
-StateFeedbackPlant<1, 1, 1> MakeCIMPlant();
-
-StateFeedbackLoop<1, 1, 1> MakeCIMLoop();
-
-} // namespace control_loops
-} // namespace y2014_bot3
-
-#endif // Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
deleted file mode 100644
index 8fc4049..0000000
--- a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients() {
- Eigen::Matrix<double, 2, 2> A;
- A << 0.953388055571, 0.0100729449137, 0.0100729449137, 0.953388055571;
- Eigen::Matrix<double, 2, 2> B;
- B << 0.0119133285199, -0.00257449680311, -0.00257449680311, 0.0119133285199;
- Eigen::Matrix<double, 2, 2> C;
- C << 1.0, 0.0, 0.0, 1.0;
- Eigen::Matrix<double, 2, 2> D;
- D << 0.0, 0.0, 0.0, 0.0;
- Eigen::Matrix<double, 2, 1> U_max;
- U_max << 12.0, 12.0;
- Eigen::Matrix<double, 2, 1> U_min;
- U_min << -12.0, -12.0;
- return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients() {
- Eigen::Matrix<double, 2, 2> A;
- A << 0.953388055571, 0.0100729449137, 0.0100729449137, 0.953388055571;
- Eigen::Matrix<double, 2, 2> B;
- B << 0.0119133285199, -0.00257449680311, -0.00257449680311, 0.0119133285199;
- Eigen::Matrix<double, 2, 2> C;
- C << 1.0, 0.0, 0.0, 1.0;
- Eigen::Matrix<double, 2, 2> D;
- D << 0.0, 0.0, 0.0, 0.0;
- Eigen::Matrix<double, 2, 1> U_max;
- U_max << 12.0, 12.0;
- Eigen::Matrix<double, 2, 1> U_min;
- U_min << -12.0, -12.0;
- return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients() {
- Eigen::Matrix<double, 2, 2> A;
- A << 0.953388055571, 0.0100729449137, 0.0100729449137, 0.953388055571;
- Eigen::Matrix<double, 2, 2> B;
- B << 0.0119133285199, -0.00257449680311, -0.00257449680311, 0.0119133285199;
- Eigen::Matrix<double, 2, 2> C;
- C << 1.0, 0.0, 0.0, 1.0;
- Eigen::Matrix<double, 2, 2> D;
- D << 0.0, 0.0, 0.0, 0.0;
- Eigen::Matrix<double, 2, 1> U_max;
- U_max << 12.0, 12.0;
- Eigen::Matrix<double, 2, 1> U_min;
- U_min << -12.0, -12.0;
- return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients() {
- Eigen::Matrix<double, 2, 2> A;
- A << 0.953388055571, 0.0100729449137, 0.0100729449137, 0.953388055571;
- Eigen::Matrix<double, 2, 2> B;
- B << 0.0119133285199, -0.00257449680311, -0.00257449680311, 0.0119133285199;
- Eigen::Matrix<double, 2, 2> C;
- C << 1.0, 0.0, 0.0, 1.0;
- Eigen::Matrix<double, 2, 2> D;
- D << 0.0, 0.0, 0.0, 0.0;
- Eigen::Matrix<double, 2, 1> U_max;
- U_max << 12.0, 12.0;
- Eigen::Matrix<double, 2, 1> U_min;
- U_min << -12.0, -12.0;
- return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController() {
- Eigen::Matrix<double, 2, 2> L;
- L << 0.933388055571, 0.0100729449137, 0.0100729449137, 0.933388055571;
- Eigen::Matrix<double, 2, 2> K;
- K << 31.3080614945, 7.61126069778, 7.61126069778, 31.3080614945;
- Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.04900794038, -0.0110832091253, -0.0110832091253, 1.04900794038;
- return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
- Eigen::Matrix<double, 2, 2> L;
- L << 0.933388055571, 0.0100729449137, 0.0100729449137, 0.933388055571;
- Eigen::Matrix<double, 2, 2> K;
- K << 31.3080614945, 7.61126069778, 7.61126069778, 31.3080614945;
- Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.04900794038, -0.0110832091253, -0.0110832091253, 1.04900794038;
- return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowHighPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
- Eigen::Matrix<double, 2, 2> L;
- L << 0.933388055571, 0.0100729449137, 0.0100729449137, 0.933388055571;
- Eigen::Matrix<double, 2, 2> K;
- K << 31.3080614945, 7.61126069778, 7.61126069778, 31.3080614945;
- Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.04900794038, -0.0110832091253, -0.0110832091253, 1.04900794038;
- return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
- Eigen::Matrix<double, 2, 2> L;
- L << 0.933388055571, 0.0100729449137, 0.0100729449137, 0.933388055571;
- Eigen::Matrix<double, 2, 2> K;
- K << 31.3080614945, 7.61126069778, 7.61126069778, 31.3080614945;
- Eigen::Matrix<double, 2, 2> A_inv;
- A_inv << 1.04900794038, -0.0110832091253, -0.0110832091253, 1.04900794038;
- return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighHighPlantCoefficients());
-}
-
-StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant() {
- ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>> plants(4);
- plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowLowPlantCoefficients()));
- plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowHighPlantCoefficients()));
- plants[2] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighLowPlantCoefficients()));
- plants[3] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighHighPlantCoefficients()));
- return StateFeedbackPlant<2, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop() {
- ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 2, 2>>> controllers(4);
- controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowLowController()));
- controllers[1] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowHighController()));
- controllers[2] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighLowController()));
- controllers[3] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighHighController()));
- return StateFeedbackLoop<2, 2, 2>(&controllers);
-}
-
-} // namespace control_loops
-} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
deleted file mode 100644
index 4442d35..0000000
--- a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
-#define Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace y2014_bot3 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients();
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController();
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients();
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController();
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients();
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController();
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients();
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController();
-
-StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant();
-
-StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop();
-
-} // namespace control_loops
-} // namespace y2014_bot3
-
-#endif // Y2014_BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2014_bot3/control_loops/drivetrain/replay_drivetrain.cc b/y2014_bot3/control_loops/drivetrain/replay_drivetrain.cc
deleted file mode 100644
index 4f83c9e..0000000
--- a/y2014_bot3/control_loops/drivetrain/replay_drivetrain.cc
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "aos/common/controls/replay_control_loop.h"
-#include "aos/linux_code/init.h"
-
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-
-// Reads one or more log files and sends out all the queue messages (in the
-// correct order and at the correct time) to feed a "live" drivetrain process.
-
-int main(int argc, char **argv) {
- if (argc <= 1) {
- fprintf(stderr, "Need at least one file to replay!\n");
- return EXIT_FAILURE;
- }
-
- ::aos::InitNRT();
-
- ::aos::controls::ControlLoopReplayer<::y2014_bot3::control_loops::DrivetrainQueue>
- replayer(&::y2014_bot3::control_loops::drivetrain_queue, "drivetrain");
- for (int i = 1; i < argc; ++i) {
- replayer.ProcessFile(argv[i]);
- }
-
- ::aos::Cleanup();
-}
diff --git a/y2014_bot3/control_loops/python/BUILD b/y2014_bot3/control_loops/python/BUILD
index bb8dc29..756b60e 100644
--- a/y2014_bot3/control_loops/python/BUILD
+++ b/y2014_bot3/control_loops/python/BUILD
@@ -6,7 +6,21 @@
'drivetrain.py',
],
deps = [
+ '//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
]
)
+
+py_binary(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.py',
+ 'drivetrain.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:controls',
+ ],
+)
diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
index 4231887..b0555a0 100755
--- a/y2014_bot3/control_loops/python/drivetrain.py
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -4,10 +4,16 @@
from frc971.control_loops.python import controls
import numpy
import sys
+import argparse
from matplotlib import pylab
+import gflags
import glog
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
class CIM(control_loop.ControlLoop):
def __init__(self):
super(CIM, self).__init__("CIM")
@@ -22,10 +28,10 @@
# Moment of inertia of the CIM in kg m^2
self.J = 0.0001
# Resistance of the motor, divided by 2 to account for the 2 motors
- self.R = 12.0 / self.stall_current
+ self.resistance = 12.0 / self.stall_current
# Motor velocity constant
self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
- (12.0 - self.R * self.free_current))
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Control loop time step
@@ -33,9 +39,9 @@
# State feedback matrices
self.A_continuous = numpy.matrix(
- [[-self.Kt / self.Kv / (self.J * self.R)]])
+ [[-self.Kt / self.Kv / (self.J * self.resistance)]])
self.B_continuous = numpy.matrix(
- [[self.Kt / (self.J * self.R)]])
+ [[self.Kt / (self.J * self.resistance)]])
self.C = numpy.matrix([[1]])
self.D = numpy.matrix([[0]])
@@ -54,36 +60,34 @@
class Drivetrain(control_loop.ControlLoop):
def __init__(self, name="Drivetrain", left_low=True, right_low=True):
super(Drivetrain, self).__init__(name)
+ # Number of motors per side
+ self.num_motors = 2
# Stall Torque in N m
- self.stall_torque = 2.42
+ self.stall_torque = 2.42 * self.num_motors * 0.60
# Stall Current in Amps
- self.stall_current = 133.0
+ self.stall_current = 133.0 * self.num_motors
# Free Speed in RPM. Used number from last year.
- self.free_speed = 4650.0
+ self.free_speed = 5500.0
# Free Current in Amps
- self.free_current = 2.7
+ self.free_current = 4.7 * self.num_motors
# Moment of inertia of the drivetrain in kg m^2
- # Just borrowed from last year.
- self.J = 10
+ self.J = 1.8
# Mass of the robot, in kg.
- self.m = 68
- # Radius of the robot, in meters (from last year).
- self.rb = 0.9603 / 2.0
+ self.m = 37
+ # Radius of the robot, in meters (requires tuning by hand)
+ self.rb = 0.601 / 2.0
# Radius of the wheels, in meters.
self.r = 0.0508
# Resistance of the motor, divided by the number of motors.
- self.R = 12.0 / self.stall_current / 2
+ self.resistance = 12.0 / self.stall_current
# Motor velocity constant
self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
- (12.0 - self.R * self.free_current))
+ (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Gear ratios
- self.G_const = 18.0 / 44.0 * 18.0 / 60.0
-
- self.G_low = self.G_const
- self.G_high = self.G_const
-
+ self.G_low = 28.0 / 60.0 * 19.0 / 50.0
+ self.G_high = 28.0 / 48.0 * 19.0 / 50.0
if left_low:
self.Gl = self.G_low
else:
@@ -101,10 +105,10 @@
self.msp = 1.0 / self.m + self.rb * self.rb / self.J
self.msn = 1.0 / self.m - self.rb * self.rb / self.J
# The calculations which we will need for A and B.
- self.tcl = -self.Kt / self.Kv / (self.Gl * self.Gl * self.R * self.r * self.r)
- self.tcr = -self.Kt / self.Kv / (self.Gr * self.Gr * self.R * self.r * self.r)
- self.mpl = self.Kt / (self.Gl * self.R * self.r)
- self.mpr = self.Kt / (self.Gr * self.R * self.r)
+ self.tcl = -self.Kt / self.Kv / (self.Gl * self.Gl * self.resistance * self.r * self.r)
+ self.tcr = -self.Kt / self.Kv / (self.Gr * self.Gr * self.resistance * self.r * self.r)
+ self.mpl = self.Kt / (self.Gl * self.resistance * self.r)
+ self.mpr = self.Kt / (self.Gr * self.resistance * self.r)
# State feedback matrices
# X will be of the format
@@ -124,17 +128,16 @@
self.D = numpy.matrix([[0, 0],
[0, 0]])
- #glog.debug('THE NUMBER I WANT %s', str(numpy.linalg.inv(self.A_continuous) * -self.B_continuous * numpy.matrix([[12.0], [12.0]])))
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)
- # Poles from last year.
- self.hp = 0.65
- self.lp = 0.83
- self.PlaceControllerPoles([self.hp, self.lp, self.hp, self.lp])
- glog.info('K %s', str(self.K))
- q_pos = 0.07
- q_vel = 1.0
+ if left_low or right_low:
+ q_pos = 0.12
+ q_vel = 1.0
+ else:
+ q_pos = 0.14
+ q_vel = 0.95
+
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -143,10 +146,10 @@
self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
[0.0, (1.0 / (12.0 ** 2.0))]])
self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
- glog.info('A %s', str(self.A))
- glog.info('B %s', str(self.B))
- glog.info('K %s', str(self.K))
- glog.info('Poles are %s', str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+
+ glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, name)
+ glog.debug(str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+ glog.debug('K %s', repr(self.K))
self.hlp = 0.3
self.llp = 0.4
@@ -154,11 +157,102 @@
self.U_max = numpy.matrix([[12.0], [12.0]])
self.U_min = numpy.matrix([[-12.0], [-12.0]])
+
self.InitializeState()
+
+class KFDrivetrain(Drivetrain):
+ def __init__(self, name="KFDrivetrain", left_low=True, right_low=True):
+ super(KFDrivetrain, self).__init__(name, left_low, right_low)
+
+ self.unaugmented_A_continuous = self.A_continuous
+ self.unaugmented_B_continuous = self.B_continuous
+
+ # The states are
+ # The practical voltage applied to the wheels is
+ # V_left = U_left + left_voltage_error
+ #
+ # [left position, left velocity, right position, right velocity,
+ # left voltage error, right voltage error, angular_error]
+ #
+ # The left and right positions are filtered encoder positions and are not
+ # adjusted for heading error.
+ # The turn velocity as computed by the left and right velocities is
+ # adjusted by the gyro velocity.
+ # The angular_error is the angular velocity error between the wheel speed
+ # and the gyro speed.
+ self.A_continuous = numpy.matrix(numpy.zeros((7, 7)))
+ self.B_continuous = numpy.matrix(numpy.zeros((7, 2)))
+ self.A_continuous[0:4,0:4] = self.unaugmented_A_continuous
+ self.A_continuous[0:4,4:6] = self.unaugmented_B_continuous
+ self.B_continuous[0:4,0:2] = self.unaugmented_B_continuous
+ self.A_continuous[0,6] = 1
+ self.A_continuous[2,6] = -1
+
+ self.A, self.B = self.ContinuousToDiscrete(
+ self.A_continuous, self.B_continuous, self.dt)
+
+ self.C = numpy.matrix([[1, 0, 0, 0, 0, 0, 0],
+ [0, 0, 1, 0, 0, 0, 0],
+ [0, -0.5 / self.rb, 0, 0.5 / self.rb, 0, 0, 0]])
+
+ self.D = numpy.matrix([[0, 0],
+ [0, 0],
+ [0, 0]])
+
+ q_pos = 0.05
+ q_vel = 1.00
+ q_voltage = 10.0
+ q_encoder_uncertainty = 2.00
+
+ self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, (q_vel ** 2.0), 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, (q_pos ** 2.0), 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, (q_vel ** 2.0), 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, (q_voltage ** 2.0), 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, (q_voltage ** 2.0), 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, (q_encoder_uncertainty ** 2.0)]])
+
+ r_pos = 0.0001
+ r_gyro = 0.000001
+ self.R = numpy.matrix([[(r_pos ** 2.0), 0.0, 0.0],
+ [0.0, (r_pos ** 2.0), 0.0],
+ [0.0, 0.0, (r_gyro ** 2.0)]])
+
+ # Solving for kf gains.
+ self.KalmanGain, self.Q_steady = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+ self.L = self.A * self.KalmanGain
+
+ unaug_K = self.K
+
+ # Implement a nice closed loop controller for use by the closed loop
+ # controller.
+ self.K = numpy.matrix(numpy.zeros((self.B.shape[1], self.A.shape[0])))
+ self.K[0:2, 0:4] = unaug_K
+ self.K[0, 4] = 1.0
+ self.K[1, 5] = 1.0
+
+ self.Qff = numpy.matrix(numpy.zeros((4, 4)))
+ qff_pos = 0.005
+ qff_vel = 1.00
+ self.Qff[0, 0] = 1.0 / qff_pos ** 2.0
+ self.Qff[1, 1] = 1.0 / qff_vel ** 2.0
+ self.Qff[2, 2] = 1.0 / qff_pos ** 2.0
+ self.Qff[3, 3] = 1.0 / qff_vel ** 2.0
+ self.Kff = numpy.matrix(numpy.zeros((2, 7)))
+ self.Kff[0:2, 0:4] = controls.TwoStateFeedForwards(self.B[0:4,:], self.Qff)
+
+ self.InitializeState()
+
+
def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
# Simulate the response of the system to a step input.
- drivetrain = Drivetrain()
+ drivetrain = Drivetrain(left_low=False, right_low=False)
simulated_left = []
simulated_right = []
for _ in xrange(100):
@@ -166,26 +260,37 @@
simulated_left.append(drivetrain.X[0, 0])
simulated_right.append(drivetrain.X[2, 0])
- #pylab.plot(range(100), simulated_left)
- #pylab.plot(range(100), simulated_right)
- #pylab.show()
+ if FLAGS.plot:
+ pylab.plot(range(100), simulated_left)
+ pylab.plot(range(100), simulated_right)
+ pylab.suptitle('Acceleration Test')
+ pylab.show()
# Simulate forwards motion.
- drivetrain = Drivetrain()
+ drivetrain = Drivetrain(left_low=False, right_low=False)
close_loop_left = []
close_loop_right = []
+ left_power = []
+ right_power = []
R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
- for _ in xrange(100):
+ for _ in xrange(300):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
+ left_power.append(U[0, 0])
+ right_power.append(U[1, 0])
- #pylab.plot(range(100), close_loop_left)
- #pylab.plot(range(100), close_loop_right)
- #pylab.show()
+ if FLAGS.plot:
+ pylab.plot(range(300), close_loop_left, label='left position')
+ pylab.plot(range(300), close_loop_right, label='right position')
+ pylab.plot(range(300), left_power, label='left power')
+ pylab.plot(range(300), right_power, label='right power')
+ pylab.suptitle('Linear Move')
+ pylab.legend()
+ pylab.show()
# Try turning in place
drivetrain = Drivetrain()
@@ -200,9 +305,11 @@
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
- #pylab.plot(range(100), close_loop_left)
- #pylab.plot(range(100), close_loop_right)
- #pylab.show()
+ if FLAGS.plot:
+ pylab.plot(range(100), close_loop_left)
+ pylab.plot(range(100), close_loop_right)
+ pylab.suptitle('Angular Move')
+ pylab.show()
# Try turning just one side.
drivetrain = Drivetrain()
@@ -217,25 +324,75 @@
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
- #pylab.plot(range(100), close_loop_left)
- #pylab.plot(range(100), close_loop_right)
- #pylab.show()
+ if FLAGS.plot:
+ pylab.plot(range(100), close_loop_left)
+ pylab.plot(range(100), close_loop_right)
+ pylab.suptitle('Pivot')
+ pylab.show()
# Write the generated constants out to a file.
- glog.info('Output one')
- drivetrain_low_low = Drivetrain(name="DrivetrainLowLow", left_low=True, right_low=True)
- drivetrain_low_high = Drivetrain(name="DrivetrainLowHigh", left_low=True, right_low=False)
- drivetrain_high_low = Drivetrain(name="DrivetrainHighLow", left_low=False, right_low=True)
- drivetrain_high_high = Drivetrain(name="DrivetrainHighHigh", left_low=False, right_low=False)
+ drivetrain_low_low = Drivetrain(
+ name="DrivetrainLowLow", left_low=True, right_low=True)
+ drivetrain_low_high = Drivetrain(
+ name="DrivetrainLowHigh", left_low=True, right_low=False)
+ drivetrain_high_low = Drivetrain(
+ name="DrivetrainHighLow", left_low=False, right_low=True)
+ drivetrain_high_high = Drivetrain(
+ name="DrivetrainHighHigh", left_low=False, right_low=False)
- if len(argv) != 3:
- glog.fatal('Expected .h file name and .cc file name')
+ kf_drivetrain_low_low = KFDrivetrain(
+ name="KFDrivetrainLowLow", left_low=True, right_low=True)
+ kf_drivetrain_low_high = KFDrivetrain(
+ name="KFDrivetrainLowHigh", left_low=True, right_low=False)
+ kf_drivetrain_high_low = KFDrivetrain(
+ name="KFDrivetrainHighLow", left_low=False, right_low=True)
+ kf_drivetrain_high_high = KFDrivetrain(
+ name="KFDrivetrainHighHigh", left_low=False, right_low=False)
+
+ if len(argv) != 5:
+ print "Expected .h file name and .cc file name"
else:
+ namespaces = ['y2014_bot3', 'control_loops', 'drivetrain']
dog_loop_writer = control_loop.ControlLoopWriter(
"Drivetrain", [drivetrain_low_low, drivetrain_low_high,
drivetrain_high_low, drivetrain_high_high],
- namespaces=['y2014_bot3', 'control_loops', 'drivetrain'])
+ namespaces = namespaces)
+ dog_loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
+ drivetrain_low_low.dt))
+ dog_loop_writer.AddConstant(control_loop.Constant("kStallTorque", "%f",
+ drivetrain_low_low.stall_torque))
+ dog_loop_writer.AddConstant(control_loop.Constant("kStallCurrent", "%f",
+ drivetrain_low_low.stall_current))
+ dog_loop_writer.AddConstant(control_loop.Constant("kFreeSpeedRPM", "%f",
+ drivetrain_low_low.free_speed))
+ dog_loop_writer.AddConstant(control_loop.Constant("kFreeCurrent", "%f",
+ drivetrain_low_low.free_current))
+ dog_loop_writer.AddConstant(control_loop.Constant("kJ", "%f",
+ drivetrain_low_low.J))
+ dog_loop_writer.AddConstant(control_loop.Constant("kMass", "%f",
+ drivetrain_low_low.m))
+ dog_loop_writer.AddConstant(control_loop.Constant("kRobotRadius", "%f",
+ drivetrain_low_low.rb))
+ dog_loop_writer.AddConstant(control_loop.Constant("kWheelRadius", "%f",
+ drivetrain_low_low.r))
+ dog_loop_writer.AddConstant(control_loop.Constant("kR", "%f",
+ drivetrain_low_low.resistance))
+ dog_loop_writer.AddConstant(control_loop.Constant("kV", "%f",
+ drivetrain_low_low.Kv))
+ dog_loop_writer.AddConstant(control_loop.Constant("kT", "%f",
+ drivetrain_low_low.Kt))
+ dog_loop_writer.AddConstant(control_loop.Constant("kLowGearRatio", "%f",
+ drivetrain_low_low.G_low))
+ dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
+ drivetrain_high_high.G_high))
+
dog_loop_writer.Write(argv[1], argv[2])
+ kf_loop_writer = control_loop.ControlLoopWriter(
+ "KFDrivetrain", [kf_drivetrain_low_low, kf_drivetrain_low_high,
+ kf_drivetrain_high_low, kf_drivetrain_high_high],
+ namespaces = namespaces)
+ kf_loop_writer.Write(argv[3], argv[4])
+
if __name__ == '__main__':
sys.exit(main(sys.argv))
diff --git a/y2014_bot3/control_loops/python/polydrivetrain.py b/y2014_bot3/control_loops/python/polydrivetrain.py
index 2ffbed6..e047c11 100755
--- a/y2014_bot3/control_loops/python/polydrivetrain.py
+++ b/y2014_bot3/control_loops/python/polydrivetrain.py
@@ -2,14 +2,23 @@
import numpy
import sys
-import polytope
-import drivetrain
-import control_loop
-import controls
+from frc971.control_loops.python import polytope
+from y2014_bot3.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
from matplotlib import pylab
+import gflags
+import glog
+
__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
def CoerceGoal(region, K, w, R):
"""Intersects a line with a region, and finds the closest point to R.
@@ -110,8 +119,8 @@
self.B_continuous = numpy.matrix(
[[self._drivetrain.B_continuous[1, 0], self._drivetrain.B_continuous[1, 1]],
[self._drivetrain.B_continuous[3, 0], self._drivetrain.B_continuous[3, 1]]])
- self.C = numpy.matrix(numpy.eye(2));
- self.D = numpy.matrix(numpy.zeros((2, 2)));
+ self.C = numpy.matrix(numpy.eye(2))
+ self.D = numpy.matrix(numpy.zeros((2, 2)))
self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
self.B_continuous, self.dt)
@@ -119,12 +128,12 @@
# FF * X = U (steady state)
self.FF = self.B.I * (numpy.eye(2) - self.A)
- self.PlaceControllerPoles([0.6, 0.6])
+ self.PlaceControllerPoles([0.67, 0.67])
self.PlaceObserverPoles([0.02, 0.02])
self.G_high = self._drivetrain.G_high
self.G_low = self._drivetrain.G_low
- self.R = self._drivetrain.R
+ self.resistance = self._drivetrain.resistance
self.r = self._drivetrain.r
self.Kv = self._drivetrain.Kv
self.Kt = self._drivetrain.Kt
@@ -174,10 +183,14 @@
[[0.0],
[0.0]])
+ self.U_ideal = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
# ttrust is the comprimise between having full throttle negative inertia,
# and having no throttle negative inertia. A value of 0 is full throttle
# inertia. A value of 1 is no throttle negative inertia.
- self.ttrust = 1.1
+ self.ttrust = 1.0
self.left_gear = VelocityDrivetrain.LOW
self.right_gear = VelocityDrivetrain.LOW
@@ -229,9 +242,9 @@
self.CurrentDrivetrain().r)
#print gear_name, "Motor Energy Difference.", 0.5 * 0.000140032647 * (low_omega * low_omega - high_omega * high_omega), "joules"
high_torque = ((12.0 - high_omega / self.CurrentDrivetrain().Kv) *
- self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().resistance)
low_torque = ((12.0 - low_omega / self.CurrentDrivetrain().Kv) *
- self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().resistance)
high_power = high_torque * high_omega
low_power = low_torque * low_omega
#if should_print:
@@ -250,16 +263,16 @@
#goal_gear_is_high = True
if not self.IsInGear(current_gear):
- print gear_name, 'Not in gear.'
+ glog.debug('%s Not in gear.', gear_name)
return current_gear
else:
is_high = current_gear is VelocityDrivetrain.HIGH
if is_high != goal_gear_is_high:
if goal_gear_is_high:
- print gear_name, 'Shifting up.'
+ glog.debug('%s Shifting up.', gear_name)
return VelocityDrivetrain.SHIFTING_UP
else:
- print gear_name, 'Shifting down.'
+ glog.debug('%s Shifting down.', gear_name)
return VelocityDrivetrain.SHIFTING_DOWN
else:
return current_gear
@@ -303,7 +316,7 @@
# wheel.
self.left_gear = self.right_gear = True
- if False:
+ if True:
self.left_gear = self.ComputeGear(self.X[0, 0], should_print=True,
current_gear=self.left_gear,
gear_name="left")
@@ -316,8 +329,7 @@
if self.IsInGear(self.right_gear):
self.right_cim.X[0, 0] = self.MotorRPM(self.right_shifter_position, self.X[0, 0])
- steering *= 2.3
- if True or self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
# Filter the throttle to provide a nicer response.
fvel = self.FilterVelocity(throttle)
@@ -362,7 +374,7 @@
FF_volts = self.CurrentDrivetrain().FF * self.boxed_R
self.U_ideal = self.CurrentDrivetrain().K * (self.boxed_R - self.X) + FF_volts
else:
- print 'Not all in gear'
+ glog.debug('Not all in gear')
if not self.IsInGear(self.left_gear) and not self.IsInGear(self.right_gear):
# TODO(austin): Use battery volts here.
R_left = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
@@ -383,7 +395,7 @@
# TODO(austin): Model the robot as not accelerating when you shift...
# This hack only works when you shift at the same time.
- if True or self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
self.X = self.CurrentDrivetrain().A * self.X + self.CurrentDrivetrain().B * self.U
self.left_gear, self.left_shifter_position = self.SimShifter(
@@ -391,37 +403,36 @@
self.right_gear, self.right_shifter_position = self.SimShifter(
self.right_gear, self.right_shifter_position)
- print "U is", self.U[0, 0], self.U[1, 0]
- print "Left shifter", self.left_gear, self.left_shifter_position, "Right shifter", self.right_gear, self.right_shifter_position
+ glog.debug('U is %s %s', str(self.U[0, 0]), str(self.U[1, 0]))
+ glog.debug('Left shifter %s %d Right shifter %s %d',
+ self.left_gear, self.left_shifter_position,
+ self.right_gear, self.right_shifter_position)
def main(argv):
+ argv = FLAGS(argv)
+
vdrivetrain = VelocityDrivetrain()
- if len(argv) != 7:
- print "Expected .h file name and .cc file name"
- else:
- dog_loop_writer = control_loop.ControlLoopWriter(
- "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
- vdrivetrain.drivetrain_low_high,
- vdrivetrain.drivetrain_high_low,
- vdrivetrain.drivetrain_high_high],
- namespaces=['y2014_bot3', 'control_loops'])
-
- if argv[1][-3:] == '.cc':
- dog_loop_writer.Write(argv[2], argv[1])
+ if not FLAGS.plot:
+ if len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
else:
+ namespaces = ['y2014_bot3', 'control_loops', 'drivetrain']
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
+ vdrivetrain.drivetrain_low_high,
+ vdrivetrain.drivetrain_high_low,
+ vdrivetrain.drivetrain_high_high],
+ namespaces=namespaces)
+
dog_loop_writer.Write(argv[1], argv[2])
- cim_writer = control_loop.ControlLoopWriter(
- "CIM", [drivetrain.CIM()],
- namespaces=['y2014_bot3', 'control_loops'])
+ cim_writer = control_loop.ControlLoopWriter(
+ "CIM", [drivetrain.CIM()])
- if argv[5][-3:] == '.cc':
- cim_writer.Write(argv[6], argv[5])
- else:
- cim_writer.Write(argv[5], argv[6])
- return
+ cim_writer.Write(argv[3], argv[4])
+ return
vl_plot = []
vr_plot = []
@@ -436,16 +447,16 @@
vdrivetrain.left_gear = VelocityDrivetrain.LOW
vdrivetrain.right_gear = VelocityDrivetrain.LOW
- print "K is", vdrivetrain.CurrentDrivetrain().K
+ glog.debug('K is %s', str(vdrivetrain.CurrentDrivetrain().K))
if vdrivetrain.left_gear is VelocityDrivetrain.HIGH:
- print "Left is high"
+ glog.debug('Left is high')
else:
- print "Left is low"
+ glog.debug('Left is low')
if vdrivetrain.right_gear is VelocityDrivetrain.HIGH:
- print "Right is high"
+ glog.debug('Right is high')
else:
- print "Right is low"
+ glog.debug('Right is low')
for t in numpy.arange(0, 1.7, vdrivetrain.dt):
if t < 0.5:
@@ -469,22 +480,6 @@
else:
radius_plot.append(turn_velocity / fwd_velocity)
- cim_velocity_plot = []
- cim_voltage_plot = []
- cim_time = []
- cim = drivetrain.CIM()
- R = numpy.matrix([[300]])
- for t in numpy.arange(0, 0.5, cim.dt):
- U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)
- cim.Update(U)
- cim_velocity_plot.append(cim.X[0, 0])
- cim_voltage_plot.append(U[0, 0] * 10)
- cim_time.append(t)
- pylab.plot(cim_time, cim_velocity_plot, label='cim spinup')
- pylab.plot(cim_time, cim_voltage_plot, label='cim voltage')
- pylab.legend()
- pylab.show()
-
# TODO(austin):
# Shifting compensation.
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 6dfcbb4..86f78dc 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -11,11 +11,11 @@
#include "aos/common/time.h"
#include "frc971/queues/gyro.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/control_loops/rollers/rollers.q.h"
-using ::y2014_bot3::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2014_bot3::control_loops::rollers_queue;
using ::frc971::sensors::gyro_reading;
@@ -30,9 +30,12 @@
// Joystick & button addresses.
const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
-const ButtonLocation kShiftHigh(2, 3), kShiftLow(2, 1);
+const ButtonLocation kShiftHigh(2, 3), kShiftHigh2(2, 2), kShiftLow(2, 1);
const ButtonLocation kQuickTurn(1, 5);
+const ButtonLocation kTurn1(1, 7);
+const ButtonLocation kTurn2(1, 11);
+
const ButtonLocation kFrontRollersIn(3, 8);
const ButtonLocation kBackRollersIn(3, 7);
const ButtonLocation kFrontRollersOut(3, 6);
@@ -62,15 +65,33 @@
}
void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+ bool is_control_loop_driving = false;
+ static double left_goal = 0.0;
+ static double right_goal = 0.0;
const double wheel = -data.GetAxis(kSteeringWheel);
const double throttle = -data.GetAxis(kDriveThrottle);
+ if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
+ drivetrain_queue.status.FetchLatest();
+ if (drivetrain_queue.status.get()) {
+ left_goal = drivetrain_queue.status->estimated_left_position;
+ right_goal = drivetrain_queue.status->estimated_right_position;
+ }
+ }
+ if (data.IsPressed(kTurn1) || data.IsPressed(kTurn2)) {
+ is_control_loop_driving = true;
+ }
+
if (!drivetrain_queue.goal.MakeWithBuilder()
.steering(wheel)
.throttle(throttle)
- .quickturn(data.IsPressed(kQuickTurn))
- .control_loop_driving(false)
.highgear(is_high_gear_)
+ .quickturn(data.IsPressed(kQuickTurn))
+ .control_loop_driving(is_control_loop_driving)
+ .left_goal(left_goal - wheel * 0.5 + throttle * 0.3)
+ .right_goal(right_goal + wheel * 0.5 + throttle * 0.3)
+ .left_velocity_goal(0)
+ .right_velocity_goal(0)
.Send()) {
LOG(WARNING, "sending stick values failed\n");
}
@@ -79,7 +100,7 @@
is_high_gear_ = false;
}
- if (data.PosEdge(kShiftHigh)) {
+ if (data.PosEdge(kShiftHigh) || data.PosEdge(kShiftHigh2)) {
is_high_gear_ = true;
}
}
diff --git a/y2014_bot3/wpilib/BUILD b/y2014_bot3/wpilib/BUILD
index 5f5319c..8af099f 100644
--- a/y2014_bot3/wpilib/BUILD
+++ b/y2014_bot3/wpilib/BUILD
@@ -10,7 +10,7 @@
'//aos/common:stl_mutex',
'//aos/common/logging',
'//third_party/allwpilib_2016:wpilib',
- '//y2014_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//aos/common/controls:control_loop',
'//aos/common/util:log_interval',
'//aos/common:time',
@@ -29,7 +29,7 @@
'//frc971/wpilib:pdp_fetcher',
'//frc971/wpilib:dma',
'//y2014_bot3/autonomous:auto_queue',
- '//y2014_bot3/control_loops/drivetrain:drivetrain_lib',
'//y2014_bot3/control_loops/rollers:rollers_lib',
+ '//y2014_bot3/control_loops/drivetrain:drivetrain_base',
],
)
diff --git a/y2014_bot3/wpilib/wpilib_interface.cc b/y2014_bot3/wpilib/wpilib_interface.cc
index e1e07a0..5692465 100644
--- a/y2014_bot3/wpilib/wpilib_interface.cc
+++ b/y2014_bot3/wpilib/wpilib_interface.cc
@@ -27,10 +27,10 @@
#include "aos/linux_code/init.h"
#include "aos/common/messages/robot_state.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
#include "y2014_bot3/control_loops/rollers/rollers.q.h"
#include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
#include "y2014_bot3/control_loops/rollers/rollers.h"
#include "frc971/wpilib/joystick_sender.h"
@@ -48,7 +48,7 @@
#endif
using ::aos::util::SimpleLogInterval;
-using ::y2014_bot3::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2014_bot3::control_loops::rollers_queue;
using ::frc971::wpilib::BufferedPcm;
using ::frc971::wpilib::BufferedSolenoid;
@@ -61,13 +61,13 @@
double drivetrain_translate(int32_t in) {
return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
- ::y2014_bot3::control_loops::kDrivetrainEncoderRatio *
+ ::y2014_bot3::control_loops::drivetrain::kDrivetrainEncoderRatio *
(4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
double drivetrain_velocity_translate(double in) {
return (1.0 / in) / 256.0 /*cpr*/ *
- ::y2014_bot3::control_loops::kDrivetrainEncoderRatio *
+ ::y2014_bot3::control_loops::drivetrain::kDrivetrainEncoderRatio *
(4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
@@ -154,7 +154,7 @@
public:
SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
: pcm_(pcm),
- drivetrain_(".y2014_bot3.control_loops.drivetrain_queue.output"),
+ drivetrain_(".frc971.control_loops.drivetrain_queue.output"),
rollers_(".y2014_bot3.control_loops.rollers_queue.output") {}
void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
@@ -249,7 +249,7 @@
::std::unique_ptr<DigitalInput> pressure_switch_;
::std::unique_ptr<Relay> compressor_relay_;
- ::aos::Queue<::y2014_bot3::control_loops::DrivetrainQueue::Output>
+ ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output>
drivetrain_;
::aos::Queue<::y2014_bot3::control_loops::RollersQueue::Output> rollers_;
@@ -269,11 +269,11 @@
private:
virtual void Read() override {
- ::y2014_bot3::control_loops::drivetrain_queue.output.FetchAnother();
+ ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::y2014_bot3::control_loops::drivetrain_queue.output;
+ auto &queue = ::frc971::control_loops::drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_drivetrain_talon_->Set(-queue->left_voltage / 12.0);
right_drivetrain_talon_->Set(queue->right_voltage / 12.0);
@@ -373,9 +373,9 @@
// Outputs
DrivetrainWriter drivetrain_writer;
drivetrain_writer.set_left_drivetrain_talon(
- ::std::unique_ptr<Talon>(new Talon(2)));
- drivetrain_writer.set_right_drivetrain_talon(
::std::unique_ptr<Talon>(new Talon(5)));
+ drivetrain_writer.set_right_drivetrain_talon(
+ ::std::unique_ptr<Talon>(new Talon(2)));
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
RollersWriter rollers_writer;