Autogen rules written for elevator module.
Put most things in the y2015 namespace since codegen wants to place
the controller gains in that namespace.
Change-Id: Ib3ef6eb38200bf0d80cba972cbe06ea366522ec6
diff --git a/y2015/actors/can_pickup_action.q b/y2015/actors/can_pickup_action.q
index 4846722..bf61a0f 100644
--- a/y2015/actors/can_pickup_action.q
+++ b/y2015/actors/can_pickup_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/can_pickup_actor.cc b/y2015/actors/can_pickup_actor.cc
index d2a191f..166b246 100644
--- a/y2015/actors/can_pickup_actor.cc
+++ b/y2015/actors/can_pickup_actor.cc
@@ -7,9 +7,10 @@
#include "y2015/constants.h"
#include "y2015/control_loops/claw/claw.q.h"
-using ::frc971::control_loops::fridge_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
+using ::y2015::control_loops::claw_queue;
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kHorizontalMove{1.1, 1.8};
@@ -45,7 +46,7 @@
bool CanPickupActor::RunAction(const CanPickupParams ¶ms) {
// Make sure the claw is down.
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = 0.0;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -68,7 +69,7 @@
return false;
}
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = 0.0;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -115,8 +116,8 @@
::std::unique_ptr<CanPickupAction> MakeCanPickupAction(
const CanPickupParams ¶ms) {
return ::std::unique_ptr<CanPickupAction>(
- new CanPickupAction(&::frc971::actors::can_pickup_action, params));
+ new CanPickupAction(&::y2015::actors::can_pickup_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/can_pickup_actor.h b/y2015/actors/can_pickup_actor.h
index f0b1ec9..10677b9 100644
--- a/y2015/actors/can_pickup_actor.h
+++ b/y2015/actors/can_pickup_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/can_pickup_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class CanPickupActor : public FridgeActorBase<CanPickupActionQueueGroup> {
@@ -32,6 +32,6 @@
const CanPickupParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif
diff --git a/y2015/actors/can_pickup_actor_main.cc b/y2015/actors/can_pickup_actor_main.cc
index 1afb500..b23d981 100644
--- a/y2015/actors/can_pickup_actor_main.cc
+++ b/y2015/actors/can_pickup_actor_main.cc
@@ -7,7 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::CanPickupActor can_pickup(&::frc971::actors::can_pickup_action);
+ ::y2015::actors::CanPickupActor can_pickup(&::y2015::actors::can_pickup_action);
can_pickup.Run();
::aos::Cleanup();
diff --git a/y2015/actors/drivetrain_action.q b/y2015/actors/drivetrain_action.q
index 9ad55d3..1c13f2b 100644
--- a/y2015/actors/drivetrain_action.q
+++ b/y2015/actors/drivetrain_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/drivetrain_actor.cc b/y2015/actors/drivetrain_actor.cc
index 32db222..945d923 100644
--- a/y2015/actors/drivetrain_actor.cc
+++ b/y2015/actors/drivetrain_actor.cc
@@ -15,10 +15,11 @@
#include "y2015/actors/drivetrain_actor.h"
#include "y2015/constants.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace chrono = ::std::chrono;
+using ::frc971::control_loops::drivetrain_queue;
DrivetrainActor::DrivetrainActor(actors::DrivetrainActionQueueGroup* s)
: aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
@@ -49,9 +50,9 @@
while (true) {
::aos::time::PhasedLoopXMS(5, 2500);
- control_loops::drivetrain_queue.status.FetchLatest();
- if (control_loops::drivetrain_queue.status.get()) {
- const auto& status = *control_loops::drivetrain_queue.status;
+ drivetrain_queue.status.FetchLatest();
+ if (drivetrain_queue.status.get()) {
+ const auto& status = *drivetrain_queue.status;
if (::std::abs(status.uncapped_left_voltage -
status.uncapped_right_voltage) > 24) {
LOG(DEBUG, "spinning in place\n");
@@ -118,7 +119,7 @@
LOG(DEBUG, "Driving left to %f, right to %f\n",
left_goal_state(0, 0) + params.left_initial_position,
right_goal_state(0, 0) + params.right_initial_position);
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
//.highgear(false)
.left_goal(left_goal_state(0, 0) + params.left_initial_position)
@@ -128,25 +129,25 @@
.Send();
}
if (ShouldCancel()) return true;
- control_loops::drivetrain_queue.status.FetchLatest();
- while (!control_loops::drivetrain_queue.status.get()) {
+ drivetrain_queue.status.FetchLatest();
+ while (!drivetrain_queue.status.get()) {
LOG(WARNING,
"No previous drivetrain status packet, trying to fetch again\n");
- control_loops::drivetrain_queue.status.FetchNextBlocking();
+ drivetrain_queue.status.FetchNextBlocking();
if (ShouldCancel()) return true;
}
while (true) {
if (ShouldCancel()) return true;
const double kPositionThreshold = 0.05;
- const double left_error = ::std::abs(
- control_loops::drivetrain_queue.status->estimated_left_position -
- (left_goal_state(0, 0) + params.left_initial_position));
- const double right_error = ::std::abs(
- control_loops::drivetrain_queue.status->estimated_right_position -
- (right_goal_state(0, 0) + params.right_initial_position));
+ const double left_error =
+ ::std::abs(drivetrain_queue.status->estimated_left_position -
+ (left_goal_state(0, 0) + params.left_initial_position));
+ const double right_error =
+ ::std::abs(drivetrain_queue.status->estimated_right_position -
+ (right_goal_state(0, 0) + params.right_initial_position));
const double velocity_error =
- ::std::abs(control_loops::drivetrain_queue.status->robot_speed);
+ ::std::abs(drivetrain_queue.status->robot_speed);
if (left_error < kPositionThreshold && right_error < kPositionThreshold &&
velocity_error < 0.2) {
break;
@@ -154,17 +155,17 @@
LOG(DEBUG, "Drivetrain error is %f, %f, %f\n", left_error, right_error,
velocity_error);
}
- control_loops::drivetrain_queue.status.FetchNextBlocking();
+ drivetrain_queue.status.FetchNextBlocking();
}
LOG(INFO, "Done moving\n");
return true;
}
::std::unique_ptr<DrivetrainAction> MakeDrivetrainAction(
- const ::frc971::actors::DrivetrainActionParams& params) {
+ const ::y2015::actors::DrivetrainActionParams& params) {
return ::std::unique_ptr<DrivetrainAction>(
- new DrivetrainAction(&::frc971::actors::drivetrain_action, params));
+ new DrivetrainAction(&::y2015::actors::drivetrain_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/drivetrain_actor.h b/y2015/actors/drivetrain_actor.h
index 369c6ed..0927f38 100644
--- a/y2015/actors/drivetrain_actor.h
+++ b/y2015/actors/drivetrain_actor.h
@@ -7,7 +7,7 @@
#include "aos/common/actions/actor.h"
#include "aos/common/actions/actions.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class DrivetrainActor
@@ -23,9 +23,9 @@
// Makes a new DrivetrainActor action.
::std::unique_ptr<DrivetrainAction> MakeDrivetrainAction(
- const ::frc971::actors::DrivetrainActionParams& params);
+ const ::y2015::actors::DrivetrainActionParams& params);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif
diff --git a/y2015/actors/drivetrain_actor_main.cc b/y2015/actors/drivetrain_actor_main.cc
index 6f567d7..76519f2 100644
--- a/y2015/actors/drivetrain_actor_main.cc
+++ b/y2015/actors/drivetrain_actor_main.cc
@@ -9,8 +9,8 @@
int main(int /*argc*/, char * /*argv*/[]) {
::aos::Init(-1);
- frc971::actors::DrivetrainActor drivetrain(
- &::frc971::actors::drivetrain_action);
+ y2015::actors::DrivetrainActor drivetrain(
+ &::y2015::actors::drivetrain_action);
drivetrain.Run();
::aos::Cleanup();
diff --git a/y2015/actors/fridge_profile_lib.h b/y2015/actors/fridge_profile_lib.h
index ce75f75..8980848 100644
--- a/y2015/actors/fridge_profile_lib.h
+++ b/y2015/actors/fridge_profile_lib.h
@@ -7,7 +7,7 @@
#include "aos/common/util/phased_loop.h"
#include "y2015/control_loops/fridge/fridge.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
struct ProfileParams {
@@ -34,7 +34,8 @@
ProfileParams elevator_parameters,
ProfileParams arm_parameters, bool top_grabbers,
bool front_grabbers, bool back_grabbers) {
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
+ auto new_fridge_goal =
+ control_loops::fridge::fridge_queue.goal.MakeMessage();
new_fridge_goal->profiling_type = 0;
new_fridge_goal->max_velocity = elevator_parameters.velocity;
new_fridge_goal->max_acceleration = elevator_parameters.acceleration;
@@ -65,29 +66,30 @@
bool front_grabbers, bool back_grabbers) {
if (this->ShouldCancel()) {
LOG(INFO, "Canceling fridge movement\n");
- if (!control_loops::fridge_queue.status.get()) {
+ if (!control_loops::fridge::fridge_queue.status.get()) {
LOG(WARNING, "no fridge status so can't really cancel\n");
return CANCELED;
}
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
+ auto new_fridge_goal =
+ control_loops::fridge::fridge_queue.goal.MakeMessage();
new_fridge_goal->profiling_type = 0;
new_fridge_goal->max_velocity = elevator_parameters.velocity;
new_fridge_goal->max_acceleration = elevator_parameters.acceleration;
new_fridge_goal->height =
- control_loops::fridge_queue.status->height +
- (control_loops::fridge_queue.status->goal_velocity *
- ::std::abs(control_loops::fridge_queue.status->goal_velocity)) /
+ control_loops::fridge::fridge_queue.status->height +
+ (control_loops::fridge::fridge_queue.status->goal_velocity *
+ ::std::abs(control_loops::fridge::fridge_queue.status->goal_velocity)) /
(2.0 * new_fridge_goal->max_acceleration);
height = new_fridge_goal->height;
new_fridge_goal->velocity = 0.0;
new_fridge_goal->max_angular_velocity = arm_parameters.velocity;
new_fridge_goal->max_angular_acceleration = arm_parameters.acceleration;
new_fridge_goal->angle =
- control_loops::fridge_queue.status->angle +
- (control_loops::fridge_queue.status->goal_angular_velocity *
+ control_loops::fridge::fridge_queue.status->angle +
+ (control_loops::fridge::fridge_queue.status->goal_angular_velocity *
::std::abs(
- control_loops::fridge_queue.status->goal_angular_velocity)) /
+ control_loops::fridge::fridge_queue.status->goal_angular_velocity)) /
(2.0 * new_fridge_goal->max_angular_acceleration);
angle = new_fridge_goal->angle;
new_fridge_goal->angular_velocity = 0.0;
@@ -101,29 +103,30 @@
}
return CANCELED;
}
- control_loops::fridge_queue.status.FetchAnother();
+ control_loops::fridge::fridge_queue.status.FetchAnother();
constexpr double kProfileError = 1e-5;
constexpr double kAngleEpsilon = 0.02, kHeightEpsilon = 0.015;
- if (control_loops::fridge_queue.status->state != 4) {
+ if (control_loops::fridge::fridge_queue.status->state != 4) {
LOG(ERROR, "Fridge no longer running, aborting action\n");
return CANCELED;
}
- if (::std::abs(control_loops::fridge_queue.status->goal_angle - angle) <
+ if (::std::abs(control_loops::fridge::fridge_queue.status->goal_angle -
+ angle) < kProfileError &&
+ ::std::abs(control_loops::fridge::fridge_queue.status->goal_height -
+ height) < kProfileError &&
+ ::std::abs(
+ control_loops::fridge::fridge_queue.status->goal_angular_velocity) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_height - height) <
- kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_angular_velocity) <
- kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_velocity) <
+ ::std::abs(control_loops::fridge::fridge_queue.status->goal_velocity) <
kProfileError) {
LOG(INFO, "Profile done.\n");
- if (::std::abs(control_loops::fridge_queue.status->angle - angle) <
- kAngleEpsilon &&
- ::std::abs(control_loops::fridge_queue.status->height -
- height) < kHeightEpsilon) {
+ if (::std::abs(control_loops::fridge::fridge_queue.status->angle -
+ angle) < kAngleEpsilon &&
+ ::std::abs(control_loops::fridge::fridge_queue.status->height -
+ height) < kHeightEpsilon) {
LOG(INFO, "Near goal, done.\n");
return DONE;
}
@@ -179,28 +182,31 @@
bool top_grabbers, bool front_grabbers,
bool back_grabbers) {
LOG(INFO, "Canceling fridge movement\n");
- if (!control_loops::fridge_queue.status.get()) {
+ if (!control_loops::fridge::fridge_queue.status.get()) {
LOG(WARNING, "no fridge status so can't really cancel\n");
return;
}
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
+ auto new_fridge_goal =
+ control_loops::fridge::fridge_queue.goal.MakeMessage();
new_fridge_goal->profiling_type = 1;
new_fridge_goal->max_x_velocity = x_parameters.velocity;
new_fridge_goal->max_x_acceleration = x_parameters.acceleration;
new_fridge_goal->x =
- control_loops::fridge_queue.status->x +
- (control_loops::fridge_queue.status->goal_x_velocity *
- ::std::abs(control_loops::fridge_queue.status->goal_x_velocity)) /
+ control_loops::fridge::fridge_queue.status->x +
+ (control_loops::fridge::fridge_queue.status->goal_x_velocity *
+ ::std::abs(
+ control_loops::fridge::fridge_queue.status->goal_x_velocity)) /
(2.0 * new_fridge_goal->max_x_acceleration);
new_fridge_goal->x_velocity = 0.0;
new_fridge_goal->max_y_velocity = y_parameters.velocity;
new_fridge_goal->max_y_acceleration = y_parameters.acceleration;
new_fridge_goal->y =
- control_loops::fridge_queue.status->y +
- (control_loops::fridge_queue.status->goal_y_velocity *
- ::std::abs(control_loops::fridge_queue.status->goal_y_velocity)) /
+ control_loops::fridge::fridge_queue.status->y +
+ (control_loops::fridge::fridge_queue.status->goal_y_velocity *
+ ::std::abs(
+ control_loops::fridge::fridge_queue.status->goal_y_velocity)) /
(2.0 * new_fridge_goal->max_y_acceleration);
new_fridge_goal->y_velocity = 0.0;
@@ -222,27 +228,31 @@
back_grabbers);
return CANCELED;
}
- control_loops::fridge_queue.status.FetchAnother();
+ control_loops::fridge::fridge_queue.status.FetchAnother();
constexpr double kProfileError = 1e-5;
constexpr double kXEpsilon = 0.02, kYEpsilon = 0.02;
- if (control_loops::fridge_queue.status->state != 4) {
+ if (control_loops::fridge::fridge_queue.status->state != 4) {
LOG(ERROR, "Fridge no longer running, aborting action\n");
return CANCELED;
}
- if (::std::abs(control_loops::fridge_queue.status->goal_x - x) <
+ if (::std::abs(control_loops::fridge::fridge_queue.status->goal_x - x) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_y - y) <
+ ::std::abs(control_loops::fridge::fridge_queue.status->goal_y - y) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_x_velocity) <
+ ::std::abs(
+ control_loops::fridge::fridge_queue.status->goal_x_velocity) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_y_velocity) <
+ ::std::abs(
+ control_loops::fridge::fridge_queue.status->goal_y_velocity) <
kProfileError) {
LOG(INFO, "Profile done.\n");
- if (::std::abs(control_loops::fridge_queue.status->x - x) < kXEpsilon &&
- ::std::abs(control_loops::fridge_queue.status->y - y) < kYEpsilon) {
+ if (::std::abs(control_loops::fridge::fridge_queue.status->x - x) <
+ kXEpsilon &&
+ ::std::abs(control_loops::fridge::fridge_queue.status->y - y) <
+ kYEpsilon) {
LOG(INFO, "Near goal, done.\n");
return DONE;
}
@@ -254,7 +264,8 @@
bool StartFridgeXYProfile(double x, double y, ProfileParams x_parameters,
ProfileParams y_parameters, bool top_grabbers,
bool front_grabbers, bool back_grabbers) {
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
+ auto new_fridge_goal =
+ control_loops::fridge::fridge_queue.goal.MakeMessage();
new_fridge_goal->profiling_type = 1;
new_fridge_goal->max_x_velocity = x_parameters.velocity;
new_fridge_goal->max_x_acceleration = x_parameters.acceleration;
@@ -280,6 +291,6 @@
};
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_FRIDGE_PROFILE_LIB_H_
diff --git a/y2015/actors/held_to_lift_action.q b/y2015/actors/held_to_lift_action.q
index c2dd689..d3d456e 100644
--- a/y2015/actors/held_to_lift_action.q
+++ b/y2015/actors/held_to_lift_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
import "y2015/actors/lift_action_params.q";
diff --git a/y2015/actors/held_to_lift_actor.cc b/y2015/actors/held_to_lift_actor.cc
index 29d68ef..942488d 100644
--- a/y2015/actors/held_to_lift_actor.cc
+++ b/y2015/actors/held_to_lift_actor.cc
@@ -8,7 +8,7 @@
#include "y2015/actors/lift_actor.h"
#include "y2015/control_loops/claw/claw.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kArmMove{0.6, 2.0};
@@ -18,13 +18,15 @@
} // namespace
namespace chrono = ::std::chrono;
+using ::y2015::control_loops::fridge::fridge_queue;
+using ::y2015::control_loops::claw_queue;
HeldToLiftActor::HeldToLiftActor(HeldToLiftActionQueueGroup *queues)
: FridgeActorBase<HeldToLiftActionQueueGroup>(queues) {}
bool HeldToLiftActor::RunAction(const HeldToLiftParams ¶ms) {
- control_loops::fridge_queue.status.FetchLatest();
- if (!control_loops::fridge_queue.status.get()) {
+ fridge_queue.status.FetchLatest();
+ if (!fridge_queue.status.get()) {
return false;
}
@@ -32,14 +34,14 @@
{
bool send_goal = true;
double claw_goal = params.claw_out_angle;
- control_loops::claw_queue.status.FetchLatest();
- if (control_loops::claw_queue.status.get()) {
- if (control_loops::claw_queue.status->goal_angle < claw_goal) {
+ claw_queue.status.FetchLatest();
+ if (claw_queue.status.get()) {
+ if (claw_queue.status->goal_angle < claw_goal) {
send_goal = false;
}
}
if (send_goal) {
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.claw_out_angle;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -52,17 +54,16 @@
}
}
- control_loops::fridge_queue.status.FetchLatest();
- if (!control_loops::fridge_queue.status.get()) {
+ fridge_queue.status.FetchLatest();
+ if (!fridge_queue.status.get()) {
return false;
}
- if (control_loops::fridge_queue.status->goal_height != params.bottom_height ||
- control_loops::fridge_queue.status->goal_angle != 0.0) {
+ if (fridge_queue.status->goal_height != params.bottom_height ||
+ fridge_queue.status->goal_angle != 0.0) {
// Lower with the fridge clamps open and move it forwards slightly to clear.
- DoFridgeProfile(control_loops::fridge_queue.status->goal_height,
- params.arm_clearance, kFastElevatorMove, kFastArmMove,
- false);
+ DoFridgeProfile(fridge_queue.status->goal_height, params.arm_clearance,
+ kFastElevatorMove, kFastArmMove, false);
if (ShouldCancel()) return true;
DoFridgeProfile(params.bottom_height, params.arm_clearance,
@@ -111,8 +112,8 @@
::std::unique_ptr<HeldToLiftAction> MakeHeldToLiftAction(
const HeldToLiftParams ¶ms) {
return ::std::unique_ptr<HeldToLiftAction>(
- new HeldToLiftAction(&::frc971::actors::held_to_lift_action, params));
+ new HeldToLiftAction(&::y2015::actors::held_to_lift_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/held_to_lift_actor.h b/y2015/actors/held_to_lift_actor.h
index 369fea4..f431f9c 100644
--- a/y2015/actors/held_to_lift_actor.h
+++ b/y2015/actors/held_to_lift_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/held_to_lift_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class HeldToLiftActor : public FridgeActorBase<HeldToLiftActionQueueGroup> {
@@ -28,6 +28,6 @@
const HeldToLiftParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_HELD_TO_LIFT_ACTOR_H_
diff --git a/y2015/actors/held_to_lift_actor_main.cc b/y2015/actors/held_to_lift_actor_main.cc
index 705a073..008a259 100644
--- a/y2015/actors/held_to_lift_actor_main.cc
+++ b/y2015/actors/held_to_lift_actor_main.cc
@@ -7,8 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::HeldToLiftActor lift(
- &::frc971::actors::held_to_lift_action);
+ ::y2015::actors::HeldToLiftActor lift(&::y2015::actors::held_to_lift_action);
lift.Run();
::aos::Cleanup();
diff --git a/y2015/actors/horizontal_can_pickup_action.q b/y2015/actors/horizontal_can_pickup_action.q
index c1a1c55..51238d8 100644
--- a/y2015/actors/horizontal_can_pickup_action.q
+++ b/y2015/actors/horizontal_can_pickup_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/horizontal_can_pickup_actor.cc b/y2015/actors/horizontal_can_pickup_actor.cc
index 82d01a7..25a45e1 100644
--- a/y2015/actors/horizontal_can_pickup_actor.cc
+++ b/y2015/actors/horizontal_can_pickup_actor.cc
@@ -9,7 +9,7 @@
#include "y2015/constants.h"
#include "y2015/control_loops/claw/claw.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kClawPickup{3.0, 2.0};
@@ -28,6 +28,7 @@
} // namespace
namespace chrono = ::std::chrono;
+using ::y2015::control_loops::claw_queue;
HorizontalCanPickupActor::HorizontalCanPickupActor(
HorizontalCanPickupActionQueueGroup *queues)
@@ -35,10 +36,10 @@
bool HorizontalCanPickupActor::WaitUntilGoalNear(double angle) {
while (true) {
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
if (ShouldCancel()) return false;
- const double goal_angle = control_loops::claw_queue.status->goal_angle;
- LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+ const double goal_angle = claw_queue.status->goal_angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *claw_queue.status);
if (::std::abs(goal_angle - angle) < kGoalAngleEpsilon) {
return true;
@@ -48,10 +49,10 @@
bool HorizontalCanPickupActor::WaitUntilNear(double angle) {
while (true) {
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
if (ShouldCancel()) return false;
- const double current_angle = control_loops::claw_queue.status->angle;
- LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+ const double current_angle = claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *claw_queue.status);
if (::std::abs(current_angle - angle) < kAngleEpsilon) {
return true;
@@ -64,7 +65,7 @@
void HorizontalCanPickupActor::MoveArm(double angle, double intake_power,
const ProfileParams profile_params) {
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = angle;
message->max_velocity = profile_params.velocity;
message->max_acceleration = profile_params.acceleration;
@@ -84,9 +85,9 @@
return true;
}
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
- MoveArm(control_loops::claw_queue.status->angle, params.spit_power);
+ MoveArm(claw_queue.status->angle, params.spit_power);
if (!WaitOrCancel(chrono::duration_cast<::aos::monotonic_clock::duration>(
chrono::duration<double>(params.spit_time)))) {
@@ -159,8 +160,8 @@
const HorizontalCanPickupParams ¶ms) {
return ::std::unique_ptr<HorizontalCanPickupAction>(
new HorizontalCanPickupAction(
- &::frc971::actors::horizontal_can_pickup_action, params));
+ &::y2015::actors::horizontal_can_pickup_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/horizontal_can_pickup_actor.h b/y2015/actors/horizontal_can_pickup_actor.h
index 5510178..486e8f8 100644
--- a/y2015/actors/horizontal_can_pickup_actor.h
+++ b/y2015/actors/horizontal_can_pickup_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/horizontal_can_pickup_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class HorizontalCanPickupActor
@@ -40,6 +40,6 @@
const HorizontalCanPickupParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_HORIZONTAL_CAN_PICKUP_ACTOR_H_
diff --git a/y2015/actors/horizontal_can_pickup_actor_main.cc b/y2015/actors/horizontal_can_pickup_actor_main.cc
index fbe8c0d..f88bdc9 100644
--- a/y2015/actors/horizontal_can_pickup_actor_main.cc
+++ b/y2015/actors/horizontal_can_pickup_actor_main.cc
@@ -7,8 +7,8 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::HorizontalCanPickupActor horizontal_can_pickup(
- &::frc971::actors::horizontal_can_pickup_action);
+ ::y2015::actors::HorizontalCanPickupActor horizontal_can_pickup(
+ &::y2015::actors::horizontal_can_pickup_action);
horizontal_can_pickup.Run();
::aos::Cleanup();
diff --git a/y2015/actors/lift_action.q b/y2015/actors/lift_action.q
index 37fba8d..0e7e90e 100644
--- a/y2015/actors/lift_action.q
+++ b/y2015/actors/lift_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
import "y2015/actors/lift_action_params.q";
diff --git a/y2015/actors/lift_action_params.q b/y2015/actors/lift_action_params.q
index b31982b..dd812c3 100644
--- a/y2015/actors/lift_action_params.q
+++ b/y2015/actors/lift_action_params.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
// Parameters to send with start.
struct LiftParams {
diff --git a/y2015/actors/lift_actor.cc b/y2015/actors/lift_actor.cc
index c057eef..96069ab 100644
--- a/y2015/actors/lift_actor.cc
+++ b/y2015/actors/lift_actor.cc
@@ -6,7 +6,7 @@
#include "y2015/actors/fridge_profile_lib.h"
#include "y2015/control_loops/claw/claw.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kArmMove{0.6, 1.0};
@@ -14,12 +14,15 @@
constexpr ProfileParams kElevatorFixMove{0.9, 2.0};
} // namespace
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
+
LiftActor::LiftActor(LiftActionQueueGroup *queues)
: FridgeActorBase<LiftActionQueueGroup>(queues) {}
bool LiftActor::RunAction(const LiftParams ¶ms) {
- control_loops::fridge_queue.status.FetchLatest();
- if (!control_loops::fridge_queue.status.get()) {
+ fridge_queue.status.FetchLatest();
+ if (!fridge_queue.status.get()) {
return false;
}
@@ -28,36 +31,34 @@
if (params.second_lift) {
DoFridgeProfile(params.intermediate_lift_height, 0.0, kElevatorFixMove,
- kArmMove,
- control_loops::fridge_queue.status->grabbers.top_front,
- control_loops::fridge_queue.status->grabbers.bottom_front,
- control_loops::fridge_queue.status->grabbers.bottom_back);
+ kArmMove, fridge_queue.status->grabbers.top_front,
+ fridge_queue.status->grabbers.bottom_front,
+ fridge_queue.status->grabbers.bottom_back);
if (ShouldCancel()) return true;
}
- if (!StartFridgeProfile(
- params.lift_height, 0.0, kElevatorMove, kArmMove,
- control_loops::fridge_queue.status->grabbers.top_front,
- control_loops::fridge_queue.status->grabbers.bottom_front,
- control_loops::fridge_queue.status->grabbers.bottom_back)) {
+ if (!StartFridgeProfile(params.lift_height, 0.0, kElevatorMove, kArmMove,
+ fridge_queue.status->grabbers.top_front,
+ fridge_queue.status->grabbers.bottom_front,
+ fridge_queue.status->grabbers.bottom_back)) {
return true;
}
bool has_started_back = false;
while (true) {
- if (control_loops::fridge_queue.status->goal_height > 0.1) {
+ if (fridge_queue.status->goal_height > 0.1) {
if (!has_started_back) {
- if (!StartFridgeProfile(
- params.lift_height, params.lift_arm, kElevatorMove, kArmMove,
- control_loops::fridge_queue.status->grabbers.top_front,
- control_loops::fridge_queue.status->grabbers.bottom_front,
- control_loops::fridge_queue.status->grabbers.bottom_back)) {
+ if (!StartFridgeProfile(params.lift_height, params.lift_arm,
+ kElevatorMove, kArmMove,
+ fridge_queue.status->grabbers.top_front,
+ fridge_queue.status->grabbers.bottom_front,
+ fridge_queue.status->grabbers.bottom_back)) {
return true;
}
goal_angle = params.lift_arm;
has_started_back = true;
if (params.pack_claw) {
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.pack_claw_angle;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -71,11 +72,11 @@
}
}
- ProfileStatus status = IterateProfile(
- goal_height, goal_angle, kElevatorMove, kArmMove,
- control_loops::fridge_queue.status->grabbers.top_front,
- control_loops::fridge_queue.status->grabbers.bottom_front,
- control_loops::fridge_queue.status->grabbers.bottom_back);
+ ProfileStatus status =
+ IterateProfile(goal_height, goal_angle, kElevatorMove, kArmMove,
+ fridge_queue.status->grabbers.top_front,
+ fridge_queue.status->grabbers.bottom_front,
+ fridge_queue.status->grabbers.bottom_back);
if (status == DONE || status == CANCELED) {
return true;
}
@@ -85,8 +86,8 @@
::std::unique_ptr<LiftAction> MakeLiftAction(const LiftParams ¶ms) {
return ::std::unique_ptr<LiftAction>(
- new LiftAction(&::frc971::actors::lift_action, params));
+ new LiftAction(&::y2015::actors::lift_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/lift_actor.h b/y2015/actors/lift_actor.h
index cbd79ec..4a1cd43 100644
--- a/y2015/actors/lift_actor.h
+++ b/y2015/actors/lift_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/lift_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class LiftActor : public FridgeActorBase<LiftActionQueueGroup> {
@@ -26,6 +26,6 @@
::std::unique_ptr<LiftAction> MakeLiftAction(const LiftParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_LIFT_ACTOR_H_
diff --git a/y2015/actors/lift_actor_main.cc b/y2015/actors/lift_actor_main.cc
index 68389ca..1a86780 100644
--- a/y2015/actors/lift_actor_main.cc
+++ b/y2015/actors/lift_actor_main.cc
@@ -7,7 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::LiftActor lift(&::frc971::actors::lift_action);
+ ::y2015::actors::LiftActor lift(&::y2015::actors::lift_action);
lift.Run();
::aos::Cleanup();
diff --git a/y2015/actors/pickup_action.q b/y2015/actors/pickup_action.q
index 237337a..ca0d6f5 100644
--- a/y2015/actors/pickup_action.q
+++ b/y2015/actors/pickup_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/pickup_actor.cc b/y2015/actors/pickup_actor.cc
index 4ae988e..3aa0c18 100644
--- a/y2015/actors/pickup_actor.cc
+++ b/y2015/actors/pickup_actor.cc
@@ -8,7 +8,7 @@
#include "aos/common/time.h"
#include "y2015/control_loops/claw/claw.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr double kClawPickupVelocity = 3.00;
@@ -19,6 +19,8 @@
constexpr double kClawMoveUpAcceleration = 25.0;
} // namespace
+using ::y2015::control_loops::claw_queue;
+
PickupActor::PickupActor(PickupActionQueueGroup* queues)
: aos::common::actions::ActorBase<PickupActionQueueGroup>(queues) {}
@@ -26,7 +28,7 @@
constexpr double kAngleEpsilon = 0.10;
// Start lifting the tote.
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.pickup_angle;
message->max_velocity = kClawPickupVelocity;
message->max_acceleration = kClawPickupAcceleration;
@@ -38,10 +40,10 @@
message.Send();
}
while (true) {
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
if (ShouldCancel()) return true;
- const double current_angle = control_loops::claw_queue.status->angle;
- LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+ const double current_angle = claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *claw_queue.status);
if (current_angle > params.suck_angle ||
::std::abs(current_angle - params.pickup_angle) < kAngleEpsilon) {
@@ -51,7 +53,7 @@
// Once above params.suck_angle, start sucking while lifting.
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.pickup_angle;
message->max_velocity = kClawPickupVelocity;
message->max_acceleration = kClawPickupAcceleration;
@@ -64,10 +66,10 @@
}
while (true) {
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
if (ShouldCancel()) return true;
- const double current_angle = control_loops::claw_queue.status->angle;
- LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+ const double current_angle = claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *claw_queue.status);
if (::std::abs(current_angle - params.pickup_angle) < kAngleEpsilon) {
break;
@@ -76,7 +78,7 @@
// Now that we have reached the upper height, come back down while intaking.
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.suck_angle_finish;
message->max_velocity = kClawMoveDownVelocity;
message->max_acceleration = kClawMoveDownAcceleration;
@@ -101,7 +103,7 @@
// Lift the claw back up to pack the box back in.
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.pickup_finish_angle;
message->max_velocity = kClawMoveUpVelocity;
message->max_acceleration = kClawMoveUpAcceleration;
@@ -114,10 +116,10 @@
}
while (true) {
- control_loops::claw_queue.status.FetchAnother();
+ claw_queue.status.FetchAnother();
if (ShouldCancel()) return true;
- const double current_angle = control_loops::claw_queue.status->angle;
- LOG_STRUCT(DEBUG, "Got claw status", *control_loops::claw_queue.status);
+ const double current_angle = claw_queue.status->angle;
+ LOG_STRUCT(DEBUG, "Got claw status", *claw_queue.status);
if (::std::abs(current_angle - params.pickup_finish_angle) <
kAngleEpsilon) {
@@ -127,7 +129,7 @@
// Stop the motors...
{
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.pickup_finish_angle;
message->max_velocity = kClawMoveUpVelocity;
message->max_acceleration = kClawMoveUpAcceleration;
@@ -145,8 +147,8 @@
::std::unique_ptr<PickupAction> MakePickupAction(const PickupParams& params) {
return ::std::unique_ptr<PickupAction>(
- new PickupAction(&::frc971::actors::pickup_action, params));
+ new PickupAction(&::y2015::actors::pickup_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/pickup_actor.h b/y2015/actors/pickup_actor.h
index 1f09718..6b2822c 100644
--- a/y2015/actors/pickup_actor.h
+++ b/y2015/actors/pickup_actor.h
@@ -5,7 +5,7 @@
#include "aos/common/actions/actor.h"
#include "y2015/actors/pickup_action.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class PickupActor
@@ -22,6 +22,6 @@
::std::unique_ptr<PickupAction> MakePickupAction(const PickupParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_PICKUP_ACTOR_H_
diff --git a/y2015/actors/pickup_actor_main.cc b/y2015/actors/pickup_actor_main.cc
index 0ddda42..f8b53f1 100644
--- a/y2015/actors/pickup_actor_main.cc
+++ b/y2015/actors/pickup_actor_main.cc
@@ -7,7 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- frc971::actors::PickupActor pickup(&::frc971::actors::pickup_action);
+ y2015::actors::PickupActor pickup(&::y2015::actors::pickup_action);
pickup.Run();
::aos::Cleanup();
diff --git a/y2015/actors/score_action.q b/y2015/actors/score_action.q
index 5b14210..1937d5d 100644
--- a/y2015/actors/score_action.q
+++ b/y2015/actors/score_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/score_actor.cc b/y2015/actors/score_actor.cc
index 45c0bc4..92ddfac 100644
--- a/y2015/actors/score_actor.cc
+++ b/y2015/actors/score_actor.cc
@@ -10,11 +10,11 @@
#include "y2015/constants.h"
#include "y2015/control_loops/fridge/fridge.q.h"
-using ::frc971::control_loops::fridge_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
namespace chrono = ::std::chrono;
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
@@ -245,7 +245,7 @@
double max_x_velocity, double max_y_velocity,
double max_x_acceleration,
double max_y_acceleration) {
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
+ auto new_fridge_goal = fridge_queue.goal.MakeMessage();
new_fridge_goal->x = x;
new_fridge_goal->y = y;
new_fridge_goal->profiling_type = 1;
@@ -299,8 +299,8 @@
::std::unique_ptr<ScoreAction> MakeScoreAction(const ScoreParams& params) {
return ::std::unique_ptr<ScoreAction>(
- new ScoreAction(&::frc971::actors::score_action, params));
+ new ScoreAction(&::y2015::actors::score_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/score_actor.h b/y2015/actors/score_actor.h
index c9ed71f..6202403 100644
--- a/y2015/actors/score_actor.h
+++ b/y2015/actors/score_actor.h
@@ -6,7 +6,7 @@
#include "y2015/util/kinematics.h"
#include "y2015/actors/score_action.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class ScoreActor
@@ -38,6 +38,6 @@
::std::unique_ptr<ScoreAction> MakeScoreAction(const ScoreParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif
diff --git a/y2015/actors/score_actor_main.cc b/y2015/actors/score_actor_main.cc
index 754d3bd..d62589d 100644
--- a/y2015/actors/score_actor_main.cc
+++ b/y2015/actors/score_actor_main.cc
@@ -7,7 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- frc971::actors::ScoreActor score(&::frc971::actors::score_action);
+ y2015::actors::ScoreActor score(&::y2015::actors::score_action);
score.Run();
::aos::Cleanup();
diff --git a/y2015/actors/score_actor_test.cc b/y2015/actors/score_actor_test.cc
index f859875..25d1bc2 100644
--- a/y2015/actors/score_actor_test.cc
+++ b/y2015/actors/score_actor_test.cc
@@ -13,24 +13,26 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace testing {
+using ::y2015::control_loops::fridge::fridge_queue;
+
class ScoreActionTest : public ::testing::Test {
protected:
ScoreActionTest() {
- frc971::actors::score_action.goal.Clear();
- frc971::actors::score_action.status.Clear();
- control_loops::fridge_queue.status.Clear();
- control_loops::fridge_queue.goal.Clear();
+ y2015::actors::score_action.goal.Clear();
+ y2015::actors::score_action.status.Clear();
+ fridge_queue.status.Clear();
+ fridge_queue.goal.Clear();
}
virtual ~ScoreActionTest() {
- frc971::actors::score_action.goal.Clear();
- frc971::actors::score_action.status.Clear();
- control_loops::fridge_queue.status.Clear();
- control_loops::fridge_queue.goal.Clear();
+ y2015::actors::score_action.goal.Clear();
+ y2015::actors::score_action.status.Clear();
+ fridge_queue.status.Clear();
+ fridge_queue.goal.Clear();
}
// Bring up and down Core.
@@ -40,12 +42,12 @@
// Tests that cancel stops not only the score action, but also the underlying
// profile action.
TEST_F(ScoreActionTest, PlaceTheStackCancel) {
- ScoreActor score(&frc971::actors::score_action);
+ ScoreActor score(&y2015::actors::score_action);
- frc971::actors::score_action.goal.MakeWithBuilder().run(true).Send();
+ y2015::actors::score_action.goal.MakeWithBuilder().run(true).Send();
// Tell it the fridge is zeroed.
- ASSERT_TRUE(control_loops::fridge_queue.status.MakeWithBuilder()
+ ASSERT_TRUE(fridge_queue.status.MakeWithBuilder()
.zeroed(true)
.angle(0.0)
.height(0.0)
@@ -56,7 +58,7 @@
// the action has started, so now cancel it and it should cancel
// the underlying profile
- frc971::actors::score_action.goal.MakeWithBuilder().run(false).Send();
+ y2015::actors::score_action.goal.MakeWithBuilder().run(false).Send();
// let the action start running, if we return from this call it has worked.
const ScoreParams params = {true, true, 0.14, 0.13, -0.7, -0.7, -0.10, -0.5, 0.1};
@@ -68,12 +70,12 @@
// Tests that cancel stops not only the score action, but also the underlying
// profile action.
TEST_F(ScoreActionTest, MoveStackIntoPositionCancel) {
- ScoreActor score(&frc971::actors::score_action);
+ ScoreActor score(&y2015::actors::score_action);
- frc971::actors::score_action.goal.MakeWithBuilder().run(true).Send();
+ y2015::actors::score_action.goal.MakeWithBuilder().run(true).Send();
// Tell it the fridge is zeroed.
- ASSERT_TRUE(control_loops::fridge_queue.status.MakeWithBuilder()
+ ASSERT_TRUE(fridge_queue.status.MakeWithBuilder()
.zeroed(true)
.angle(0.0)
.height(0.0)
@@ -84,7 +86,7 @@
// the action has started, so now cancel it and it should cancel
// the underlying profile
- frc971::actors::score_action.goal.MakeWithBuilder().run(false).Send();
+ y2015::actors::score_action.goal.MakeWithBuilder().run(false).Send();
// let the action start running, if we return from this call it has worked.
const ScoreParams params = {false, true, 0.14, 0.13, -0.7, -0.7, -0.10, -0.5, 0.1};
@@ -95,4 +97,4 @@
} // namespace testing
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/stack_action.q b/y2015/actors/stack_action.q
index b4389b8..814b6ba 100644
--- a/y2015/actors/stack_action.q
+++ b/y2015/actors/stack_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
import "y2015/actors/stack_action_params.q";
diff --git a/y2015/actors/stack_action_params.q b/y2015/actors/stack_action_params.q
index 3958f7d..a7be764 100644
--- a/y2015/actors/stack_action_params.q
+++ b/y2015/actors/stack_action_params.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
// Parameters to send with start.
struct StackParams {
diff --git a/y2015/actors/stack_actor.cc b/y2015/actors/stack_actor.cc
index 539018f..20dc66a 100644
--- a/y2015/actors/stack_actor.cc
+++ b/y2015/actors/stack_actor.cc
@@ -8,7 +8,7 @@
#include "y2015/constants.h"
#include "y2015/control_loops/claw/claw.q.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kArmWithStackMove{1.75, 4.20};
@@ -20,23 +20,26 @@
constexpr ProfileParams kReallyFastElevatorMove{1.2, 6.0};
} // namespace
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
+
StackActor::StackActor(StackActionQueueGroup *queues)
: FridgeActorBase<StackActionQueueGroup>(queues) {}
bool StackActor::RunAction(const StackParams ¶ms) {
const auto &values = constants::GetValues();
- control_loops::fridge_queue.status.FetchLatest();
- if (!control_loops::fridge_queue.status.get()) {
+ fridge_queue.status.FetchLatest();
+ if (!fridge_queue.status.get()) {
LOG(ERROR, "Got no fridge status packet.\n");
return false;
}
// If we are really high, probably have a can. Move over before down.
- if (control_loops::fridge_queue.status->goal_height >
+ if (fridge_queue.status->goal_height >
params.over_box_before_place_height + 0.1) {
// Set the current stack down on top of the bottom box.
- DoFridgeProfile(control_loops::fridge_queue.status->goal_height, 0.0,
+ DoFridgeProfile(fridge_queue.status->goal_height, 0.0,
kSlowElevatorMove, kArmWithStackMove, true);
if (ShouldCancel()) return true;
}
@@ -50,15 +53,15 @@
if (!params.only_place) {
// Move the claw out of the way only if we are supposed to pick up.
bool send_goal = true;
- control_loops::claw_queue.status.FetchLatest();
- if (control_loops::claw_queue.status.get()) {
- if (control_loops::claw_queue.status->goal_angle <
+ claw_queue.status.FetchLatest();
+ if (claw_queue.status.get()) {
+ if (claw_queue.status->goal_angle <
params.claw_out_angle) {
send_goal = false;
}
}
if (send_goal) {
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.claw_out_angle;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -89,8 +92,8 @@
::std::unique_ptr<StackAction> MakeStackAction(const StackParams ¶ms) {
return ::std::unique_ptr<StackAction>(
- new StackAction(&::frc971::actors::stack_action, params));
+ new StackAction(&::y2015::actors::stack_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/stack_actor.h b/y2015/actors/stack_actor.h
index 5f2f7fb..986c35b 100644
--- a/y2015/actors/stack_actor.h
+++ b/y2015/actors/stack_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/stack_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class StackActor : public FridgeActorBase<StackActionQueueGroup> {
@@ -26,6 +26,6 @@
::std::unique_ptr<StackAction> MakeStackAction(const StackParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif
diff --git a/y2015/actors/stack_actor_main.cc b/y2015/actors/stack_actor_main.cc
index 03a3055..cac8535 100644
--- a/y2015/actors/stack_actor_main.cc
+++ b/y2015/actors/stack_actor_main.cc
@@ -7,7 +7,7 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::StackActor stack(&::frc971::actors::stack_action);
+ ::y2015::actors::StackActor stack(&::y2015::actors::stack_action);
stack.Run();
::aos::Cleanup();
diff --git a/y2015/actors/stack_actor_test.cc b/y2015/actors/stack_actor_test.cc
index 35b3604..c62b6ce 100644
--- a/y2015/actors/stack_actor_test.cc
+++ b/y2015/actors/stack_actor_test.cc
@@ -15,24 +15,26 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace testing {
+using ::y2015::control_loops::fridge::fridge_queue;
+
class StackActionTest : public ::testing::Test {
protected:
StackActionTest() {
- frc971::actors::stack_action.goal.Clear();
- frc971::actors::stack_action.status.Clear();
- control_loops::fridge_queue.status.Clear();
- control_loops::fridge_queue.goal.Clear();
+ y2015::actors::stack_action.goal.Clear();
+ y2015::actors::stack_action.status.Clear();
+ fridge_queue.status.Clear();
+ fridge_queue.goal.Clear();
}
virtual ~StackActionTest() {
- frc971::actors::stack_action.goal.Clear();
- frc971::actors::stack_action.status.Clear();
- control_loops::fridge_queue.status.Clear();
- control_loops::fridge_queue.goal.Clear();
+ y2015::actors::stack_action.goal.Clear();
+ y2015::actors::stack_action.status.Clear();
+ fridge_queue.status.Clear();
+ fridge_queue.goal.Clear();
}
// Bring up and down Core.
@@ -42,12 +44,12 @@
// Tests that cancel stops not only the stack action, but the underlying profile
// action.
TEST_F(StackActionTest, StackCancel) {
- StackActor stack(&frc971::actors::stack_action);
+ StackActor stack(&y2015::actors::stack_action);
- frc971::actors::stack_action.goal.MakeWithBuilder().run(true).Send();
+ y2015::actors::stack_action.goal.MakeWithBuilder().run(true).Send();
// tell it the fridge is zeroed
- control_loops::fridge_queue.status.MakeWithBuilder()
+ fridge_queue.status.MakeWithBuilder()
.zeroed(true)
.angle(0.0)
.height(0.0)
@@ -58,7 +60,7 @@
// the action has started, so now cancel it and it should cancel
// the underlying profile
- frc971::actors::stack_action.goal.MakeWithBuilder().run(false).Send();
+ y2015::actors::stack_action.goal.MakeWithBuilder().run(false).Send();
// let the action start running, if we return from this call it has worked.
StackParams s;
@@ -69,4 +71,4 @@
} // namespace testing
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/stack_and_hold_action.q b/y2015/actors/stack_and_hold_action.q
index 42e98ed..4dd82fc 100644
--- a/y2015/actors/stack_and_hold_action.q
+++ b/y2015/actors/stack_and_hold_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
import "y2015/actors/stack_action_params.q";
diff --git a/y2015/actors/stack_and_hold_actor.cc b/y2015/actors/stack_and_hold_actor.cc
index 41a650c..e12b54c 100644
--- a/y2015/actors/stack_and_hold_actor.cc
+++ b/y2015/actors/stack_and_hold_actor.cc
@@ -9,7 +9,7 @@
#include "y2015/control_loops/claw/claw.q.h"
#include "y2015/actors/stack_actor.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace {
constexpr ProfileParams kReallySlowArmMove{0.1, 1.0};
@@ -21,6 +21,8 @@
namespace chrono = ::std::chrono;
+using ::y2015::control_loops::claw_queue;
+
StackAndHoldActor::StackAndHoldActor(StackAndHoldActionQueueGroup *queues)
: FridgeActorBase<StackAndHoldActionQueueGroup>(queues) {}
@@ -32,15 +34,15 @@
// Move the arm out of the way.
{
bool send_goal = true;
- control_loops::claw_queue.status.FetchLatest();
- if (control_loops::claw_queue.status.get()) {
- if (control_loops::claw_queue.status->goal_angle <
+ claw_queue.status.FetchLatest();
+ if (claw_queue.status.get()) {
+ if (claw_queue.status->goal_angle <
params.claw_out_angle) {
send_goal = false;
}
}
if (send_goal) {
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.claw_out_angle;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -103,7 +105,7 @@
if (params.place_not_stack) {
// Clamp the stack with the claw.
- auto message = control_loops::claw_queue.goal.MakeMessage();
+ auto message = claw_queue.goal.MakeMessage();
message->angle = params.claw_clamp_angle;
message->angular_velocity = 0.0;
message->intake = 0.0;
@@ -129,8 +131,8 @@
::std::unique_ptr<StackAndHoldAction> MakeStackAndHoldAction(
const StackAndHoldParams ¶ms) {
return ::std::unique_ptr<StackAndHoldAction>(
- new StackAndHoldAction(&::frc971::actors::stack_and_hold_action, params));
+ new StackAndHoldAction(&::y2015::actors::stack_and_hold_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/stack_and_hold_actor.h b/y2015/actors/stack_and_hold_actor.h
index b3bf2c5..4b4cf9a 100644
--- a/y2015/actors/stack_and_hold_actor.h
+++ b/y2015/actors/stack_and_hold_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/stack_and_hold_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class StackAndHoldActor : public FridgeActorBase<StackAndHoldActionQueueGroup> {
@@ -28,6 +28,6 @@
const StackAndHoldParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_STACK_AND_HOLD_ACTOR_H_
diff --git a/y2015/actors/stack_and_hold_actor_main.cc b/y2015/actors/stack_and_hold_actor_main.cc
index b193dba..925afe9 100644
--- a/y2015/actors/stack_and_hold_actor_main.cc
+++ b/y2015/actors/stack_and_hold_actor_main.cc
@@ -7,8 +7,8 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::StackAndHoldActor stack_and_hold(
- &::frc971::actors::stack_and_hold_action);
+ ::y2015::actors::StackAndHoldActor stack_and_hold(
+ &::y2015::actors::stack_and_hold_action);
stack_and_hold.Run();
::aos::Cleanup();
diff --git a/y2015/actors/stack_and_lift_action.q b/y2015/actors/stack_and_lift_action.q
index 0ec971b..85f2a4f 100644
--- a/y2015/actors/stack_and_lift_action.q
+++ b/y2015/actors/stack_and_lift_action.q
@@ -1,4 +1,4 @@
-package frc971.actors;
+package y2015.actors;
import "aos/common/actions/actions.q";
diff --git a/y2015/actors/stack_and_lift_actor.cc b/y2015/actors/stack_and_lift_actor.cc
index 84b5c2c..24eb11e 100644
--- a/y2015/actors/stack_and_lift_actor.cc
+++ b/y2015/actors/stack_and_lift_actor.cc
@@ -11,20 +11,22 @@
#include "y2015/actors/stack_actor.h"
#include "y2015/actors/lift_actor.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
namespace chrono = ::std::chrono;
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
StackAndLiftActor::StackAndLiftActor(StackAndLiftActionQueueGroup *queues)
: FridgeActorBase<StackAndLiftActionQueueGroup>(queues) {}
bool StackAndLiftActor::RunAction(const StackAndLiftParams ¶ms) {
- control_loops::claw_queue.goal.FetchLatest();
+ claw_queue.goal.FetchLatest();
double claw_goal_start;
bool have_claw_goal_start;
- if (control_loops::claw_queue.goal.get()) {
- claw_goal_start = control_loops::claw_queue.goal->angle;
+ if (claw_queue.goal.get()) {
+ claw_goal_start = claw_queue.goal->angle;
have_claw_goal_start = true;
} else {
claw_goal_start = 0;
@@ -51,12 +53,12 @@
}
{
- control_loops::fridge_queue.goal.FetchLatest();
- if (!control_loops::fridge_queue.goal.get()) {
+ fridge_queue.goal.FetchLatest();
+ if (!fridge_queue.goal.get()) {
return false;
}
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
- *new_fridge_goal = *control_loops::fridge_queue.goal;
+ auto new_fridge_goal = fridge_queue.goal.MakeMessage();
+ *new_fridge_goal = *fridge_queue.goal;
new_fridge_goal->grabbers.top_front = params.grab_after_stack;
new_fridge_goal->grabbers.top_back = params.grab_after_stack;
new_fridge_goal->grabbers.bottom_front = params.grab_after_stack;
@@ -92,12 +94,12 @@
}
{
- control_loops::fridge_queue.goal.FetchLatest();
- if (!control_loops::fridge_queue.goal.get()) {
+ fridge_queue.goal.FetchLatest();
+ if (!fridge_queue.goal.get()) {
return false;
}
- auto new_fridge_goal = control_loops::fridge_queue.goal.MakeMessage();
- *new_fridge_goal = *control_loops::fridge_queue.goal;
+ auto new_fridge_goal = fridge_queue.goal.MakeMessage();
+ *new_fridge_goal = *fridge_queue.goal;
new_fridge_goal->grabbers.top_front = params.grab_after_lift;
new_fridge_goal->grabbers.top_back = params.grab_after_lift;
new_fridge_goal->grabbers.bottom_front = params.grab_after_lift;
@@ -113,8 +115,8 @@
::std::unique_ptr<StackAndLiftAction> MakeStackAndLiftAction(
const StackAndLiftParams ¶ms) {
return ::std::unique_ptr<StackAndLiftAction>(
- new StackAndLiftAction(&::frc971::actors::stack_and_lift_action, params));
+ new StackAndLiftAction(&::y2015::actors::stack_and_lift_action, params));
}
} // namespace actors
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/actors/stack_and_lift_actor.h b/y2015/actors/stack_and_lift_actor.h
index 1d5fe29..f93cc39 100644
--- a/y2015/actors/stack_and_lift_actor.h
+++ b/y2015/actors/stack_and_lift_actor.h
@@ -10,7 +10,7 @@
#include "y2015/actors/stack_and_lift_action.q.h"
#include "y2015/actors/fridge_profile_lib.h"
-namespace frc971 {
+namespace y2015 {
namespace actors {
class StackAndLiftActor : public FridgeActorBase<StackAndLiftActionQueueGroup> {
@@ -28,6 +28,6 @@
const StackAndLiftParams ¶ms);
} // namespace actors
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_ACTORS_STACK_AND_LIFT_ACTOR_H_
diff --git a/y2015/actors/stack_and_lift_actor_main.cc b/y2015/actors/stack_and_lift_actor_main.cc
index 2118a32..b2f941d 100644
--- a/y2015/actors/stack_and_lift_actor_main.cc
+++ b/y2015/actors/stack_and_lift_actor_main.cc
@@ -7,8 +7,8 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::frc971::actors::StackAndLiftActor stack_and_lift(
- &::frc971::actors::stack_and_lift_action);
+ ::y2015::actors::StackAndLiftActor stack_and_lift(
+ &::y2015::actors::stack_and_lift_action);
stack_and_lift.Run();
::aos::Cleanup();
diff --git a/y2015/autonomous/auto.cc b/y2015/autonomous/auto.cc
index e074356..198cc97 100644
--- a/y2015/autonomous/auto.cc
+++ b/y2015/autonomous/auto.cc
@@ -20,11 +20,11 @@
#include "y2015/actors/held_to_lift_actor.h"
using ::aos::time::Time;
-using ::frc971::control_loops::claw_queue;
-using ::frc971::control_loops::fridge_queue;
using ::frc971::control_loops::drivetrain_queue;
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
-namespace frc971 {
+namespace y2015 {
namespace autonomous {
constexpr double kClawAutoVelocity = 3.00;
@@ -56,7 +56,7 @@
void StopDrivetrain() {
LOG(INFO, "Stopping the drivetrain\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.left_goal(left_initial_position)
.left_velocity_goal(0)
@@ -68,7 +68,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
//.highgear(false)
.steering(0.0)
@@ -100,7 +100,7 @@
theta * constants::GetValues().turn_width / 2.0);
double right_goal = (right_initial_position + distance +
theta * constants::GetValues().turn_width / 2.0);
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.left_goal(left_goal)
.right_goal(right_goal)
@@ -114,13 +114,13 @@
void WaitUntilNear(double distance) {
while (true) {
if (ShouldExitAuto()) return;
- control_loops::drivetrain_queue.status.FetchAnother();
- double left_error = ::std::abs(
- left_initial_position -
- control_loops::drivetrain_queue.status->estimated_left_position);
- double right_error = ::std::abs(
- right_initial_position -
- control_loops::drivetrain_queue.status->estimated_right_position);
+ drivetrain_queue.status.FetchAnother();
+ double left_error =
+ ::std::abs(left_initial_position -
+ drivetrain_queue.status->estimated_left_position);
+ double right_error =
+ ::std::abs(right_initial_position -
+ drivetrain_queue.status->estimated_right_position);
const double kPositionThreshold = 0.05 + distance;
if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
LOG(INFO, "At the goal\n");
@@ -140,11 +140,12 @@
const ProfileParams kRaceDrive = {2.0, 2.0};
const ProfileParams kRaceBackupDrive = {2.0, 5.0};
-::std::unique_ptr<::frc971::actors::DrivetrainAction> SetDriveGoal(
- double distance, const ProfileParams drive_params, double theta = 0, const ProfileParams &turn_params = kFastTurn) {
+::std::unique_ptr<::y2015::actors::DrivetrainAction> SetDriveGoal(
+ double distance, const ProfileParams drive_params, double theta = 0,
+ const ProfileParams &turn_params = kFastTurn) {
LOG(INFO, "Driving to %f\n", distance);
- ::frc971::actors::DrivetrainActionParams params;
+ ::y2015::actors::DrivetrainActionParams params;
params.left_initial_position = left_initial_position;
params.right_initial_position = right_initial_position;
params.y_offset = distance;
@@ -201,28 +202,26 @@
void WaitForFridge() {
while (true) {
if (ShouldExitAuto()) return;
- control_loops::fridge_queue.status.FetchAnother();
+ fridge_queue.status.FetchAnother();
constexpr double kProfileError = 1e-5;
constexpr double kXEpsilon = 0.03, kYEpsilon = 0.03;
- if (control_loops::fridge_queue.status->state != 4) {
+ if (fridge_queue.status->state != 4) {
LOG(ERROR, "Fridge no longer running, aborting action\n");
return;
}
- if (::std::abs(control_loops::fridge_queue.status->goal_x - fridge_goal_x) <
+ if (::std::abs(fridge_queue.status->goal_x - fridge_goal_x) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_y - fridge_goal_y) <
+ ::std::abs(fridge_queue.status->goal_y - fridge_goal_y) <
kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_x_velocity) <
- kProfileError &&
- ::std::abs(control_loops::fridge_queue.status->goal_y_velocity) <
- kProfileError) {
+ ::std::abs(fridge_queue.status->goal_x_velocity) < kProfileError &&
+ ::std::abs(fridge_queue.status->goal_y_velocity) < kProfileError) {
LOG(INFO, "Profile done.\n");
- if (::std::abs(control_loops::fridge_queue.status->x - fridge_goal_x) <
+ if (::std::abs(fridge_queue.status->x - fridge_goal_x) <
kXEpsilon &&
- ::std::abs(control_loops::fridge_queue.status->y - fridge_goal_y) <
+ ::std::abs(fridge_queue.status->y - fridge_goal_y) <
kYEpsilon) {
LOG(INFO, "Near goal, done.\n");
return;
@@ -232,11 +231,9 @@
}
void InitializeEncoders() {
- control_loops::drivetrain_queue.status.FetchAnother();
- left_initial_position =
- control_loops::drivetrain_queue.status->estimated_left_position;
- right_initial_position =
- control_loops::drivetrain_queue.status->estimated_right_position;
+ drivetrain_queue.status.FetchAnother();
+ left_initial_position = drivetrain_queue.status->estimated_left_position;
+ right_initial_position = drivetrain_queue.status->estimated_right_position;
}
void WaitForClawZero() {
@@ -256,9 +253,9 @@
void WaitForFridgeZero() {
LOG(INFO, "Waiting for claw to zero.\n");
while (true) {
- control_loops::fridge_queue.status.FetchAnother();
- LOG_STRUCT(DEBUG, "Got fridge status", *control_loops::fridge_queue.status);
- if (control_loops::fridge_queue.status->zeroed) {
+ fridge_queue.status.FetchAnother();
+ LOG_STRUCT(DEBUG, "Got fridge status", *fridge_queue.status);
+ if (fridge_queue.status->zeroed) {
LOG(INFO, "Fridge zeroed\n");
return;
}
@@ -308,10 +305,10 @@
}
void TripleCanAuto() {
- ::std::unique_ptr<::frc971::actors::DrivetrainAction> drive;
- ::std::unique_ptr<::frc971::actors::PickupAction> pickup;
- ::std::unique_ptr<::frc971::actors::StackAction> stack;
- ::std::unique_ptr<::frc971::actors::HeldToLiftAction> lift;
+ ::std::unique_ptr<::y2015::actors::DrivetrainAction> drive;
+ ::std::unique_ptr<::y2015::actors::PickupAction> pickup;
+ ::std::unique_ptr<::y2015::actors::StackAction> stack;
+ ::std::unique_ptr<::y2015::actors::HeldToLiftAction> lift;
actors::PickupParams pickup_params;
// Lift to here initially.
@@ -581,7 +578,7 @@
InitializeEncoders();
ResetDrivetrain();
if (ShouldExitAuto()) return;
- control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
//.highgear(false)
.steering(0.0)
@@ -605,4 +602,4 @@
}
} // namespace autonomous
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/autonomous/auto.h b/y2015/autonomous/auto.h
index 7733715..fb7b033 100644
--- a/y2015/autonomous/auto.h
+++ b/y2015/autonomous/auto.h
@@ -1,12 +1,12 @@
#ifndef Y2015_AUTONOMOUS_AUTO_H_
#define Y2015_AUTONOMOUS_AUTO_H_
-namespace frc971 {
+namespace y2015 {
namespace autonomous {
void HandleAuto();
} // namespace autonomous
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_AUTONOMOUS_AUTO_H_
diff --git a/y2015/autonomous/auto.q b/y2015/autonomous/auto.q
index a2d9270..6d453aa 100644
--- a/y2015/autonomous/auto.q
+++ b/y2015/autonomous/auto.q
@@ -1,4 +1,4 @@
-package frc971.autonomous;
+package y2015.autonomous;
message CanGrabberControl {
// Voltage to send out to can grabbers.
diff --git a/y2015/autonomous/auto_main.cc b/y2015/autonomous/auto_main.cc
index 776067a..d9437d1 100644
--- a/y2015/autonomous/auto_main.cc
+++ b/y2015/autonomous/auto_main.cc
@@ -25,7 +25,7 @@
}
LOG(INFO, "Starting auto mode\n");
::aos::time::Time start_time = ::aos::time::Time::Now();
- ::frc971::autonomous::HandleAuto();
+ ::y2015::autonomous::HandleAuto();
::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
diff --git a/y2015/constants.cc b/y2015/constants.cc
index 66feb01..7ccb020 100644
--- a/y2015/constants.cc
+++ b/y2015/constants.cc
@@ -22,7 +22,7 @@
#define M_PI 3.14159265358979323846
#endif
-namespace frc971 {
+namespace y2015 {
namespace constants {
namespace {
@@ -36,13 +36,15 @@
const double kLowGearRatio = kDrivetrainEncoderRatio * 20.0 / 50.0;
const double kHighGearRatio = kLowGearRatio;
-const ShifterHallEffect kCompRightDriveShifter{555, 657, 660, 560, 0.2, 0.7};
-const ShifterHallEffect kCompLeftDriveShifter{555, 660, 644, 552, 0.2, 0.7};
+const ::frc971::constants::ShifterHallEffect kCompRightDriveShifter{
+ 555, 657, 660, 560, 0.2, 0.7};
+const ::frc971::constants::ShifterHallEffect kCompLeftDriveShifter{
+ 555, 660, 644, 552, 0.2, 0.7};
-const ShifterHallEffect kPracticeRightDriveShifter{2.95, 3.95, 3.95,
- 2.95, 0.2, 0.7};
-const ShifterHallEffect kPracticeLeftDriveShifter{2.95, 4.2, 3.95,
- 3.0, 0.2, 0.7};
+const ::frc971::constants::ShifterHallEffect kPracticeRightDriveShifter{
+ 2.95, 3.95, 3.95, 2.95, 0.2, 0.7};
+const ::frc971::constants::ShifterHallEffect kPracticeLeftDriveShifter{
+ 2.95, 4.2, 3.95, 3.0, 0.2, 0.7};
const double kToteHeight = 0.3;
// Set by Daniel on 2/13/15.
@@ -376,4 +378,4 @@
}
} // namespace constants
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/constants.h b/y2015/constants.h
index ce08e46..eed5616 100644
--- a/y2015/constants.h
+++ b/y2015/constants.h
@@ -7,7 +7,7 @@
#include "frc971/shifter_hall_effect.h"
#include "frc971/constants.h"
-namespace frc971 {
+namespace y2015 {
namespace constants {
// Has all of the numbers that change for both robots and makes it easy to
@@ -45,7 +45,7 @@
// gear.
double low_gear_ratio;
double high_gear_ratio;
- ShifterHallEffect left_drive, right_drive;
+ ::frc971::constants::ShifterHallEffect left_drive, right_drive;
bool clutch_transmission;
double turn_width;
@@ -68,7 +68,7 @@
struct Claw {
Range wrist;
- ZeroingConstants zeroing;
+ ::frc971::constants::ZeroingConstants zeroing;
// The value to add to potentiometer readings after they have been converted
// to radians so that the resulting value is 0 when the claw is at absolute
// 0 (horizontal straight out the front).
@@ -86,10 +86,10 @@
Range elevator;
Range arm;
- ZeroingConstants left_elev_zeroing;
- ZeroingConstants right_elev_zeroing;
- ZeroingConstants left_arm_zeroing;
- ZeroingConstants right_arm_zeroing;
+ ::frc971::constants::ZeroingConstants left_elev_zeroing;
+ ::frc971::constants::ZeroingConstants right_elev_zeroing;
+ ::frc971::constants::ZeroingConstants left_arm_zeroing;
+ ::frc971::constants::ZeroingConstants right_arm_zeroing;
// Values to add to scaled potentiometer readings so 0 lines up with the
// physical absolute 0.
@@ -143,6 +143,6 @@
const Values &GetValuesForTeam(uint16_t team_number);
} // namespace constants
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_CONSTANTS_H_
diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index ad8aaee..b4a5a7b 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -9,7 +9,7 @@
#include "y2015/control_loops/claw/claw_motor_plant.h"
#include "aos/common/util/trapezoid_profile.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
using ::aos::time::Time;
@@ -280,7 +280,8 @@
status->zeroed = state_ == RUNNING;
status->estopped = state_ == ESTOP;
status->state = state_;
- zeroing::PopulateEstimatorState(claw_estimator_, &status->zeroing_state);
+ ::frc971::zeroing::PopulateEstimatorState(claw_estimator_,
+ &status->zeroing_state);
status->angle = claw_loop_->X_hat(0, 0);
status->angular_velocity = claw_loop_->X_hat(1, 0);
@@ -311,4 +312,4 @@
}
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/claw/claw.h b/y2015/control_loops/claw/claw.h
index 02e5398..58c3cc1 100644
--- a/y2015/control_loops/claw/claw.h
+++ b/y2015/control_loops/claw/claw.h
@@ -11,7 +11,7 @@
#include "y2015/control_loops/claw/claw_motor_plant.h"
#include "frc971/zeroing/zeroing.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
namespace testing {
class ClawTest_DisabledGoal_Test;
@@ -95,7 +95,7 @@
// Latest position from queue.
control_loops::ClawQueue::Position current_position_;
// Zeroing estimator for claw.
- zeroing::ZeroingEstimator claw_estimator_;
+ ::frc971::zeroing::ZeroingEstimator claw_estimator_;
// The goal for the claw.
double claw_goal_ = 0.0;
@@ -111,6 +111,6 @@
};
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_CONTROL_LOOPS_CLAW_H_
diff --git a/y2015/control_loops/claw/claw.q b/y2015/control_loops/claw/claw.q
index 8da1c20..e1d444d 100644
--- a/y2015/control_loops/claw/claw.q
+++ b/y2015/control_loops/claw/claw.q
@@ -1,4 +1,4 @@
-package frc971.control_loops;
+package y2015.control_loops;
import "aos/common/controls/control_loops.q";
import "frc971/control_loops/control_loops.q";
@@ -28,7 +28,7 @@
};
message Position {
- PotAndIndexPosition joint;
+ .frc971.PotAndIndexPosition joint;
};
message Output {
@@ -49,7 +49,7 @@
bool estopped;
// The internal state of the claw state machine.
uint32_t state;
- EstimatorState zeroing_state;
+ .frc971.EstimatorState zeroing_state;
// Estimated angle of wrist joint.
double angle;
diff --git a/y2015/control_loops/claw/claw_lib_test.cc b/y2015/control_loops/claw/claw_lib_test.cc
index 6b3ad87..b38a2ee 100644
--- a/y2015/control_loops/claw/claw_lib_test.cc
+++ b/y2015/control_loops/claw/claw_lib_test.cc
@@ -15,7 +15,7 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
namespace testing {
@@ -28,11 +28,11 @@
: claw_plant_(new StateFeedbackPlant<2, 1, 1>(
y2015::control_loops::claw::MakeClawPlant())),
pot_and_encoder_(constants::GetValues().claw.zeroing.index_difference),
- claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
- ".frc971.control_loops.claw_queue.goal",
- ".frc971.control_loops.claw_queue.position",
- ".frc971.control_loops.claw_queue.output",
- ".frc971.control_loops.claw_queue.status") {
+ claw_queue_(".y2015.control_loops.claw_queue", 0x9d7452fb,
+ ".y2015.control_loops.claw_queue.goal",
+ ".y2015.control_loops.claw_queue.position",
+ ".y2015.control_loops.claw_queue.output",
+ ".y2015.control_loops.claw_queue.status") {
InitializePosition(constants::GetValues().claw.wrist.lower_limit);
}
@@ -85,7 +85,7 @@
private:
::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> claw_plant_;
- PositionSensorSimulator pot_and_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator pot_and_encoder_;
ClawQueue claw_queue_;
};
@@ -93,14 +93,14 @@
class ClawTest : public ::aos::testing::ControlLoopTest {
protected:
ClawTest()
- : claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
- ".frc971.control_loops.claw_queue.goal",
- ".frc971.control_loops.claw_queue.position",
- ".frc971.control_loops.claw_queue.output",
- ".frc971.control_loops.claw_queue.status"),
+ : claw_queue_(".y2015.control_loops.claw_queue", 0x9d7452fb,
+ ".y2015.control_loops.claw_queue.goal",
+ ".y2015.control_loops.claw_queue.position",
+ ".y2015.control_loops.claw_queue.output",
+ ".y2015.control_loops.claw_queue.status"),
claw_(&claw_queue_),
claw_plant_() {
- set_team_id(kTeamNumber);
+ set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
void VerifyNearGoal() {
@@ -345,4 +345,4 @@
} // namespace testing
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/claw/claw_main.cc b/y2015/control_loops/claw/claw_main.cc
index d1b869c..8b0c21f 100644
--- a/y2015/control_loops/claw/claw_main.cc
+++ b/y2015/control_loops/claw/claw_main.cc
@@ -4,7 +4,7 @@
int main() {
::aos::Init();
- frc971::control_loops::Claw claw;
+ y2015::control_loops::Claw claw;
claw.Run();
::aos::Cleanup();
return 0;
diff --git a/y2015/control_loops/claw/replay_claw.cc b/y2015/control_loops/claw/replay_claw.cc
index 50673e4..600ad99 100644
--- a/y2015/control_loops/claw/replay_claw.cc
+++ b/y2015/control_loops/claw/replay_claw.cc
@@ -14,8 +14,8 @@
::aos::InitNRT();
- ::aos::controls::ControlLoopReplayer<::frc971::control_loops::ClawQueue>
- replayer(&::frc971::control_loops::claw_queue, "claw");
+ ::aos::controls::ControlLoopReplayer<::y2015::control_loops::ClawQueue>
+ replayer(&::y2015::control_loops::claw_queue, "claw");
for (int i = 1; i < argc; ++i) {
replayer.ProcessFile(argv[i]);
}
diff --git a/y2015/control_loops/fridge/BUILD b/y2015/control_loops/fridge/BUILD
index 2e90a80..a9bb737 100644
--- a/y2015/control_loops/fridge/BUILD
+++ b/y2015/control_loops/fridge/BUILD
@@ -26,27 +26,52 @@
],
)
+genrule(
+ name = 'genrule_elevator',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2015/control_loops/python:elevator) $(OUTS)',
+ tools = [
+ '//y2015/control_loops/python:elevator',
+ ],
+ outs = [
+ 'elevator_motor_plant.h',
+ 'elevator_motor_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'elevator_plants',
+ srcs = [
+ 'elevator_motor_plant.cc',
+ ],
+ hdrs = [
+ 'elevator_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
cc_library(
name = 'fridge_lib',
srcs = [
'fridge.cc',
'integral_arm_plant.cc',
- 'elevator_motor_plant.cc',
],
hdrs = [
'fridge.h',
'integral_arm_plant.h',
- 'elevator_motor_plant.h',
],
deps = [
+ ':elevator_plants',
':fridge_queue',
'//aos/common/controls:control_loop',
'//aos/common/util:trapezoid_profile',
- '//y2015:constants',
- '//frc971/control_loops:state_feedback_loop',
'//frc971/control_loops/voltage_cap:voltage_cap',
+ '//frc971/control_loops:state_feedback_loop',
'//frc971/zeroing',
'//y2015/util:kinematics',
+ '//y2015:constants',
],
)
diff --git a/y2015/control_loops/fridge/elevator_motor_plant.cc b/y2015/control_loops/fridge/elevator_motor_plant.cc
deleted file mode 100644
index 995d838..0000000
--- a/y2015/control_loops/fridge/elevator_motor_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2015/control_loops/fridge/elevator_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeElevatorPlantCoefficients() {
- Eigen::Matrix<double, 4, 4> A;
- A << 1.0, 0.00435668193669, 0.0, 0.0, 0.0, 0.754212786054, 0.0, 0.0, 0.0, 0.0, 0.997194498569, 0.00435222083164, 0.0, 0.0, -1.07131589702, 0.751658962986;
- Eigen::Matrix<double, 4, 2> B;
- B << 3.82580284276e-05, 3.82580284276e-05, 0.0146169286307, 0.0146169286307, 3.82387898839e-05, -3.82387898839e-05, 0.0146019613563, -0.0146019613563;
- Eigen::Matrix<double, 2, 4> C;
- C << 1, 0, 1, 0, 1, 0, -1, 0;
- Eigen::Matrix<double, 2, 2> D;
- D << 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<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<4, 2, 2> MakeElevatorController() {
- Eigen::Matrix<double, 4, 2> L;
- L << 0.677106393027, 0.677106393027, 35.5375738607, 35.5375738607, 0.674426730777, -0.674426730777, 34.7138874344, -34.7138874344;
- Eigen::Matrix<double, 2, 4> K;
- K << 321.310606763, 11.7674534233, 601.047935717, 12.6977148843, 321.310606764, 11.7674534233, -601.047935716, -12.6977148843;
- Eigen::Matrix<double, 4, 4> A_inv;
- A_inv << 1.0, -0.00577646258091, 0.0, 0.0, 0.0, 1.32588576923, 0.0, 0.0, 0.0, 0.0, 0.996613922337, -0.00577054766522, 0.0, 0.0, 1.42044250221, 1.32216599481;
- return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeElevatorPlantCoefficients());
-}
-
-StateFeedbackPlant<4, 2, 2> MakeElevatorPlant() {
- ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>> plants(1);
- plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeElevatorPlantCoefficients()));
- return StateFeedbackPlant<4, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<4, 2, 2> MakeElevatorLoop() {
- ::std::vector< ::std::unique_ptr<StateFeedbackController<4, 2, 2>>> controllers(1);
- controllers[0] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeElevatorController()));
- return StateFeedbackLoop<4, 2, 2>(&controllers);
-}
-
-} // namespace control_loops
-} // namespace frc971
diff --git a/y2015/control_loops/fridge/elevator_motor_plant.h b/y2015/control_loops/fridge/elevator_motor_plant.h
deleted file mode 100644
index e68e6d7..0000000
--- a/y2015/control_loops/fridge/elevator_motor_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2015_CONTROL_LOOPS_FRIDGE_ELEVATOR_MOTOR_PLANT_H_
-#define Y2015_CONTROL_LOOPS_FRIDGE_ELEVATOR_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeElevatorPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeElevatorController();
-
-StateFeedbackPlant<4, 2, 2> MakeElevatorPlant();
-
-StateFeedbackLoop<4, 2, 2> MakeElevatorLoop();
-
-} // namespace control_loops
-} // namespace frc971
-
-#endif // Y2015_CONTROL_LOOPS_FRIDGE_ELEVATOR_MOTOR_PLANT_H_
diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index 9f2241a..4c24a1f 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -12,8 +12,9 @@
#include "y2015/constants.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
+namespace fridge {
namespace chrono = ::std::chrono;
@@ -27,8 +28,9 @@
template <int S>
void CappedStateFeedbackLoop<S>::CapU() {
- VoltageCap(max_voltage_, this->U(0, 0), this->U(1, 0), &this->mutable_U(0, 0),
- &this->mutable_U(1, 0));
+ ::frc971::control_loops::VoltageCap(max_voltage_, this->U(0, 0),
+ this->U(1, 0), &this->mutable_U(0, 0),
+ &this->mutable_U(1, 0));
}
template <int S>
@@ -49,10 +51,10 @@
return deltaR;
}
-Fridge::Fridge(control_loops::FridgeQueue *fridge)
- : aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge),
- arm_loop_(new CappedStateFeedbackLoop<5>(
- StateFeedbackLoop<5, 2, 2>(MakeIntegralArmLoop()))),
+Fridge::Fridge(FridgeQueue *fridge)
+ : aos::controls::ControlLoop<FridgeQueue>(fridge),
+ arm_loop_(new CappedStateFeedbackLoop<5>(StateFeedbackLoop<5, 2, 2>(
+ ::frc971::control_loops::MakeIntegralArmLoop()))),
elevator_loop_(new CappedStateFeedbackLoop<4>(
StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop()))),
left_arm_estimator_(constants::GetValues().fridge.left_arm_zeroing),
@@ -239,10 +241,10 @@
return arm_zeroing_velocity_;
}
-void Fridge::RunIteration(const control_loops::FridgeQueue::Goal *unsafe_goal,
- const control_loops::FridgeQueue::Position *position,
- control_loops::FridgeQueue::Output *output,
- control_loops::FridgeQueue::Status *status) {
+void Fridge::RunIteration(const FridgeQueue::Goal *unsafe_goal,
+ const FridgeQueue::Position *position,
+ FridgeQueue::Output *output,
+ FridgeQueue::Status *status) {
if (WasReset()) {
LOG(ERROR, "WPILib reset, restarting\n");
left_elevator_estimator_.Reset();
@@ -709,17 +711,19 @@
status->grabbers.bottom_front = false;
status->grabbers.bottom_back = false;
}
- zeroing::PopulateEstimatorState(left_arm_estimator_, &status->left_arm_state);
- zeroing::PopulateEstimatorState(right_arm_estimator_,
- &status->right_arm_state);
- zeroing::PopulateEstimatorState(left_elevator_estimator_,
- &status->left_elevator_state);
- zeroing::PopulateEstimatorState(right_elevator_estimator_,
- &status->right_elevator_state);
+ ::frc971::zeroing::PopulateEstimatorState(left_arm_estimator_,
+ &status->left_arm_state);
+ ::frc971::zeroing::PopulateEstimatorState(right_arm_estimator_,
+ &status->right_arm_state);
+ ::frc971::zeroing::PopulateEstimatorState(left_elevator_estimator_,
+ &status->left_elevator_state);
+ ::frc971::zeroing::PopulateEstimatorState(right_elevator_estimator_,
+ &status->right_elevator_state);
status->estopped = (state_ == ESTOP);
status->state = state_;
last_state_ = state_;
}
+} // namespace fridge
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/fridge/fridge.h b/y2015/control_loops/fridge/fridge.h
index 0448e09..ee64554 100644
--- a/y2015/control_loops/fridge/fridge.h
+++ b/y2015/control_loops/fridge/fridge.h
@@ -10,8 +10,9 @@
#include "frc971/zeroing/zeroing.h"
#include "y2015/util/kinematics.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
+namespace fridge {
namespace testing {
class FridgeTest_DisabledGoalTest_Test;
class FridgeTest_ArmGoalPositiveWindupTest_Test;
@@ -42,10 +43,10 @@
};
class Fridge
- : public aos::controls::ControlLoop<control_loops::FridgeQueue> {
+ : public aos::controls::ControlLoop<FridgeQueue> {
public:
- explicit Fridge(
- control_loops::FridgeQueue *fridge_queue = &control_loops::fridge_queue);
+ explicit Fridge(FridgeQueue *fridge_queue =
+ &::y2015::control_loops::fridge::fridge_queue);
enum State {
// Waiting to receive data before doing anything.
@@ -72,10 +73,10 @@
State state() const { return state_; }
protected:
- void RunIteration(const control_loops::FridgeQueue::Goal *goal,
- const control_loops::FridgeQueue::Position *position,
- control_loops::FridgeQueue::Output *output,
- control_loops::FridgeQueue::Status *status) override;
+ void RunIteration(const FridgeQueue::Goal *goal,
+ const FridgeQueue::Position *position,
+ FridgeQueue::Output *output,
+ FridgeQueue::Status *status) override;
private:
friend class testing::FridgeTest_DisabledGoalTest_Test;
@@ -127,10 +128,10 @@
::std::unique_ptr<CappedStateFeedbackLoop<5>> arm_loop_;
::std::unique_ptr<CappedStateFeedbackLoop<4>> elevator_loop_;
- zeroing::ZeroingEstimator left_arm_estimator_;
- zeroing::ZeroingEstimator right_arm_estimator_;
- zeroing::ZeroingEstimator left_elevator_estimator_;
- zeroing::ZeroingEstimator right_elevator_estimator_;
+ ::frc971::zeroing::ZeroingEstimator left_arm_estimator_;
+ ::frc971::zeroing::ZeroingEstimator right_arm_estimator_;
+ ::frc971::zeroing::ZeroingEstimator left_elevator_estimator_;
+ ::frc971::zeroing::ZeroingEstimator right_elevator_estimator_;
// Offsets from the encoder position to the absolute position. Add these to
// the encoder position to get the absolute position.
@@ -153,7 +154,7 @@
State state_ = UNINITIALIZED;
State last_state_ = UNINITIALIZED;
- control_loops::FridgeQueue::Position current_position_;
+ FridgeQueue::Position current_position_;
ProfilingType last_profiling_type_;
aos::util::ElevatorArmKinematics kinematics_;
@@ -165,8 +166,9 @@
aos::util::TrapezoidProfile y_profile_;
};
+} // namespace fridge
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_CONTROL_LOOPS_FRIDGE_H_
diff --git a/y2015/control_loops/fridge/fridge.q b/y2015/control_loops/fridge/fridge.q
index 257374d..9df30e3 100644
--- a/y2015/control_loops/fridge/fridge.q
+++ b/y2015/control_loops/fridge/fridge.q
@@ -1,4 +1,4 @@
-package frc971.control_loops;
+package y2015.control_loops.fridge;
import "aos/common/controls/control_loops.q";
import "frc971/control_loops/control_loops.q";
@@ -82,8 +82,8 @@
};
message Position {
- PotAndIndexPair arm;
- PotAndIndexPair elevator;
+ .frc971.PotAndIndexPair arm;
+ .frc971.PotAndIndexPair elevator;
};
message Status {
@@ -128,10 +128,10 @@
// The internal state of the state machine.
int32_t state;
- EstimatorState left_elevator_state;
- EstimatorState right_elevator_state;
- EstimatorState left_arm_state;
- EstimatorState right_arm_state;
+ .frc971.EstimatorState left_elevator_state;
+ .frc971.EstimatorState right_elevator_state;
+ .frc971.EstimatorState left_arm_state;
+ .frc971.EstimatorState right_arm_state;
};
message Output {
diff --git a/y2015/control_loops/fridge/fridge_lib_test.cc b/y2015/control_loops/fridge/fridge_lib_test.cc
index 7719fb4..2378622 100644
--- a/y2015/control_loops/fridge/fridge_lib_test.cc
+++ b/y2015/control_loops/fridge/fridge_lib_test.cc
@@ -20,8 +20,9 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
+namespace fridge {
namespace testing {
// Class which simulates the fridge and sends out queue messages with the
// position.
@@ -30,7 +31,8 @@
static constexpr double kNoiseScalar = 0.1;
// Constructs a simulation.
FridgeSimulation()
- : arm_plant_(new StateFeedbackPlant<4, 2, 2>(MakeArmPlant())),
+ : arm_plant_(new StateFeedbackPlant<4, 2, 2>(
+ ::frc971::control_loops::MakeArmPlant())),
elevator_plant_(new StateFeedbackPlant<4, 2, 2>(MakeElevatorPlant())),
left_arm_pot_encoder_(
constants::GetValues().fridge.left_arm_zeroing.index_difference),
@@ -40,11 +42,11 @@
constants::GetValues().fridge.left_elev_zeroing.index_difference),
right_elevator_pot_encoder_(
constants::GetValues().fridge.right_elev_zeroing.index_difference),
- fridge_queue_(".frc971.control_loops.fridge_queue", 0xe4e05855,
- ".frc971.control_loops.fridge_queue.goal",
- ".frc971.control_loops.fridge_queue.position",
- ".frc971.control_loops.fridge_queue.output",
- ".frc971.control_loops.fridge_queue.status") {
+ fridge_queue_(".y2015.control_loops.fridge.fridge_queue", 0xe4e05855,
+ ".y2015.control_loops.fridge.fridge_queue.goal",
+ ".y2015.control_loops.fridge.fridge_queue.position",
+ ".y2015.control_loops.fridge.fridge_queue.output",
+ ".y2015.control_loops.fridge.fridge_queue.status") {
// Initialize the elevator.
InitializeElevatorPosition(
constants::GetValues().fridge.elevator.lower_limit);
@@ -109,7 +111,7 @@
// Sends a queue message with the position.
void SendPositionMessage() {
- ::aos::ScopedMessagePtr<control_loops::FridgeQueue::Position> position =
+ ::aos::ScopedMessagePtr<FridgeQueue::Position> position =
fridge_queue_.position.MakeMessage();
left_arm_pot_encoder_.GetSensorValues(&position->arm.left);
@@ -196,10 +198,10 @@
::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> arm_plant_;
::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> elevator_plant_;
- PositionSensorSimulator left_arm_pot_encoder_;
- PositionSensorSimulator right_arm_pot_encoder_;
- PositionSensorSimulator left_elevator_pot_encoder_;
- PositionSensorSimulator right_elevator_pot_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator left_arm_pot_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator right_arm_pot_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator left_elevator_pot_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator right_elevator_pot_encoder_;
FridgeQueue fridge_queue_;
@@ -211,11 +213,11 @@
class FridgeTest : public ::aos::testing::ControlLoopTest {
protected:
FridgeTest()
- : fridge_queue_(".frc971.control_loops.fridge_queue", 0xe4e05855,
- ".frc971.control_loops.fridge_queue.goal",
- ".frc971.control_loops.fridge_queue.position",
- ".frc971.control_loops.fridge_queue.output",
- ".frc971.control_loops.fridge_queue.status"),
+ : fridge_queue_(".y2015.control_loops.fridge.fridge_queue", 0xe4e05855,
+ ".y2015.control_loops.fridge.fridge_queue.goal",
+ ".y2015.control_loops.fridge.fridge_queue.position",
+ ".y2015.control_loops.fridge.fridge_queue.output",
+ ".y2015.control_loops.fridge.fridge_queue.status"),
fridge_(&fridge_queue_),
fridge_plant_(),
kinematics_(constants::GetValues().fridge.arm_length,
@@ -223,7 +225,7 @@
constants::GetValues().fridge.elevator.lower_limit,
constants::GetValues().fridge.arm.upper_limit,
constants::GetValues().fridge.arm.lower_limit) {
- set_team_id(kTeamNumber);
+ set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
void VerifyNearGoal() {
@@ -731,5 +733,6 @@
// after we are zeroed.
} // namespace testing
+} // namespace fridge
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/fridge/fridge_main.cc b/y2015/control_loops/fridge/fridge_main.cc
index e0fd6ea..658a4af 100644
--- a/y2015/control_loops/fridge/fridge_main.cc
+++ b/y2015/control_loops/fridge/fridge_main.cc
@@ -4,7 +4,7 @@
int main() {
::aos::Init();
- frc971::control_loops::Fridge fridge;
+ y2015::control_loops::fridge::Fridge fridge;
fridge.Run();
::aos::Cleanup();
return 0;
diff --git a/y2015/control_loops/fridge/replay_fridge.cc b/y2015/control_loops/fridge/replay_fridge.cc
index 65cc98a..842aa0d 100644
--- a/y2015/control_loops/fridge/replay_fridge.cc
+++ b/y2015/control_loops/fridge/replay_fridge.cc
@@ -14,8 +14,9 @@
::aos::InitNRT();
- ::aos::controls::ControlLoopReplayer<::frc971::control_loops::FridgeQueue>
- replayer(&::frc971::control_loops::fridge_queue, "fridge");
+ ::aos::controls::ControlLoopReplayer<
+ ::y2015::control_loops::fridge::FridgeQueue>
+ replayer(&::y2015::control_loops::fridge::fridge_queue, "fridge");
for (int i = 1; i < argc; ++i) {
replayer.ProcessFile(argv[i]);
}
diff --git a/y2015/control_loops/python/BUILD b/y2015/control_loops/python/BUILD
index 77c3d81..16fc62b 100644
--- a/y2015/control_loops/python/BUILD
+++ b/y2015/control_loops/python/BUILD
@@ -61,3 +61,15 @@
'//frc971/control_loops/python:controls',
],
)
+
+py_binary(
+ name = 'elevator',
+ srcs = [
+ 'elevator.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:controls',
+ ],
+)
diff --git a/y2015/control_loops/python/elevator.py b/y2015/control_loops/python/elevator.py
index 464011b..dc9caa1 100755
--- a/y2015/control_loops/python/elevator.py
+++ b/y2015/control_loops/python/elevator.py
@@ -1,9 +1,8 @@
#!/usr/bin/python
-import control_loop
-import controls
-import polytope
-import polydrivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+from frc971.control_loops.python import polytope
import numpy
import sys
import matplotlib
@@ -128,7 +127,7 @@
def run_test(elevator, initial_X, goal, max_separation_error=0.01,
- show_graph=True, iterations=200, controller_elevator=None,
+ show_graph=False, iterations=200, controller_elevator=None,
observer_elevator=None):
"""Runs the elevator plant with an initial condition and goal.
@@ -235,12 +234,14 @@
if len(argv) != 3:
print "Expected .h file name and .cc file name for the elevator."
else:
+ namespaces = ['y2015', 'control_loops', 'fridge']
elevator = Elevator("Elevator")
- loop_writer = control_loop.ControlLoopWriter("Elevator", [elevator])
- if argv[1][-3:] == '.cc':
- loop_writer.Write(argv[2], argv[1])
- else:
- loop_writer.Write(argv[1], argv[2])
+ loop_writer = control_loop.ControlLoopWriter("Elevator", [elevator],
+ namespaces=namespaces)
+ if argv[1][-3:] == '.cc':
+ loop_writer.Write(argv[2], argv[1])
+ else:
+ loop_writer.Write(argv[1], argv[2])
if __name__ == '__main__':
sys.exit(main(sys.argv))
diff --git a/y2015/http_status/http_status.cc b/y2015/http_status/http_status.cc
index 9c64314..7d5093a 100644
--- a/y2015/http_status/http_status.cc
+++ b/y2015/http_status/http_status.cc
@@ -19,7 +19,7 @@
#include "y2015/http_status/embedded.h"
-namespace frc971 {
+namespace y2015 {
namespace http_status {
// TODO(comran): Make some of these separate libraries & document them better.
@@ -139,7 +139,7 @@
DataCollector::DataCollector() : cur_raw_data_("no data") {}
void DataCollector::RunIteration() {
- auto& fridge_queue = control_loops::fridge_queue;
+ auto& fridge_queue = control_loops::fridge::fridge_queue;
auto& claw_queue = control_loops::claw_queue;
fridge_queue.status.FetchAnother();
@@ -275,18 +275,18 @@
}
} // namespace http_status
-} // namespace frc971
+} // namespace y2015
int main(int, char* []) {
::aos::InitNRT();
seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
- new frc971::http_status::SeasocksLogger(seasocks::Logger::INFO)));
- frc971::http_status::SocketHandler socket_handler;
+ new ::y2015::http_status::SeasocksLogger(seasocks::Logger::INFO)));
+ ::y2015::http_status::SocketHandler socket_handler;
server.addWebSocketHandler(
"/ws",
- ::std::shared_ptr<frc971::http_status::SocketHandler>(&socket_handler));
+ ::std::shared_ptr<::y2015::http_status::SocketHandler>(&socket_handler));
server.serve("www", 8080);
socket_handler.Quit();
diff --git a/y2015/http_status/http_status.h b/y2015/http_status/http_status.h
index 2f7497d..b7b3b4c 100644
--- a/y2015/http_status/http_status.h
+++ b/y2015/http_status/http_status.h
@@ -16,7 +16,7 @@
#include "aos/common/util/phased_loop.h"
#include "aos/common/mutex.h"
-namespace frc971 {
+namespace y2015 {
namespace http_status {
// A class for storing data from DataCollector and packaging it as a custom
@@ -103,4 +103,4 @@
};
} // namespace http_status
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/joystick_reader.cc b/y2015/joystick_reader.cc
index 7cbd7e5..4a8df16 100644
--- a/y2015/joystick_reader.cc
+++ b/y2015/joystick_reader.cc
@@ -28,17 +28,17 @@
#include "y2015/actors/can_pickup_actor.h"
#include "y2015/actors/horizontal_can_pickup_actor.h"
-using ::frc971::control_loops::claw_queue;
using ::frc971::control_loops::drivetrain_queue;
-using ::frc971::control_loops::fridge_queue;
using ::frc971::sensors::gyro_reading;
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::POVLocation;
using ::aos::input::driver_station::JoystickAxis;
using ::aos::input::driver_station::ControlBit;
-namespace frc971 {
+namespace y2015 {
namespace input {
namespace joysticks {
@@ -491,10 +491,10 @@
if (action_queue_.Running()) {
// If we are running an action, update our goals to the current goals.
- control_loops::fridge_queue.status.FetchLatest();
- if (control_loops::fridge_queue.status.get()) {
- arm_goal_ = control_loops::fridge_queue.status->goal_angle;
- elevator_goal_ = control_loops::fridge_queue.status->goal_height;
+ fridge_queue.status.FetchLatest();
+ if (fridge_queue.status.get()) {
+ arm_goal_ = fridge_queue.status->goal_angle;
+ elevator_goal_ = fridge_queue.status->goal_height;
} else {
LOG(ERROR, "No fridge status!\n");
}
@@ -547,11 +547,11 @@
} // namespace joysticks
} // namespace input
-} // namespace frc971
+} // namespace y2015
int main() {
::aos::Init(-1);
- ::frc971::input::joysticks::Reader reader;
+ ::y2015::input::joysticks::Reader reader;
reader.Run();
::aos::Cleanup();
}
diff --git a/y2015/util/kinematics.h b/y2015/util/kinematics.h
index 611012e..f206174 100644
--- a/y2015/util/kinematics.h
+++ b/y2015/util/kinematics.h
@@ -88,7 +88,7 @@
elevator_min_(height_min),
upper_angle_limit_(angle_max),
lower_angle_limit_(angle_min),
- geometry_(frc971::constants::GetValues().clawGeometry) {}
+ geometry_(::y2015::constants::GetValues().clawGeometry) {}
~ElevatorArmKinematics() {}
@@ -379,7 +379,7 @@
// arm angle lower limit
double lower_angle_limit_;
// Geometry of the arm + fridge
- frc971::constants::Values::ClawGeometry geometry_;
+ ::y2015::constants::Values::ClawGeometry geometry_;
};
} // namespace util
diff --git a/y2015/wpilib/wpilib_interface.cc b/y2015/wpilib/wpilib_interface.cc
index 7accc92..a6dab4d 100644
--- a/y2015/wpilib/wpilib_interface.cc
+++ b/y2015/wpilib/wpilib_interface.cc
@@ -55,11 +55,21 @@
#endif
using ::aos::util::SimpleLogInterval;
+using ::frc971::PotAndIndexPosition;
using ::frc971::control_loops::drivetrain_queue;
-using ::frc971::control_loops::fridge_queue;
-using ::frc971::control_loops::claw_queue;
+using ::frc971::wpilib::BufferedPcm;
+using ::frc971::wpilib::BufferedSolenoid;
+using ::frc971::wpilib::DMAEncoderAndPotentiometer;
+using ::frc971::wpilib::DMASynchronizer;
+using ::frc971::wpilib::GyroSender;
+using ::frc971::wpilib::InterruptEncoderAndPotentiometer;
+using ::frc971::wpilib::JoystickSender;
+using ::frc971::wpilib::LoopOutputHandler;
+using ::frc971::wpilib::PneumaticsToLog;
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
-namespace frc971 {
+namespace y2015 {
namespace wpilib {
double drivetrain_translate(int32_t in) {
@@ -373,8 +383,8 @@
public:
SolenoidWriter(const ::std::unique_ptr<BufferedPcm> &pcm)
: pcm_(pcm),
- fridge_(".frc971.control_loops.fridge_queue.output"),
- claw_(".frc971.control_loops.claw_queue.output") {}
+ fridge_(".y2015.control_loops.fridge.fridge_queue.output"),
+ claw_(".y2015.control_loops.claw_queue.output") {}
void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
pressure_switch_ = ::std::move(pressure_switch);
@@ -487,8 +497,8 @@
::std::unique_ptr<DigitalInput> pressure_switch_;
::std::unique_ptr<Relay> compressor_relay_;
- ::aos::Queue<::frc971::control_loops::FridgeQueue::Output> fridge_;
- ::aos::Queue<::frc971::control_loops::ClawQueue::Output> claw_;
+ ::aos::Queue<::y2015::control_loops::fridge::FridgeQueue::Output> fridge_;
+ ::aos::Queue<::y2015::control_loops::ClawQueue::Output> claw_;
::std::atomic<bool> run_{true};
};
@@ -503,11 +513,11 @@
private:
virtual void Read() override {
- ::frc971::autonomous::can_control.FetchAnother();
+ ::y2015::autonomous::can_control.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::autonomous::can_control;
+ auto &queue = ::y2015::autonomous::can_control;
LOG_STRUCT(DEBUG, "will output", *queue);
can_talon_->Set(queue->can_voltage / 12.0);
}
@@ -572,11 +582,11 @@
private:
virtual void Read() override {
- ::frc971::control_loops::fridge_queue.output.FetchAnother();
+ ::y2015::control_loops::fridge::fridge_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::control_loops::fridge_queue.output;
+ auto &queue = ::y2015::control_loops::fridge::fridge_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_arm_talon_->Set(queue->left_arm / 12.0);
right_arm_talon_->Set(-queue->right_arm / 12.0);
@@ -614,11 +624,11 @@
private:
virtual void Read() override {
- ::frc971::control_loops::claw_queue.output.FetchAnother();
+ ::y2015::control_loops::claw_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::control_loops::claw_queue.output;
+ auto &queue = ::y2015::control_loops::claw_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_intake_talon_->Set(queue->intake_voltage / 12.0);
right_intake_talon_->Set(-queue->intake_voltage / 12.0);
@@ -770,7 +780,7 @@
};
} // namespace wpilib
-} // namespace frc971
+} // namespace y2015
-AOS_ROBOT_CLASS(::frc971::wpilib::WPILibRobot);
+AOS_ROBOT_CLASS(::y2015::wpilib::WPILibRobot);