commit 942892b1da92fb591e246f07b8b8571a11043cc3
author justinT21 <jjturcot@gmail.com> Tue Jul 02 22:33:50 2024 -0700
committer Justin Turcotte <jjturcot@gmail.com> Sat Jul 06 16:56:02 2024 -0700
tree a76e068fa3573ff99ee922f02994bcee67ecc805
parent 5e53ab5c25e4828fba6a7720e6c303d6d5c6bc43

Fix some cases of divergence in the physics model

Signed-off-by: justinT21 <jjturcot@gmail.com>
Change-Id: Ib6e322af67ef66567b528802f145ba263554af88

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 4fd73d2..052b287 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -129,11 +129,13 @@
     outs = [
         "dynamics.cc",
         "dynamics.h",
+        "dynamics.py",
     ],
     args = [
         "--output_base=$(BINDIR)/",
         "--cc_output_path=$(location :dynamics.cc)",
         "--h_output_path=$(location :dynamics.h)",
+        "--py_output_path=$(location :dynamics.py)",
     ],
     tool = ":generate_physics",
 )
@@ -146,3 +148,18 @@
         "@org_tuxfamily_eigen//:eigen",
     ],
 )
+
+py_binary(
+    name = "dynamics_sim",
+    srcs = [
+        "dynamics.py",
+        "dynamics_sim.py",
+    ],
+    deps = [
+        "//frc971/control_loops/python:controls",
+        "@pip//matplotlib",
+        "@pip//numpy",
+        "@pip//pygobject",
+        "@pip//scipy",
+    ],
+)