Remove useless is_done from drivetrain status
Change-Id: If0fe64a6a99cf31f4d5b9a79efe2b1aa06faa292
diff --git a/y2014/constants.cc b/y2014/constants.cc
index 1303d68..8cf9076 100644
--- a/y2014/constants.cc
+++ b/y2014/constants.cc
@@ -66,7 +66,6 @@
0.5,
::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// ShooterLimits
@@ -104,7 +103,6 @@
kRobotWidth,
::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// ShooterLimits
@@ -151,7 +149,6 @@
kRobotWidth,
::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// ShooterLimits
diff --git a/y2014/constants.h b/y2014/constants.h
index 1081a57..a31e9c0 100644
--- a/y2014/constants.h
+++ b/y2014/constants.h
@@ -43,7 +43,6 @@
::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
- double drivetrain_done_distance;
double drivetrain_max_speed;
struct ZeroingConstants {
diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index 98974a5..c538894 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -101,16 +101,6 @@
// set the output status of the control loop state
if (status) {
- bool done = false;
- if (goal) {
- done = ((::std::abs(goal->left_goal -
- dt_closedloop_.GetEstimatedLeftEncoder()) <
- constants::GetValues().drivetrain_done_distance) &&
- (::std::abs(goal->right_goal -
- dt_closedloop_.GetEstimatedRightEncoder()) <
- constants::GetValues().drivetrain_done_distance));
- }
- status->is_done = done;
status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
status->filtered_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
status->filtered_right_position = dt_closedloop_.GetEstimatedRightEncoder();
diff --git a/y2014/control_loops/drivetrain/drivetrain.q b/y2014/control_loops/drivetrain/drivetrain.q
index 86b8b04..ddc2efc 100644
--- a/y2014/control_loops/drivetrain/drivetrain.q
+++ b/y2014/control_loops/drivetrain/drivetrain.q
@@ -62,8 +62,6 @@
double uncapped_left_voltage;
double uncapped_right_voltage;
bool output_was_capped;
-
- bool is_done;
};
queue Goal goal;
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.cc b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
index 8f26161..e9f425d 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
@@ -555,16 +555,6 @@
// set the output status of the control loop state
if (status) {
- bool done = false;
- if (goal) {
- done = ((::std::abs(goal->left_goal -
- dt_closedloop.GetEstimatedLeftEncoder()) <
- kDrivetrainDoneDistance) &&
- (::std::abs(goal->right_goal -
- dt_closedloop.GetEstimatedRightEncoder()) <
- kDrivetrainDoneDistance));
- }
- status->is_done = done;
status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.h b/y2014_bot3/control_loops/drivetrain/drivetrain.h
index 0565820..dfb7269 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.h
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.h
@@ -17,7 +17,6 @@
// Constants
// TODO(comran): Get actual constants.
constexpr double kDrivetrainTurnWidth = 0.63;
-constexpr double kDrivetrainDoneDistance = 0.02;
constexpr double kDrivetrainEncoderRatio = 18.0 / 44.0;
constexpr double kDrivetrainHighGearRatio =
kDrivetrainEncoderRatio * 18.0 / 60.0;
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.q b/y2014_bot3/control_loops/drivetrain/drivetrain.q
index c4563f9..cef50d0 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.q
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.q
@@ -48,8 +48,6 @@
double uncapped_left_voltage;
double uncapped_right_voltage;
bool output_was_capped;
-
- bool is_done;
};
queue Goal goal;
diff --git a/y2015/constants.cc b/y2015/constants.cc
index 50f6672..24610da 100644
--- a/y2015/constants.cc
+++ b/y2015/constants.cc
@@ -149,7 +149,6 @@
0.5,
control_loops::MakeVelocityDrivetrainLoop,
control_loops::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
@@ -217,7 +216,6 @@
kRobotWidth,
control_loops::MakeVelocityDrivetrainLoop,
control_loops::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
@@ -287,7 +285,6 @@
kRobotWidth,
control_loops::MakeVelocityDrivetrainLoop,
control_loops::MakeDrivetrainLoop,
- 0.02, // drivetrain done delta
5.0, // drivetrain max speed
// Motion ranges: hard_lower_limit, hard_upper_limit,
diff --git a/y2015/constants.h b/y2015/constants.h
index a87315c..ce08e46 100644
--- a/y2015/constants.h
+++ b/y2015/constants.h
@@ -53,7 +53,6 @@
::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
- double drivetrain_done_distance;
double drivetrain_max_speed;
// Superstructure Values /////
diff --git a/y2015/control_loops/drivetrain/drivetrain.cc b/y2015/control_loops/drivetrain/drivetrain.cc
index 9ed927a..bc3fa21 100644
--- a/y2015/control_loops/drivetrain/drivetrain.cc
+++ b/y2015/control_loops/drivetrain/drivetrain.cc
@@ -751,16 +751,6 @@
// set the output status of the control loop state
if (status) {
- bool done = false;
- if (goal) {
- done = ((::std::abs(goal->left_goal -
- dt_closedloop.GetEstimatedLeftEncoder()) <
- constants::GetValues().drivetrain_done_distance) &&
- (::std::abs(goal->right_goal -
- dt_closedloop.GetEstimatedRightEncoder()) <
- constants::GetValues().drivetrain_done_distance));
- }
- status->is_done = done;
status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
diff --git a/y2015/control_loops/drivetrain/drivetrain.q b/y2015/control_loops/drivetrain/drivetrain.q
index 942c5b3..0d804cb 100644
--- a/y2015/control_loops/drivetrain/drivetrain.q
+++ b/y2015/control_loops/drivetrain/drivetrain.q
@@ -58,8 +58,6 @@
double uncapped_left_voltage;
double uncapped_right_voltage;
bool output_was_capped;
-
- bool is_done;
};
queue Goal goal;
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.cc b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
index f7e039e..17cc97b 100644
--- a/y2015_bot3/control_loops/drivetrain/drivetrain.cc
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
@@ -738,16 +738,6 @@
// set the output status of the control loop state
if (status) {
- bool done = false;
- if (goal) {
- done = ((::std::abs(goal->left_goal -
- dt_closedloop.GetEstimatedLeftEncoder()) <
- kDrivetrainDoneDistance) &&
- (::std::abs(goal->right_goal -
- dt_closedloop.GetEstimatedRightEncoder()) <
- kDrivetrainDoneDistance));
- }
- status->is_done = done;
status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.h b/y2015_bot3/control_loops/drivetrain/drivetrain.h
index b89c1dd..0e38a13 100644
--- a/y2015_bot3/control_loops/drivetrain/drivetrain.h
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.h
@@ -17,7 +17,6 @@
// Constants
// TODO(comran): Get actual constants.
constexpr double kDrivetrainTurnWidth = 0.63;
-constexpr double kDrivetrainDoneDistance = 0.02;
constexpr double kDrivetrainEncoderRatio = 18.0 / 44.0;
constexpr double kDrivetrainHighGearRatio =
kDrivetrainEncoderRatio * 18.0 / 60.0;
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.q b/y2015_bot3/control_loops/drivetrain/drivetrain.q
index 5bbbb25..977f79e 100644
--- a/y2015_bot3/control_loops/drivetrain/drivetrain.q
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.q
@@ -58,8 +58,6 @@
double uncapped_left_voltage;
double uncapped_right_voltage;
bool output_was_capped;
-
- bool is_done;
};
queue Goal goal;