Break out the CIM class to avoid duplication
Before this patch we had 7 identical copies of the CIM class. Now it's
in its own module.
More de-duplication to come.
Change-Id: I598224020e50e8ec63584333dc080d34a2407cde
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 897738a..ede85c0 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -3,6 +3,7 @@
py_library(
name = 'controls',
srcs = [
+ 'cim.py',
'control_loop.py',
'controls.py',
'polytope.py',
diff --git a/frc971/control_loops/python/cim.py b/frc971/control_loops/python/cim.py
new file mode 100644
index 0000000..fc39eb9
--- /dev/null
+++ b/frc971/control_loops/python/cim.py
@@ -0,0 +1,46 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+import numpy
+
+class CIM(control_loop.ControlLoop):
+ def __init__(self):
+ super(CIM, self).__init__("CIM")
+ # Stall Torque in N m
+ self.stall_torque = 2.42
+ # Stall Current in Amps
+ self.stall_current = 133
+ # Free Speed in RPM
+ self.free_speed = 4650.0
+ # Free Current in Amps
+ self.free_current = 2.7
+ # Moment of inertia of the CIM in kg m^2
+ self.J = 0.0001
+ # Resistance of the motor, divided by 2 to account for the 2 motors
+ self.resistance = 12.0 / self.stall_current
+ # Motor velocity constant
+ self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+ (12.0 - self.resistance * self.free_current))
+ # Torque constant
+ self.Kt = self.stall_torque / self.stall_current
+ # Control loop time step
+ self.dt = 0.005
+
+ # State feedback matrices
+ self.A_continuous = numpy.matrix(
+ [[-self.Kt / self.Kv / (self.J * self.resistance)]])
+ self.B_continuous = numpy.matrix(
+ [[self.Kt / (self.J * self.resistance)]])
+ self.C = numpy.matrix([[1]])
+ self.D = numpy.matrix([[0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ self.PlaceControllerPoles([0.01])
+ self.PlaceObserverPoles([0.01])
+
+ self.U_max = numpy.matrix([[12.0]])
+ self.U_min = numpy.matrix([[-12.0]])
+
+ self.InitializeState()