Added simulator/controller for third-robot elevator.
Change-Id: Id92ec8561aa47cdd17460efe91986e3876ed77eb
diff --git a/bot3/control_loops/python/control_loop.py b/bot3/control_loops/python/control_loop.py
new file mode 100644
index 0000000..881880f
--- /dev/null
+++ b/bot3/control_loops/python/control_loop.py
@@ -0,0 +1,338 @@
+import controls
+import numpy
+
+class Constant(object):
+ def __init__ (self, name, formatt, value):
+ self.name = name
+ self.formatt = formatt
+ self.value = value
+ self.formatToType = {}
+ self.formatToType['%f'] = "double";
+ self.formatToType['%d'] = "int";
+ def __str__ (self):
+ return str("\nstatic constexpr %s %s = "+ self.formatt +";\n") % \
+ (self.formatToType[self.formatt], self.name, self.value)
+
+
+class ControlLoopWriter(object):
+ def __init__(self, gain_schedule_name, loops, namespaces=None, write_constants=False):
+ """Constructs a control loop writer.
+
+ Args:
+ gain_schedule_name: string, Name of the overall controller.
+ loops: array[ControlLoop], a list of control loops to gain schedule
+ in order.
+ namespaces: array[string], a list of names of namespaces to nest in
+ order. If None, the default will be used.
+ """
+ self._gain_schedule_name = gain_schedule_name
+ self._loops = loops
+ if namespaces:
+ self._namespaces = namespaces
+ else:
+ self._namespaces = ['frc971', 'control_loops']
+
+ self._namespace_start = '\n'.join(
+ ['namespace %s {' % name for name in self._namespaces])
+
+ self._namespace_end = '\n'.join(
+ ['} // namespace %s' % name for name in reversed(self._namespaces)])
+
+ self._constant_list = []
+
+ def AddConstant(self, constant):
+ """Adds a constant to write.
+
+ Args:
+ constant: Constant, the constant to add to the header.
+ """
+ self._constant_list.append(constant)
+
+ def _TopDirectory(self):
+ return self._namespaces[0]
+
+ def _HeaderGuard(self, header_file):
+ return (self._TopDirectory().upper() + '_CONTROL_LOOPS_' +
+ header_file.upper().replace('.', '_').replace('/', '_') +
+ '_')
+
+ def Write(self, header_file, cc_file):
+ """Writes the loops to the specified files."""
+ self.WriteHeader(header_file)
+ self.WriteCC(header_file, cc_file)
+
+ def _GenericType(self, typename):
+ """Returns a loop template using typename for the type."""
+ num_states = self._loops[0].A.shape[0]
+ num_inputs = self._loops[0].B.shape[1]
+ num_outputs = self._loops[0].C.shape[0]
+ return '%s<%d, %d, %d>' % (
+ typename, num_states, num_inputs, num_outputs)
+
+ def _ControllerType(self):
+ """Returns a template name for StateFeedbackController."""
+ return self._GenericType('StateFeedbackController')
+
+ def _LoopType(self):
+ """Returns a template name for StateFeedbackLoop."""
+ return self._GenericType('StateFeedbackLoop')
+
+ def _PlantType(self):
+ """Returns a template name for StateFeedbackPlant."""
+ return self._GenericType('StateFeedbackPlant')
+
+ def _CoeffType(self):
+ """Returns a template name for StateFeedbackPlantCoefficients."""
+ return self._GenericType('StateFeedbackPlantCoefficients')
+
+ def WriteHeader(self, header_file, double_appendage=False, MoI_ratio=0.0):
+ """Writes the header file to the file named header_file.
+ Set double_appendage to true in order to include a ratio of
+ moments of inertia constant. Currently, only used for 2014 claw."""
+ with open(header_file, 'w') as fd:
+ header_guard = self._HeaderGuard(header_file)
+ fd.write('#ifndef %s\n'
+ '#define %s\n\n' % (header_guard, header_guard))
+ fd.write('#include \"frc971/control_loops/state_feedback_loop.h\"\n')
+ fd.write('\n')
+
+ fd.write(self._namespace_start)
+
+ for const in self._constant_list:
+ fd.write(str(const))
+
+ fd.write('\n\n')
+ for loop in self._loops:
+ fd.write(loop.DumpPlantHeader())
+ fd.write('\n')
+ fd.write(loop.DumpControllerHeader())
+ fd.write('\n')
+
+ fd.write('%s Make%sPlant();\n\n' %
+ (self._PlantType(), self._gain_schedule_name))
+
+ fd.write('%s Make%sLoop();\n\n' %
+ (self._LoopType(), self._gain_schedule_name))
+
+ fd.write(self._namespace_end)
+ fd.write('\n\n')
+ fd.write("#endif // %s\n" % header_guard)
+
+ def WriteCC(self, header_file_name, cc_file):
+ """Writes the cc file to the file named cc_file."""
+ with open(cc_file, 'w') as fd:
+ fd.write('#include \"%s/control_loops/%s\"\n' %
+ (self._TopDirectory(), header_file_name))
+ fd.write('\n')
+ fd.write('#include <vector>\n')
+ fd.write('\n')
+ fd.write('#include \"frc971/control_loops/state_feedback_loop.h\"\n')
+ fd.write('\n')
+ fd.write(self._namespace_start)
+ fd.write('\n\n')
+ for loop in self._loops:
+ fd.write(loop.DumpPlant())
+ fd.write('\n')
+
+ for loop in self._loops:
+ fd.write(loop.DumpController())
+ fd.write('\n')
+
+ fd.write('%s Make%sPlant() {\n' %
+ (self._PlantType(), self._gain_schedule_name))
+ fd.write(' ::std::vector< ::std::unique_ptr<%s>> plants(%d);\n' % (
+ self._CoeffType(), len(self._loops)))
+ for index, loop in enumerate(self._loops):
+ fd.write(' plants[%d] = ::std::unique_ptr<%s>(new %s(%s));\n' %
+ (index, self._CoeffType(), self._CoeffType(),
+ loop.PlantFunction()))
+ fd.write(' return %s(&plants);\n' % self._PlantType())
+ fd.write('}\n\n')
+
+ fd.write('%s Make%sLoop() {\n' %
+ (self._LoopType(), self._gain_schedule_name))
+ fd.write(' ::std::vector< ::std::unique_ptr<%s>> controllers(%d);\n' % (
+ self._ControllerType(), len(self._loops)))
+ for index, loop in enumerate(self._loops):
+ fd.write(' controllers[%d] = ::std::unique_ptr<%s>(new %s(%s));\n' %
+ (index, self._ControllerType(), self._ControllerType(),
+ loop.ControllerFunction()))
+ fd.write(' return %s(&controllers);\n' % self._LoopType())
+ fd.write('}\n\n')
+
+ fd.write(self._namespace_end)
+ fd.write('\n')
+
+
+class ControlLoop(object):
+ def __init__(self, name):
+ """Constructs a control loop object.
+
+ Args:
+ name: string, The name of the loop to use when writing the C++ files.
+ """
+ self._name = name
+
+ def ContinuousToDiscrete(self, A_continuous, B_continuous, dt):
+ """Calculates the discrete time values for A and B.
+
+ Args:
+ A_continuous: numpy.matrix, The continuous time A matrix
+ B_continuous: numpy.matrix, The continuous time B matrix
+ dt: float, The time step of the control loop
+
+ Returns:
+ (A, B), numpy.matrix, the control matricies.
+ """
+ return controls.c2d(A_continuous, B_continuous, dt)
+
+ def InitializeState(self):
+ """Sets X, Y, and X_hat to zero defaults."""
+ self.X = numpy.zeros((self.A.shape[0], 1))
+ self.Y = self.C * self.X
+ self.X_hat = numpy.zeros((self.A.shape[0], 1))
+
+ def PlaceControllerPoles(self, poles):
+ """Places the controller poles.
+
+ Args:
+ poles: array, An array of poles. Must be complex conjegates if they have
+ any imaginary portions.
+ """
+ self.K = controls.dplace(self.A, self.B, poles)
+
+ def PlaceObserverPoles(self, poles):
+ """Places the observer poles.
+
+ Args:
+ poles: array, An array of poles. Must be complex conjegates if they have
+ any imaginary portions.
+ """
+ self.L = controls.dplace(self.A.T, self.C.T, poles).T
+
+ def Update(self, U):
+ """Simulates one time step with the provided U."""
+ #U = numpy.clip(U, self.U_min, self.U_max)
+ self.X = self.A * self.X + self.B * U
+ self.Y = self.C * self.X + self.D * U
+
+ def PredictObserver(self, U):
+ """Runs the predict step of the observer update."""
+ self.X_hat = (self.A * self.X_hat + self.B * U)
+
+ def CorrectObserver(self, U):
+ """Runs the correct step of the observer update."""
+ self.X_hat += numpy.linalg.inv(self.A) * self.L * (
+ self.Y - self.C * self.X_hat - self.D * U)
+
+ def UpdateObserver(self, U):
+ """Updates the observer given the provided U."""
+ self.X_hat = (self.A * self.X_hat + self.B * U +
+ self.L * (self.Y - self.C * self.X_hat - self.D * U))
+
+ def _DumpMatrix(self, matrix_name, matrix):
+ """Dumps the provided matrix into a variable called matrix_name.
+
+ Args:
+ matrix_name: string, The variable name to save the matrix to.
+ matrix: The matrix to dump.
+
+ Returns:
+ string, The C++ commands required to populate a variable named matrix_name
+ with the contents of matrix.
+ """
+ ans = [' Eigen::Matrix<double, %d, %d> %s;\n' % (
+ matrix.shape[0], matrix.shape[1], matrix_name)]
+ first = True
+ for x in xrange(matrix.shape[0]):
+ for y in xrange(matrix.shape[1]):
+ element = matrix[x, y]
+ if first:
+ ans.append(' %s << ' % matrix_name)
+ first = False
+ else:
+ ans.append(', ')
+ ans.append(str(element))
+
+ ans.append(';\n')
+ return ''.join(ans)
+
+ def DumpPlantHeader(self):
+ """Writes out a c++ header declaration which will create a Plant object.
+
+ Returns:
+ string, The header declaration for the function.
+ """
+ num_states = self.A.shape[0]
+ num_inputs = self.B.shape[1]
+ num_outputs = self.C.shape[0]
+ return 'StateFeedbackPlantCoefficients<%d, %d, %d> Make%sPlantCoefficients();\n' % (
+ num_states, num_inputs, num_outputs, self._name)
+
+ def DumpPlant(self):
+ """Writes out a c++ function which will create a PlantCoefficients object.
+
+ Returns:
+ string, The function which will create the object.
+ """
+ num_states = self.A.shape[0]
+ num_inputs = self.B.shape[1]
+ num_outputs = self.C.shape[0]
+ ans = ['StateFeedbackPlantCoefficients<%d, %d, %d>'
+ ' Make%sPlantCoefficients() {\n' % (
+ num_states, num_inputs, num_outputs, self._name)]
+
+ ans.append(self._DumpMatrix('A', self.A))
+ ans.append(self._DumpMatrix('B', self.B))
+ ans.append(self._DumpMatrix('C', self.C))
+ ans.append(self._DumpMatrix('D', self.D))
+ ans.append(self._DumpMatrix('U_max', self.U_max))
+ ans.append(self._DumpMatrix('U_min', self.U_min))
+
+ ans.append(' return StateFeedbackPlantCoefficients<%d, %d, %d>'
+ '(A, B, C, D, U_max, U_min);\n' % (num_states, num_inputs,
+ num_outputs))
+ ans.append('}\n')
+ return ''.join(ans)
+
+ def PlantFunction(self):
+ """Returns the name of the plant coefficient function."""
+ return 'Make%sPlantCoefficients()' % self._name
+
+ def ControllerFunction(self):
+ """Returns the name of the controller function."""
+ return 'Make%sController()' % self._name
+
+ def DumpControllerHeader(self):
+ """Writes out a c++ header declaration which will create a Controller object.
+
+ Returns:
+ string, The header declaration for the function.
+ """
+ num_states = self.A.shape[0]
+ num_inputs = self.B.shape[1]
+ num_outputs = self.C.shape[0]
+ return 'StateFeedbackController<%d, %d, %d> %s;\n' % (
+ num_states, num_inputs, num_outputs, self.ControllerFunction())
+
+ def DumpController(self):
+ """Returns a c++ function which will create a Controller object.
+
+ Returns:
+ string, The function which will create the object.
+ """
+ num_states = self.A.shape[0]
+ num_inputs = self.B.shape[1]
+ num_outputs = self.C.shape[0]
+ ans = ['StateFeedbackController<%d, %d, %d> %s {\n' % (
+ num_states, num_inputs, num_outputs, self.ControllerFunction())]
+
+ ans.append(self._DumpMatrix('L', self.L))
+ ans.append(self._DumpMatrix('K', self.K))
+ ans.append(self._DumpMatrix('A_inv', numpy.linalg.inv(self.A)))
+
+ ans.append(' return StateFeedbackController<%d, %d, %d>'
+ '(L, K, A_inv, Make%sPlantCoefficients());\n' % (
+ num_states, num_inputs, num_outputs, self._name))
+ ans.append('}\n')
+ return ''.join(ans)