Adds third robot drivetrain and python files
Change-Id: I9fd85d28478054fe66b152e68b50ff567e9811e2
diff --git a/y2018_bot3/BUILD b/y2018_bot3/BUILD
new file mode 100644
index 0000000..49ae5a5
--- /dev/null
+++ b/y2018_bot3/BUILD
@@ -0,0 +1,5 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2018_bot3/__init__.py b/y2018_bot3/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2018_bot3/__init__.py
diff --git a/y2018_bot3/control_loops/BUILD b/y2018_bot3/control_loops/BUILD
new file mode 100644
index 0000000..da1a4aa
--- /dev/null
+++ b/y2018_bot3/control_loops/BUILD
@@ -0,0 +1,6 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2018_bot3:python_init"],
+)
diff --git a/y2018_bot3/control_loops/__init__.py b/y2018_bot3/control_loops/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2018_bot3/control_loops/__init__.py
diff --git a/y2018_bot3/control_loops/drivetrain/BUILD b/y2018_bot3/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..19edec6
--- /dev/null
+++ b/y2018_bot3/control_loops/drivetrain/BUILD
@@ -0,0 +1,73 @@
+load('//aos/build:queues.bzl', 'queue_library')
+
+genrule(
+ name = 'genrule_drivetrain',
+ cmd = '$(location //y2018_bot3/control_loops/python:drivetrain) $(OUTS)',
+ tools = [
+ '//y2018_bot3/control_loops/python:drivetrain',
+ ],
+ outs = [
+ 'drivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ cmd = '$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2018_bot3/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain_plants',
+ srcs = [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_base',
+ srcs = [
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ ':drivetrain_base',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
+ ],
+)
diff --git a/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..305b7c2
--- /dev/null
+++ b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,47 @@
+#include "y2018_bot3/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2018_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2018_bot3/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2018_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2018_bot3 {
+namespace control_loops {
+namespace drivetrain {
+
+namespace {
+const ::frc971::constants::ShifterHallEffect kThreeStateDriveShifter{
+ 0.0, 0.0, 0.25, 0.75};
+} // namespace
+
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ static DrivetrainConfig<double> kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
+
+ ::y2018_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2018_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2018_bot3::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio, drivetrain::kHighGearRatio,
+ kThreeStateDriveShifter, kThreeStateDriveShifter,
+ // TODO(sabina): confirm once robot is built
+ true /* default_high_gear */, 0 /* down_offset */,
+ 0.4 /* wheel_non_linearity */, 1.0 /* quickturn_wheel_multiplier */,
+ 1.0 /* wheel_multiplier */,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2018_bot3
diff --git a/y2018_bot3/control_loops/drivetrain/drivetrain_base.h b/y2018_bot3/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..2368c96
--- /dev/null
+++ b/y2018_bot3/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2018_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2018_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2018_bot3 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2018_bot3
+
+#endif // Y2018_BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2018_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2018_bot3/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..e1a859d
--- /dev/null
+++ b/y2018_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2018_bot3/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+ ::aos::Init();
+ DrivetrainLoop drivetrain(
+ ::y2018_bot3::control_loops::drivetrain::GetDrivetrainConfig());
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2018_bot3/control_loops/python/BUILD b/y2018_bot3/control_loops/python/BUILD
new file mode 100644
index 0000000..5b6f0a2
--- /dev/null
+++ b/y2018_bot3/control_loops/python/BUILD
@@ -0,0 +1,54 @@
+package(default_visibility = ["//y2018_bot3:__subpackages__"])
+
+py_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:drivetrain",
+ ],
+)
+
+py_binary(
+ name = "polydrivetrain",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "polydrivetrain_lib",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:drivetrain",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2018_bot3/control_loops:python_init"],
+)
diff --git a/y2018_bot3/control_loops/python/__init__.py b/y2018_bot3/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2018_bot3/control_loops/python/__init__.py
diff --git a/y2018_bot3/control_loops/python/drivetrain.py b/y2018_bot3/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..1d3ad4b
--- /dev/null
+++ b/y2018_bot3/control_loops/python/drivetrain.py
@@ -0,0 +1,40 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+#TODO(sabina): update values
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=1.0,
+ mass=1.0,
+ robot_radius=0.6 / 2.0,
+ wheel_radius=4.0 / 2.0,
+ G_high=1.0,
+ G_low=1.0,
+ q_pos_low=0.12,
+ q_pos_high=0.14,
+ q_vel_low=1.0,
+ q_vel_high=0.95,
+ has_imu=False)
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018_bot3', kDrivetrain)
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2018_bot3/control_loops/python/polydrivetrain.py b/y2018_bot3/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..d7799ae
--- /dev/null
+++ b/y2018_bot3/control_loops/python/polydrivetrain.py
@@ -0,0 +1,29 @@
+#!/usr/bin/python
+
+import sys
+from y2018_bot3.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+def main(argv):
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018_bot3',
+ drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))