Adds third robot drivetrain and python files
Change-Id: I9fd85d28478054fe66b152e68b50ff567e9811e2
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))