Template the ZeroingEstimator type
We want to use several different ones this year.
Change-Id: Icb71f331e410da32fc6f2d18c5f28b21995849a5
diff --git a/frc971/control_loops/profiled_subsystem.cc b/frc971/control_loops/profiled_subsystem.cc
index 5a5d79d..4a90bf5 100644
--- a/frc971/control_loops/profiled_subsystem.cc
+++ b/frc971/control_loops/profiled_subsystem.cc
@@ -2,8 +2,8 @@
namespace frc971 {
namespace control_loops {
+namespace internal {
-namespace {
double UseUnlessZero(double target_value, double default_value) {
if (target_value != 0.0) {
return target_value;
@@ -11,131 +11,7 @@
return default_value;
}
}
-} // namespace
-SingleDOFProfiledSubsystem::SingleDOFProfiledSubsystem(
- ::std::unique_ptr<SimpleCappedStateFeedbackLoop<3, 1, 1>> loop,
- const ::frc971::constants::PotAndIndexPulseZeroingConstants &
- zeroing_constants,
- const ::frc971::constants::Range &range, double default_velocity,
- double default_acceleration)
- : ProfiledSubsystem(::std::move(loop), {{zeroing_constants}}),
- profile_(::aos::controls::kLoopFrequency),
- range_(range),
- default_velocity_(default_velocity),
- default_acceleration_(default_acceleration) {
- Y_.setZero();
- offset_.setZero();
- AdjustProfile(0.0, 0.0);
-}
-
-void SingleDOFProfiledSubsystem::UpdateOffset(double offset) {
- const double doffset = offset - offset_(0, 0);
- LOG(INFO, "Adjusting offset from %f to %f\n", offset_(0, 0), offset);
-
- loop_->mutable_X_hat()(0, 0) += doffset;
- Y_(0, 0) += doffset;
- loop_->mutable_R(0, 0) += doffset;
-
- profile_.MoveGoal(doffset);
- offset_(0, 0) = offset;
-
- CapGoal("R", &loop_->mutable_R());
-}
-
-void SingleDOFProfiledSubsystem::Correct(PotAndIndexPosition position) {
- estimators_[0].UpdateEstimate(position);
-
- if (estimators_[0].error()) {
- LOG(ERROR, "zeroing error with intake_estimator\n");
- return;
- }
-
- if (!initialized_) {
- if (estimators_[0].offset_ready()) {
- UpdateOffset(estimators_[0].offset());
- initialized_ = true;
- }
- }
-
- if (!zeroed(0) && estimators_[0].zeroed()) {
- UpdateOffset(estimators_[0].offset());
- set_zeroed(0, true);
- }
-
- Y_ << position.encoder;
- Y_ += offset_;
- loop_->Correct(Y_);
-}
-
-void SingleDOFProfiledSubsystem::CapGoal(const char *name,
- Eigen::Matrix<double, 3, 1> *goal) {
- // Limit the goal to min/max allowable angles.
- if ((*goal)(0, 0) > range_.upper) {
- LOG(WARNING, "Intake goal %s above limit, %f > %f\n", name, (*goal)(0, 0),
- range_.upper);
- (*goal)(0, 0) = range_.upper;
- }
- if ((*goal)(0, 0) < range_.lower) {
- LOG(WARNING, "Intake goal %s below limit, %f < %f\n", name, (*goal)(0, 0),
- range_.lower);
- (*goal)(0, 0) = range_.lower;
- }
-}
-
-void SingleDOFProfiledSubsystem::ForceGoal(double goal) {
- set_unprofiled_goal(goal);
- loop_->mutable_R() = unprofiled_goal_;
- loop_->mutable_next_R() = loop_->R();
-
- profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
-}
-
-void SingleDOFProfiledSubsystem::set_unprofiled_goal(double unprofiled_goal) {
- unprofiled_goal_(0, 0) = unprofiled_goal;
- unprofiled_goal_(1, 0) = 0.0;
- unprofiled_goal_(2, 0) = 0.0;
- CapGoal("unprofiled R", &unprofiled_goal_);
-}
-
-void SingleDOFProfiledSubsystem::Update(bool disable) {
- if (!disable) {
- ::Eigen::Matrix<double, 2, 1> goal_state =
- profile_.Update(unprofiled_goal_(0, 0), unprofiled_goal_(1, 0));
-
- loop_->mutable_next_R(0, 0) = goal_state(0, 0);
- loop_->mutable_next_R(1, 0) = goal_state(1, 0);
- loop_->mutable_next_R(2, 0) = 0.0;
- CapGoal("next R", &loop_->mutable_next_R());
- }
-
- loop_->Update(disable);
-
- if (!disable && loop_->U(0, 0) != loop_->U_uncapped(0, 0)) {
- profile_.MoveCurrentState(loop_->R().block<2, 1>(0, 0));
- }
-}
-
-bool SingleDOFProfiledSubsystem::CheckHardLimits() {
- // Returns whether hard limits have been exceeded.
-
- if (angle() > range_.upper_hard || angle() < range_.lower_hard) {
- LOG(ERROR,
- "SingleDOFProfiledSubsystem at %f out of bounds [%f, %f], ESTOPing\n",
- angle(), range_.lower_hard, range_.upper_hard);
- return true;
- }
-
- return false;
-}
-
-void SingleDOFProfiledSubsystem::AdjustProfile(
- double max_angular_velocity, double max_angular_acceleration) {
- profile_.set_maximum_velocity(
- UseUnlessZero(max_angular_velocity, default_velocity_));
- profile_.set_maximum_acceleration(
- UseUnlessZero(max_angular_acceleration, default_acceleration_));
-}
-
+} // namespace internal
} // namespace control_loops
} // namespace frc971