Copied drivetrain from y2018 to y2019
Also verified that
bazel run :drivetrain -- --plot
works for the y2019 version.
Change-Id: I71ef201c66005e9636894d8bbfb9491ee2b4f6d4
diff --git a/y2019/BUILD b/y2019/BUILD
new file mode 100644
index 0000000..49ae5a5
--- /dev/null
+++ b/y2019/BUILD
@@ -0,0 +1,5 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2019/__init__.py b/y2019/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/__init__.py
diff --git a/y2019/control_loops/BUILD b/y2019/control_loops/BUILD
new file mode 100644
index 0000000..ddfdf61
--- /dev/null
+++ b/y2019/control_loops/BUILD
@@ -0,0 +1,6 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2019:python_init"],
+)
diff --git a/y2019/control_loops/__init__.py b/y2019/control_loops/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/control_loops/__init__.py
diff --git a/y2019/control_loops/python/BUILD b/y2019/control_loops/python/BUILD
new file mode 100644
index 0000000..1b395e5
--- /dev/null
+++ b/y2019/control_loops/python/BUILD
@@ -0,0 +1,57 @@
+package(default_visibility = ["//y2019:__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"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:drivetrain",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2018/control_loops:python_init"],
+)
diff --git a/y2019/control_loops/python/__init__.py b/y2019/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/control_loops/python/__init__.py
diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..6421379
--- /dev/null
+++ b/y2019/control_loops/python/drivetrain.py
@@ -0,0 +1,50 @@
+#!/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.')
+
+#update mass (120lbs right now)
+#robot radius needs confirming(set as distance of center wheels from each other)
+#J needs updating
+
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=6.0,
+ mass=68.0,
+ robot_radius=0.616 / 2.0,
+ wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
+ G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ q_pos_low=0.12,
+ q_pos_high=0.14,
+ q_vel_low=1.0,
+ q_vel_high=0.95,
+ efficiency=0.70,
+ has_imu=True,
+ force=True,
+ kf_q_voltage=13.0,
+ controller_poles=[0.82, 0.82],
+ robot_cg_offset=0.0,
+)
+
+
+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', kDrivetrain)
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2019/control_loops/python/polydrivetrain.py b/y2019/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..1652b99
--- /dev/null
+++ b/y2019/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+
+import sys
+from y2018.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+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) != 7:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2018',
+ drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))