Add python model for 2019 elevator
Initial tuning as well. Need to tune the mass for real though.
Change-Id: Id63693da4ffffb6937e6ec1dc597e3cec4625782
diff --git a/y2019/control_loops/python/BUILD b/y2019/control_loops/python/BUILD
index 90aafbc..9dddf12 100644
--- a/y2019/control_loops/python/BUILD
+++ b/y2019/control_loops/python/BUILD
@@ -55,3 +55,18 @@
visibility = ["//visibility:public"],
deps = ["//y2019/control_loops:python_init"],
)
+
+py_binary(
+ name = "elevator",
+ srcs = [
+ "elevator.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:linear_system",
+ ],
+)
diff --git a/y2019/control_loops/python/elevator.py b/y2019/control_loops/python/elevator.py
new file mode 100755
index 0000000..dd8b412
--- /dev/null
+++ b/y2019/control_loops/python/elevator.py
@@ -0,0 +1,52 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import linear_system
+import numpy
+import sys
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kElevator = linear_system.LinearSystemParams(
+ name='Elevator',
+ motor=control_loop.Vex775Pro(),
+ G=(8.0 / 82.0),
+ radius=2.25 * 0.0254 / 2.0,
+ mass=4.0,
+ q_pos=0.070,
+ q_vel=1.2,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.00,
+ kalman_q_voltage=35.0,
+ kalman_r_position=0.05,
+ dt=0.00505)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[1.5], [0.0]])
+ linear_system.PlotKick(kElevator, R)
+ linear_system.PlotMotion(kElevator, R, max_velocity=5.0)
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the elevator and integral elevator.'
+ )
+ else:
+ namespaces = ['y2019', 'control_loops', 'superstructure', 'elevator']
+ linear_system.WriteLinearSystem(kElevator, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))