Add y2024 intake constants
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I41914cb76b7d3f79b7d9a0f0f2bab1632fa583be
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
new file mode 100644
index 0000000..9e7543b
--- /dev/null
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -0,0 +1,56 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kIntakePivot = angular_system.AngularSystemParams(
+ name='IntakePivot',
+ motor=control_loop.KrakenFOC(),
+ # TODO(Niko): Change gear ratios when we have all of them
+ G=0.02,
+ J=0.34,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=13 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kIntakePivot, R)
+ angular_system.PlotMotion(kIntakePivot, R)
+ return
+ if len(argv) != 7:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the intake pivot and integral intake pivot.'
+ )
+ else:
+ namespaces = [
+ 'y2024', 'control_loops', 'superstructure', 'intake_pivot'
+ ]
+ angular_system.WriteAngularSystem(kIntakePivot, argv[1:4], argv[4:7],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
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