skeleton for shooter
diff --git a/frc971/control_loops/python/transfer.py b/frc971/control_loops/python/transfer.py
deleted file mode 100755
index d7818a3..0000000
--- a/frc971/control_loops/python/transfer.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/python
-
-import control_loop
-import numpy
-import sys
-from matplotlib import pylab
-
-class Transfer(control_loop.ControlLoop):
- def __init__(self):
- super(Transfer, self).__init__("Transfer")
- # Stall Torque in N m
- self.stall_torque = 0.4862
- # Stall Current in Amps
- self.stall_current = 85
- # Free Speed in RPM
- self.free_speed = 19300.0
- # Free Current in Amps
- self.free_current = 1.5
- # Moment of inertia of the transfer in kg m^2
- self.J = 0.00013
- # Resistance of the motor
- self.R = 12.0 / self.stall_current + 0.024 + .003
- # Motor velocity constant
- self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
- (13.5 - self.R * self.free_current))
- # Torque constant
- self.Kt = self.stall_torque / self.stall_current
- # Gear ratio
- self.G = 1.0 / ((40.0 / 11.0) * (34.0 / 30.0))
- # Control loop time step
- self.dt = 0.01
-
- # State feedback matrices
- self.A_continuous = numpy.matrix(
- [[0, 1],
- [0, -self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
- self.B_continuous = numpy.matrix(
- [[0],
- [self.Kt / (self.J * self.G * self.R)]])
- self.C = numpy.matrix([[1, 0]])
- self.D = numpy.matrix([[0]])
-
- self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
- self.dt, self.C)
-
- self.PlaceControllerPoles([.75, .6])
-
- self.rpl = .05
- self.ipl = 0.008
- self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
- self.rpl - 1j * self.ipl])
-
- self.U_max = numpy.matrix([[12.0]])
- self.U_min = numpy.matrix([[-12.0]])
-
-
-def main(argv):
- # Simulate the response of the system to a step input.
- transfer = Transfer()
- simulated_x = []
- simulated_v = []
- for _ in xrange(100):
- transfer.Update(numpy.matrix([[12.0]]))
- simulated_x.append(transfer.X[0, 0])
- simulated_v.append(transfer.X[1, 0])
-
- pylab.plot(range(100), simulated_v)
- pylab.show()
-
- # Simulate the closed loop response of the system to a step input.
- transfer = Transfer()
- close_loop_x = []
- R = numpy.matrix([[1.0], [0.0]])
- for _ in xrange(100):
- U = numpy.clip(transfer.K * (R - transfer.X_hat), transfer.U_min, transfer.U_max)
- transfer.UpdateObserver(U)
- transfer.Update(U)
- close_loop_x.append(transfer.X[0, 0])
-
- #pylab.plot(range(100), close_loop_x)
- #pylab.show()
-
- # Write the generated constants out to a file.
- if len(argv) != 3:
- print "Expected .cc file name and .h file name"
- else:
- loop_writer = control_loop.ControlLoopWriter("Transfer", [transfer])
- if argv[1][-3:] == '.cc':
- loop_writer.Write(argv[2], argv[1])
- else:
- loop_writer.Write(argv[1], argv[2])
-
-if __name__ == '__main__':
- sys.exit(main(sys.argv))