Move 2015-specific code to its own folder.
Known issues:
-I didn't change the namespace for it, but I am open to discussion
on doing that in a separate change.
-There are a couple of files which should get split out into
year-specific and not-year-specific files to reduce how much needs
to get copied around each year still.
-The control loop python code doesn't yet generate code with the
right #include etc paths.
Change-Id: Iabf078e75107c283247f58a5ffceb4dbd6a0815f
diff --git a/y2015/control_loops/claw/claw.h b/y2015/control_loops/claw/claw.h
new file mode 100644
index 0000000..02e5398
--- /dev/null
+++ b/y2015/control_loops/claw/claw.h
@@ -0,0 +1,116 @@
+#ifndef Y2015_CONTROL_LOOPS_CLAW_H_
+#define Y2015_CONTROL_LOOPS_CLAW_H_
+
+#include <memory>
+
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2015/control_loops/claw/claw.q.h"
+#include "y2015/control_loops/claw/claw_motor_plant.h"
+#include "frc971/zeroing/zeroing.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace testing {
+class ClawTest_DisabledGoal_Test;
+class ClawTest_GoalPositiveWindup_Test;
+class ClawTest_GoalNegativeWindup_Test;
+} // namespace testing
+
+class ClawCappedStateFeedbackLoop : public StateFeedbackLoop<2, 1, 1> {
+ public:
+ ClawCappedStateFeedbackLoop(StateFeedbackLoop<2, 1, 1> &&loop)
+ : StateFeedbackLoop<2, 1, 1>(::std::move(loop)), max_voltage_(12.0) {}
+
+ void set_max_voltage(double max_voltage) {
+ max_voltage_ = ::std::max(0.0, ::std::min(12.0, max_voltage));
+ }
+
+ void CapU() override;
+
+ // Returns the amount to change the position goal in order to no longer
+ // saturate the controller.
+ double UnsaturateOutputGoalChange();
+
+ private:
+ double max_voltage_;
+};
+
+class Claw : public aos::controls::ControlLoop<control_loops::ClawQueue> {
+ public:
+ enum State {
+ // Waiting to receive data before doing anything.
+ UNINITIALIZED = 0,
+ // Estimating the starting location.
+ INITIALIZING = 1,
+ // Moving to find an index pulse.
+ ZEROING = 2,
+ // Normal operation.
+ RUNNING = 3,
+ // Internal error caused the claw to abort.
+ ESTOP = 4,
+ };
+
+ int state() { return state_; }
+
+ explicit Claw(
+ control_loops::ClawQueue *claw_queue = &control_loops::claw_queue);
+
+ protected:
+ virtual void RunIteration(const control_loops::ClawQueue::Goal *goal,
+ const control_loops::ClawQueue::Position *position,
+ control_loops::ClawQueue::Output *output,
+ control_loops::ClawQueue::Status *status);
+
+ private:
+ friend class testing::ClawTest_DisabledGoal_Test;
+ friend class testing::ClawTest_GoalPositiveWindup_Test;
+ friend class testing::ClawTest_GoalNegativeWindup_Test;
+
+ // Sets state_ to the correct state given the current state of the zeroing
+ // estimator.
+ void UpdateZeroingState();
+ void SetClawOffset(double offset);
+ // Corrects the Observer with the current position.
+ void Correct();
+
+ // Getter for the current claw position.
+ double claw_position() const;
+ // Our best guess at the current position of the claw.
+ double estimated_claw_position() const;
+ // Returns the current zeroing velocity for the claw. If the subsystem is too
+ // far away from the center, it will switch directions.
+ double claw_zeroing_velocity();
+
+ State state_ = UNINITIALIZED;
+
+ // The time when we last changed the claw piston state.
+ ::aos::time::Time last_piston_edge_;
+
+ // The state feedback control loop to talk to.
+ ::std::unique_ptr<ClawCappedStateFeedbackLoop> claw_loop_;
+
+ // Latest position from queue.
+ control_loops::ClawQueue::Position current_position_;
+ // Zeroing estimator for claw.
+ zeroing::ZeroingEstimator claw_estimator_;
+
+ // The goal for the claw.
+ double claw_goal_ = 0.0;
+ // Current velocity to move at while zeroing.
+ double claw_zeroing_velocity_ = 0.0;
+ // Offsets from the encoder position to the absolute position.
+ double claw_offset_ = 0.0;
+
+ // Whether claw was closed last cycle.
+ bool last_rollers_closed_ = false;
+
+ ::aos::util::TrapezoidProfile profile_;
+};
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // Y2015_CONTROL_LOOPS_CLAW_H_