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/drivetrain/drivetrain.cc b/y2015/control_loops/drivetrain/drivetrain.cc
new file mode 100644
index 0000000..22a5d48
--- /dev/null
+++ b/y2015/control_loops/drivetrain/drivetrain.cc
@@ -0,0 +1,777 @@
+#include "y2015/control_loops/drivetrain/drivetrain.h"
+
+#include <stdio.h>
+#include <sched.h>
+#include <cmath>
+#include <memory>
+#include "Eigen/Dense"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "y2015/constants.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2015/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+#include "y2015/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/queues/gyro.q.h"
+#include "frc971/shifter_hall_effect.h"
+
+// A consistent way to mark code that goes away without shifters. It's still
+// here because we will have shifters again in the future.
+#define HAVE_SHIFTERS 0
+
+using frc971::sensors::gyro_reading;
+
+namespace frc971 {
+namespace control_loops {
+
+class DrivetrainMotorsSS {
+ public:
+ class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
+ public:
+ LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop)
+ : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
+ U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0,
+ -1, 0,
+ 0, 1,
+ 0, -1).finished(),
+ (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0,
+ 12.0, 12.0).finished()) {
+ ::aos::controls::HPolytope<0>::Init();
+ T << 1, -1, 1, 1;
+ T_inverse = T.inverse();
+ }
+
+ bool output_was_capped() const {
+ return output_was_capped_;
+ }
+
+ private:
+ virtual void CapU() {
+ const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
+
+ if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
+ mutable_U() =
+ U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
+ LOG_MATRIX(DEBUG, "U is now", U());
+ // TODO(Austin): Figure out why the polytope stuff wasn't working and
+ // remove this hack.
+ output_was_capped_ = true;
+ return;
+
+ LOG_MATRIX(DEBUG, "U at start", U());
+ LOG_MATRIX(DEBUG, "R at start", R());
+ LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
+
+ Eigen::Matrix<double, 2, 2> position_K;
+ position_K << K(0, 0), K(0, 2),
+ K(1, 0), K(1, 2);
+ Eigen::Matrix<double, 2, 2> velocity_K;
+ velocity_K << K(0, 1), K(0, 3),
+ K(1, 1), K(1, 3);
+
+ Eigen::Matrix<double, 2, 1> position_error;
+ position_error << error(0, 0), error(2, 0);
+ const auto drive_error = T_inverse * position_error;
+ Eigen::Matrix<double, 2, 1> velocity_error;
+ velocity_error << error(1, 0), error(3, 0);
+ LOG_MATRIX(DEBUG, "error", error);
+
+ const auto &poly = U_Poly_;
+ const Eigen::Matrix<double, 4, 2> pos_poly_H =
+ poly.H() * position_K * T;
+ const Eigen::Matrix<double, 4, 1> pos_poly_k =
+ poly.k() - poly.H() * velocity_K * velocity_error;
+ const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
+
+ Eigen::Matrix<double, 2, 1> adjusted_pos_error;
+ {
+ const auto &P = drive_error;
+
+ Eigen::Matrix<double, 1, 2> L45;
+ L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
+ const double w45 = 0;
+
+ Eigen::Matrix<double, 1, 2> LH;
+ if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
+ LH << 0, 1;
+ } else {
+ LH << 1, 0;
+ }
+ const double wh = LH.dot(P);
+
+ Eigen::Matrix<double, 2, 2> standard;
+ standard << L45, LH;
+ Eigen::Matrix<double, 2, 1> W;
+ W << w45, wh;
+ const Eigen::Matrix<double, 2, 1> intersection =
+ standard.inverse() * W;
+
+ bool is_inside_h;
+ const auto adjusted_pos_error_h =
+ DoCoerceGoal(pos_poly, LH, wh, drive_error, &is_inside_h);
+ const auto adjusted_pos_error_45 =
+ DoCoerceGoal(pos_poly, L45, w45, intersection, nullptr);
+ if (pos_poly.IsInside(intersection)) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ if (is_inside_h) {
+ if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ }
+ }
+
+ LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+ mutable_U() =
+ velocity_K * velocity_error + position_K * T * adjusted_pos_error;
+ LOG_MATRIX(DEBUG, "U is now", U());
+ } else {
+ output_was_capped_ = false;
+ }
+ }
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
+ Eigen::Matrix<double, 2, 2> T, T_inverse;
+ bool output_was_capped_ = false;;
+ };
+
+ DrivetrainMotorsSS()
+ : loop_(new LimitedDrivetrainLoop(
+ constants::GetValues().make_drivetrain_loop())),
+ filtered_offset_(0.0),
+ gyro_(0.0),
+ left_goal_(0.0),
+ right_goal_(0.0),
+ raw_left_(0.0),
+ raw_right_(0.0) {
+ // Low gear on both.
+ loop_->set_controller_index(0);
+ }
+
+ void SetGoal(double left, double left_velocity, double right,
+ double right_velocity) {
+ left_goal_ = left;
+ right_goal_ = right;
+ loop_->mutable_R() << left, left_velocity, right, right_velocity;
+ }
+ void SetRawPosition(double left, double right) {
+ raw_right_ = right;
+ raw_left_ = left;
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left + filtered_offset_, right - filtered_offset_;
+ loop_->Correct(Y);
+ }
+ void SetPosition(double left, double right, double gyro) {
+ // Decay the offset quickly because this gyro is great.
+ const double offset =
+ (right - left - gyro * constants::GetValues().turn_width) / 2.0;
+ filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
+ gyro_ = gyro;
+ SetRawPosition(left, right);
+ }
+
+ void SetExternalMotors(double left_voltage, double right_voltage) {
+ loop_->mutable_U() << left_voltage, right_voltage;
+ }
+
+ void Update(bool stop_motors, bool enable_control_loop) {
+ if (enable_control_loop) {
+ loop_->Update(stop_motors);
+ } else {
+ if (stop_motors) {
+ loop_->mutable_U().setZero();
+ loop_->mutable_U_uncapped().setZero();
+ }
+ loop_->UpdateObserver();
+ }
+ ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
+ LOG_MATRIX(DEBUG, "E", E);
+ }
+
+ double GetEstimatedRobotSpeed() const {
+ // lets just call the average of left and right velocities close enough
+ return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
+ }
+
+ double GetEstimatedLeftEncoder() const {
+ return loop_->X_hat(0, 0);
+ }
+
+ double GetEstimatedRightEncoder() const {
+ return loop_->X_hat(2, 0);
+ }
+
+ bool OutputWasCapped() const {
+ return loop_->output_was_capped();
+ }
+
+ void SendMotors(DrivetrainQueue::Output *output) const {
+ if (output) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = false;
+ output->right_high = false;
+ }
+ }
+
+ const LimitedDrivetrainLoop &loop() const { return *loop_; }
+
+ private:
+ ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
+
+ double filtered_offset_;
+ double gyro_;
+ double left_goal_;
+ double right_goal_;
+ double raw_left_;
+ double raw_right_;
+};
+
+class PolyDrivetrain {
+ public:
+
+ enum Gear {
+ HIGH,
+ LOW,
+ SHIFTING_UP,
+ SHIFTING_DOWN
+ };
+ // Stall Torque in N m
+ static constexpr double kStallTorque = 2.42;
+ // Stall Current in Amps
+ static constexpr double kStallCurrent = 133.0;
+ // Free Speed in RPM. Used number from last year.
+ static constexpr double kFreeSpeed = 4650.0;
+ // Free Current in Amps
+ static constexpr double kFreeCurrent = 2.7;
+ // Moment of inertia of the drivetrain in kg m^2
+ // Just borrowed from last year.
+ static constexpr double J = 10;
+ // Mass of the robot, in kg.
+ static constexpr double m = 68;
+ // Radius of the robot, in meters (from last year).
+ static constexpr double rb = 0.9603 / 2.0;
+ static constexpr double kWheelRadius = 0.0515938;
+ // Resistance of the motor, divided by the number of motors.
+ static constexpr double kR = (12.0 / kStallCurrent / 2 + 0.03) / (0.93 * 0.93);
+ // Motor velocity constant
+ static constexpr double Kv =
+ ((kFreeSpeed / 60.0 * 2.0 * M_PI) / (12.0 - kR * kFreeCurrent));
+ // Torque constant
+ static constexpr double Kt = kStallTorque / kStallCurrent;
+
+ PolyDrivetrain()
+ : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+ /*[*/ -1, 0 /*]*/,
+ /*[*/ 0, 1 /*]*/,
+ /*[*/ 0, -1 /*]]*/).finished(),
+ (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]*/,
+ /*[*/ 12 /*]]*/).finished()),
+ loop_(new StateFeedbackLoop<2, 2, 2>(
+ constants::GetValues().make_v_drivetrain_loop())),
+ ttrust_(1.1),
+ wheel_(0.0),
+ throttle_(0.0),
+ quickturn_(false),
+ stale_count_(0),
+ position_time_delta_(0.01),
+ left_gear_(LOW),
+ right_gear_(LOW),
+ counter_(0) {
+
+ last_position_.Zero();
+ position_.Zero();
+ }
+ static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
+
+ static double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
+ double shifter_position, double velocity) {
+ // TODO(austin): G_high, G_low and kWheelRadius
+ const double avg_hall_effect =
+ (hall_effect.clear_high + hall_effect.clear_low) / 2.0;
+
+ if (shifter_position > avg_hall_effect) {
+ return velocity / constants::GetValues().high_gear_ratio / kWheelRadius;
+ } else {
+ return velocity / constants::GetValues().low_gear_ratio / kWheelRadius;
+ }
+ }
+
+ Gear ComputeGear(const constants::ShifterHallEffect &hall_effect,
+ double velocity, Gear current) {
+ const double low_omega = MotorSpeed(hall_effect, 0.0, ::std::abs(velocity));
+ const double high_omega =
+ MotorSpeed(hall_effect, 1.0, ::std::abs(velocity));
+
+ double high_torque = ((12.0 - high_omega / Kv) * Kt / kR);
+ double low_torque = ((12.0 - low_omega / Kv) * Kt / kR);
+ double high_power = high_torque * high_omega;
+ double low_power = low_torque * low_omega;
+
+ // TODO(aschuh): Do this right!
+ if ((current == HIGH || high_power > low_power + 160) &&
+ ::std::abs(velocity) > 0.14) {
+ return HIGH;
+ } else {
+ return LOW;
+ }
+ }
+
+ void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
+ const double kWheelNonLinearity = 0.5;
+ // Apply a sin function that's scaled to make it feel better.
+ const double angular_range = M_PI_2 * kWheelNonLinearity;
+
+ wheel_ = sin(angular_range * wheel) / sin(angular_range);
+ wheel_ = sin(angular_range * wheel_) / sin(angular_range);
+ wheel_ *= 2.3;
+ quickturn_ = quickturn;
+
+ static const double kThrottleDeadband = 0.05;
+ if (::std::abs(throttle) < kThrottleDeadband) {
+ throttle_ = 0;
+ } else {
+ throttle_ = copysign((::std::abs(throttle) - kThrottleDeadband) /
+ (1.0 - kThrottleDeadband), throttle);
+ }
+
+ // TODO(austin): Fix the upshift logic to include states.
+ Gear requested_gear;
+ if (false) {
+ const auto &values = constants::GetValues();
+ const double current_left_velocity =
+ (position_.left_encoder - last_position_.left_encoder) /
+ position_time_delta_;
+ const double current_right_velocity =
+ (position_.right_encoder - last_position_.right_encoder) /
+ position_time_delta_;
+
+ Gear left_requested =
+ ComputeGear(values.left_drive, current_left_velocity, left_gear_);
+ Gear right_requested =
+ ComputeGear(values.right_drive, current_right_velocity, right_gear_);
+ requested_gear =
+ (left_requested == HIGH || right_requested == HIGH) ? HIGH : LOW;
+ } else {
+ requested_gear = highgear ? HIGH : LOW;
+ }
+
+ const Gear shift_up =
+ constants::GetValues().clutch_transmission ? HIGH : SHIFTING_UP;
+ const Gear shift_down =
+ constants::GetValues().clutch_transmission ? LOW : SHIFTING_DOWN;
+
+ if (left_gear_ != requested_gear) {
+ if (IsInGear(left_gear_)) {
+ if (requested_gear == HIGH) {
+ left_gear_ = shift_up;
+ } else {
+ left_gear_ = shift_down;
+ }
+ } else {
+ if (requested_gear == HIGH && left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = SHIFTING_UP;
+ } else if (requested_gear == LOW && left_gear_ == SHIFTING_UP) {
+ left_gear_ = SHIFTING_DOWN;
+ }
+ }
+ }
+ if (right_gear_ != requested_gear) {
+ if (IsInGear(right_gear_)) {
+ if (requested_gear == HIGH) {
+ right_gear_ = shift_up;
+ } else {
+ right_gear_ = shift_down;
+ }
+ } else {
+ if (requested_gear == HIGH && right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = SHIFTING_UP;
+ } else if (requested_gear == LOW && right_gear_ == SHIFTING_UP) {
+ right_gear_ = SHIFTING_DOWN;
+ }
+ }
+ }
+ }
+ void SetPosition(const DrivetrainQueue::Position *position) {
+ const auto &values = constants::GetValues();
+ if (position == NULL) {
+ ++stale_count_;
+ } else {
+ last_position_ = position_;
+ position_ = *position;
+ position_time_delta_ = (stale_count_ + 1) * 0.01;
+ stale_count_ = 0;
+ }
+
+#if HAVE_SHIFTERS
+ if (position) {
+ GearLogging gear_logging;
+ // Switch to the correct controller.
+ const double left_middle_shifter_position =
+ (values.left_drive.clear_high + values.left_drive.clear_low) / 2.0;
+ const double right_middle_shifter_position =
+ (values.right_drive.clear_high + values.right_drive.clear_low) / 2.0;
+
+ if (position->left_shifter_position < left_middle_shifter_position ||
+ left_gear_ == LOW) {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 0);
+ } else {
+ gear_logging.left_loop_high = false;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 1);
+ }
+ } else {
+ if (position->right_shifter_position < right_middle_shifter_position ||
+ right_gear_ == LOW) {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = false;
+ loop_->set_controller_index(gear_logging.controller_index = 2);
+ } else {
+ gear_logging.left_loop_high = true;
+ gear_logging.right_loop_high = true;
+ loop_->set_controller_index(gear_logging.controller_index = 3);
+ }
+ }
+
+ // TODO(austin): Constants.
+ if (position->left_shifter_position > values.left_drive.clear_high && left_gear_ == SHIFTING_UP) {
+ left_gear_ = HIGH;
+ }
+ if (position->left_shifter_position < values.left_drive.clear_low && left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = LOW;
+ }
+ if (position->right_shifter_position > values.right_drive.clear_high && right_gear_ == SHIFTING_UP) {
+ right_gear_ = HIGH;
+ }
+ if (position->right_shifter_position < values.right_drive.clear_low && right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = LOW;
+ }
+
+ gear_logging.left_state = left_gear_;
+ gear_logging.right_state = right_gear_;
+ LOG_STRUCT(DEBUG, "state", gear_logging);
+ }
+#else
+ (void) values;
+#endif
+ }
+
+ double FilterVelocity(double throttle) {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage = ::aos::Clip(
+ throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return (adjusted_ff_voltage +
+ ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) /
+ 2.0) /
+ (ttrust_ * min_K_sum + min_FF_sum);
+ }
+
+ double MaxVelocity() {
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ constexpr int kHighGearController = 3;
+ const Eigen::Matrix<double, 2, 2> FF_high =
+ loop_->controller(kHighGearController).plant.B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() -
+ loop_->controller(kHighGearController).plant.A());
+
+ ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+ int min_FF_sum_index;
+ const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+ //const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+ const double high_min_FF_sum = FF_high.col(0).sum();
+
+ const double adjusted_ff_voltage = ::aos::Clip(
+ 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+ return adjusted_ff_voltage / min_FF_sum;
+ }
+
+ void Update() {
+ const auto &values = constants::GetValues();
+ // TODO(austin): Observer for the current velocity instead of difference
+ // calculations.
+ ++counter_;
+#if HAVE_SHIFTERS
+ const double current_left_velocity =
+ (position_.left_encoder - last_position_.left_encoder) /
+ position_time_delta_;
+ const double current_right_velocity =
+ (position_.right_encoder - last_position_.right_encoder) /
+ position_time_delta_;
+ const double left_motor_speed =
+ MotorSpeed(values.left_drive, position_.left_shifter_position,
+ current_left_velocity);
+ const double right_motor_speed =
+ MotorSpeed(values.right_drive, position_.right_shifter_position,
+ current_right_velocity);
+
+ {
+ CIMLogging logging;
+
+ // Reset the CIM model to the current conditions to be ready for when we
+ // shift.
+ if (IsInGear(left_gear_)) {
+ logging.left_in_gear = true;
+ } else {
+ logging.left_in_gear = false;
+ }
+ logging.left_motor_speed = left_motor_speed;
+ logging.left_velocity = current_left_velocity;
+ if (IsInGear(right_gear_)) {
+ logging.right_in_gear = true;
+ } else {
+ logging.right_in_gear = false;
+ }
+ logging.right_motor_speed = right_motor_speed;
+ logging.right_velocity = current_right_velocity;
+
+ LOG_STRUCT(DEBUG, "currently", logging);
+ }
+#else
+ (void) values;
+#endif
+
+#if HAVE_SHIFTERS
+ if (IsInGear(left_gear_) && IsInGear(right_gear_)) {
+#else
+ {
+#endif
+ // FF * X = U (steady state)
+ const Eigen::Matrix<double, 2, 2> FF =
+ loop_->B().inverse() *
+ (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+ // Invert the plant to figure out how the velocity filter would have to
+ // work
+ // out in order to filter out the forwards negative inertia.
+ // This math assumes that the left and right power and velocity are
+ // equals,
+ // and that the plant is the same on the left and right.
+ const double fvel = FilterVelocity(throttle_);
+
+ const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
+ double steering_velocity;
+ if (quickturn_) {
+ steering_velocity = wheel_ * MaxVelocity();
+ } else {
+ steering_velocity = ::std::abs(fvel) * wheel_;
+ }
+ const double left_velocity = fvel - steering_velocity;
+ const double right_velocity = fvel + steering_velocity;
+ LOG(DEBUG, "l=%f r=%f\n", left_velocity, right_velocity);
+
+ // Integrate velocity to get the position.
+ // This position is used to get integral control.
+ loop_->mutable_R() << left_velocity, right_velocity;
+
+ if (!quickturn_) {
+ // K * R = w
+ Eigen::Matrix<double, 1, 2> equality_k;
+ equality_k << 1 + sign_svel, -(1 - sign_svel);
+ const double equality_w = 0.0;
+
+ // Construct a constraint on R by manipulating the constraint on U
+ ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
+ U_Poly_.H() * (loop_->K() + FF),
+ U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
+
+ // Limit R back inside the box.
+ loop_->mutable_R() =
+ CoerceGoal(R_poly, equality_k, equality_w, loop_->R());
+ }
+
+ const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
+ const Eigen::Matrix<double, 2, 1> U_ideal =
+ loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
+
+ for (int i = 0; i < 2; i++) {
+ loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ }
+
+ // TODO(austin): Model this better.
+ // TODO(austin): Feed back?
+ loop_->mutable_X_hat() =
+ loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
+#if HAVE_SHIFTERS
+ } else {
+ // Any motor is not in gear. Speed match.
+ ::Eigen::Matrix<double, 1, 1> R_left;
+ ::Eigen::Matrix<double, 1, 1> R_right;
+ R_left(0, 0) = left_motor_speed;
+ R_right(0, 0) = right_motor_speed;
+
+ const double wiggle =
+ (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+
+ loop_->mutable_U(0, 0) = ::aos::Clip(
+ (R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U(1, 0) = ::aos::Clip(
+ (R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
+#endif
+ }
+ }
+
+ void SendMotors(DrivetrainQueue::Output *output) {
+ if (output != NULL) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
+ output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
+ }
+ }
+
+ private:
+ const ::aos::controls::HPolytope<2> U_Poly_;
+
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+
+ const double ttrust_;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ int stale_count_;
+ double position_time_delta_;
+ Gear left_gear_;
+ Gear right_gear_;
+ DrivetrainQueue::Position last_position_;
+ DrivetrainQueue::Position position_;
+ int counter_;
+};
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::J;
+constexpr double PolyDrivetrain::m;
+constexpr double PolyDrivetrain::rb;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
+
+void DrivetrainLoop::RunIteration(const DrivetrainQueue::Goal *goal,
+ const DrivetrainQueue::Position *position,
+ DrivetrainQueue::Output *output,
+ DrivetrainQueue::Status * status) {
+ // TODO(aschuh): These should be members of the class.
+ static DrivetrainMotorsSS dt_closedloop;
+ static PolyDrivetrain dt_openloop;
+
+ bool bad_pos = false;
+ if (position == nullptr) {
+ LOG_INTERVAL(no_position_);
+ bad_pos = true;
+ }
+ no_position_.Print();
+
+ bool control_loop_driving = false;
+ if (goal) {
+ double wheel = goal->steering;
+ double throttle = goal->throttle;
+ bool quickturn = goal->quickturn;
+#if HAVE_SHIFTERS
+ bool highgear = goal->highgear;
+#endif
+
+ control_loop_driving = goal->control_loop_driving;
+ double left_goal = goal->left_goal;
+ double right_goal = goal->right_goal;
+
+ dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+ goal->right_velocity_goal);
+#if HAVE_SHIFTERS
+ dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
+#else
+ dt_openloop.SetGoal(wheel, throttle, quickturn, false);
+#endif
+ }
+
+ if (!bad_pos) {
+ const double left_encoder = position->left_encoder;
+ const double right_encoder = position->right_encoder;
+ if (gyro_reading.FetchLatest()) {
+ LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
+ dt_closedloop.SetPosition(left_encoder, right_encoder,
+ gyro_reading->angle);
+ } else {
+ dt_closedloop.SetRawPosition(left_encoder, right_encoder);
+ }
+ }
+ dt_openloop.SetPosition(position);
+ dt_openloop.Update();
+
+ if (control_loop_driving) {
+ dt_closedloop.Update(output == NULL, true);
+ dt_closedloop.SendMotors(output);
+ } else {
+ dt_openloop.SendMotors(output);
+ if (output) {
+ dt_closedloop.SetExternalMotors(output->left_voltage,
+ output->right_voltage);
+ }
+ dt_closedloop.Update(output == NULL, false);
+ }
+
+ // set the output status of the control loop state
+ if (status) {
+ bool done = false;
+ if (goal) {
+ done = ((::std::abs(goal->left_goal -
+ dt_closedloop.GetEstimatedLeftEncoder()) <
+ constants::GetValues().drivetrain_done_distance) &&
+ (::std::abs(goal->right_goal -
+ dt_closedloop.GetEstimatedRightEncoder()) <
+ constants::GetValues().drivetrain_done_distance));
+ }
+ status->is_done = done;
+ status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
+ status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
+ status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
+
+ status->filtered_left_velocity = dt_closedloop.loop().X_hat(1, 0);
+ status->filtered_right_velocity = dt_closedloop.loop().X_hat(3, 0);
+ status->output_was_capped = dt_closedloop.OutputWasCapped();
+ status->uncapped_left_voltage = dt_closedloop.loop().U_uncapped(0, 0);
+ status->uncapped_right_voltage = dt_closedloop.loop().U_uncapped(1, 0);
+ }
+}
+
+} // namespace control_loops
+} // namespace frc971