Drive code works on Tantrum.
Need to write the spring code. Drive now supports doubles... What a
pain.
Change-Id: Id589acdc443dcd81242a21e3b0c26f81d6974dc8
diff --git a/motors/seems_reasonable/BUILD b/motors/seems_reasonable/BUILD
new file mode 100644
index 0000000..47ca065
--- /dev/null
+++ b/motors/seems_reasonable/BUILD
@@ -0,0 +1,76 @@
+load("//tools:environments.bzl", "mcu_cpus")
+
+py_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:drivetrain",
+ ],
+)
+
+py_binary(
+ name = "polydrivetrain",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+genrule(
+ name = "genrule_drivetrain",
+ outs = [
+ "drivetrain_dog_motor_plant.h",
+ "drivetrain_dog_motor_plant.cc",
+ "kalman_drivetrain_motor_plant.h",
+ "kalman_drivetrain_motor_plant.cc",
+ ],
+ cmd = "$(location :drivetrain) $(OUTS)",
+ restricted_to = mcu_cpus,
+ tools = [
+ ":drivetrain",
+ ],
+)
+
+genrule(
+ name = "genrule_polydrivetrain",
+ outs = [
+ "polydrivetrain_dog_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.cc",
+ "polydrivetrain_cim_plant.h",
+ "polydrivetrain_cim_plant.cc",
+ ],
+ cmd = "$(location :polydrivetrain) $(OUTS)",
+ restricted_to = mcu_cpus,
+ tools = [
+ ":polydrivetrain",
+ ],
+)
+
+cc_library(
+ name = "drivetrain_lib",
+ srcs = [
+ "drivetrain_dog_motor_plant.cc",
+ "polydrivetrain_dog_motor_plant.cc",
+ ],
+ hdrs = [
+ "drivetrain_dog_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.h",
+ ],
+ restricted_to = mcu_cpus,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:state_feedback_loop_uc",
+ "//frc971/control_loops/drivetrain:polydrivetrain_uc",
+ ],
+)
diff --git a/motors/seems_reasonable/drivetrain.py b/motors/seems_reasonable/drivetrain.py
new file mode 100644
index 0000000..dfa2f16
--- /dev/null
+++ b/motors/seems_reasonable/drivetrain.py
@@ -0,0 +1,38 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=8.0,
+ mass=100.0,
+ robot_radius=0.616 / 2.0,
+ wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
+ G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ controller_poles=[0.82, 0.82],
+)
+
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(
+ argv[1:3],
+ argv[3:5], ['motors', 'seems_reasonable'],
+ kDrivetrain,
+ scalar_type='float')
+
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/motors/seems_reasonable/polydrivetrain.py b/motors/seems_reasonable/polydrivetrain.py
new file mode 100644
index 0000000..4d3720e
--- /dev/null
+++ b/motors/seems_reasonable/polydrivetrain.py
@@ -0,0 +1,35 @@
+#!/usr/bin/python
+
+import sys
+from motors.seems_reasonable import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+def main(argv):
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(
+ argv[1:3],
+ argv[3:5], ['motors', 'seems_reasonable'],
+ drivetrain.kDrivetrain,
+ scalar_type='float')
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))