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/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))