Merge "Add down_estimater and EKF state to DrivetrainStatus"
diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index 492326b..2d1af66 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -81,6 +81,21 @@
],
)
+py_binary(
+ name = "turret",
+ srcs = [
+ "turret.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ ],
+)
py_library(
name = "python_init",
diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
new file mode 100644
index 0000000..58ea7d8
--- /dev/null
+++ b/y2020/control_loops/python/turret.py
@@ -0,0 +1,50 @@
+#!/usr/bin/python
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import copy
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kTurret = angular_system.AngularSystemParams(
+ name='Turret',
+ motor=control_loop.Vex775Pro(),
+ #TODO: Update Gear Ratios when they are ready
+ G=(6.0 / 60.0) * (20.0 / 100.0) * (24.0 / 84.0),
+ #TODO: Get number from Bryan (moment of inertia)
+ J=0.30,
+ q_pos=0.20,
+ q_vel=5.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05)
+
+def main(argv):
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the turret.'
+ )
+ else:
+ namespaces = ['y2020', 'control_loops', 'superstructure', 'turret']
+ angular_system.WriteAngularSystem([kTurret],
+ argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index c1b3b5a..4b1d8e9 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -2,15 +2,47 @@
namespace y2020.control_loops.superstructure;
+table ShooterGoal {
+ // Angular velocity in rad/s of the slowest (lowest) wheel in the kicker.
+ // Positive is shooting the ball.
+ velocity_kicker:double;
+
+ // Angular velocity in rad/s of the flywheel. Positive is shooting.
+ velocity_flywheel:double;
+}
+
table Goal {
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
+ // Only applies if hood_tracking = false.
hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
//0 = Linkage on sprocket is pointing straight up
//Positive = forward
intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
//Positive is rollers intaking to Washing Machine.
roller_voltage:float;
+
+ // 0 = facing the front of the robot. Positive rotates counterclockwise.
+ // TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past
+ // forward more than once.
+ turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+ // Only applies if shooter_tracking = false.
+ shooter:ShooterGoal;
+
+ // Whether the robot should be shooting balls. Waits until hood, turret, and
+ // shooter are at goal (as determined by auto-tracking or override).
+ shooting:bool;
+
+ // Whether the hood should adjust its position automatically.
+ hood_tracking:bool;
+
+ // Whether the turret should follow the target automatically.
+ turret_tracking:bool;
+
+ // Whether the kicker and flywheel should choose a velocity automatically.
+ shooter_tracking:bool;
}
root_type Goal;
diff --git a/y2020/control_loops/superstructure/superstructure_output.fbs b/y2020/control_loops/superstructure/superstructure_output.fbs
index e887cf5..9048b33 100644
--- a/y2020/control_loops/superstructure/superstructure_output.fbs
+++ b/y2020/control_loops/superstructure/superstructure_output.fbs
@@ -9,6 +9,25 @@
// Voltage sent to rollers on intake. Positive rolls inward.
intake_roller_voltage:double;
+
+ //Voltage sent to the motors.
+ //Positive rotates counterclockwise from a birds eye view.
+ turret_voltage:double;
+
+ // Voltage sent to the feeder belt. Positive is feeding.
+ feeder_voltage:double;
+
+ // Voltage sent to the washing_machine and control panel spinner.
+ // Positive runs the washing machine CCW facing the front of the robot, and
+ // the spinner runs CCW from a top down view.
+ washing_machine_spinner_voltage:double;
+
+ // Voltage sent to the kicker. Positive is shooting.
+ kicker_left_voltage:double;
+ kicker_right_voltage:double;
+
+ // Voltage sent to the flywheel. Positive is shooting.
+ flywheel_voltage:double;
}
root_type Output;
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index 62754df..ed73e52 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -2,12 +2,28 @@
namespace y2020.control_loops.superstructure;
+table ShooterPosition {
+ // Flywheel angle in radians, positive is shooting.
+ theta_flywheel:double;
+
+ // Kicker angle in radians of the slowest (lowest) wheel, positive is
+ // accelerating the ball toward the shooter.
+ theta_kicker_left:double;
+ theta_kicker_right:double;
+}
+
table Position {
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
hood:frc971.AbsolutePosition;
// Position of the intake. 0 when four-bar is vertical, positive extended.
intake_joint:frc971.AbsolutePosition;
+
+ // See goal for definition of 0
+ turret:frc971.PotAndAbsolutePosition;
+
+ // Position of the kicker and flywheel
+ shooter:ShooterPosition;
}
root_type Position;
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index a230528..45dbba8 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -3,6 +3,29 @@
namespace y2020.control_loops.superstructure;
+table ShooterSegmentStatus {
+ // The current average velocity in radians/second over the last kHistoryLength
+ // in shooter.h
+ avg_angular_velocity:double;
+
+ // The current instantaneous filtered velocity in radians/second.
+ angular_velocity:double;
+
+ // The target speed selected by the lookup table or from manual override
+ // Can be compared to velocity to determine if ready.
+ angular_velocity_goal:double;
+}
+
+table ShooterStatus {
+ // The final wheel shooting the ball
+ flywheel:ShooterSegmentStatus;
+
+ // The subsystem to accelerate the ball before the flywheel
+ // Velocity is the slowest (lowest) wheel
+ kicker_left:ShooterSegmentStatus;
+ kicker_right:ShooterSegmentStatus;
+}
+
table Status {
// All subsystems know their location.
zeroed:bool;
@@ -13,6 +36,10 @@
//Subsystem status.
hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
+ turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+
+ // Shooter subsystem status.
+ shooter:ShooterStatus;
}
root_type Status;
diff --git a/y2020/control_loops/superstructure/turret/BUILD b/y2020/control_loops/superstructure/turret/BUILD
new file mode 100644
index 0000000..894d418
--- /dev/null
+++ b/y2020/control_loops/superstructure/turret/BUILD
@@ -0,0 +1,32 @@
+package(default_visibility = ["//y2020:__subpackages__"])
+
+genrule(
+ name = "genrule_turret",
+ outs = [
+ "turret_plant.h",
+ "turret_plant.cc",
+ "integral_turret_plant.h",
+ "integral_turret_plant.cc",
+ ],
+ cmd = "$(location //y2020/control_loops/python:turret) $(OUTS)",
+ tools = [
+ "//y2020/control_loops/python:turret",
+ ],
+)
+
+cc_library(
+ name = "turret_plants",
+ srcs = [
+ "integral_turret_plant.cc",
+ "turret_plant.cc",
+ ],
+ hdrs = [
+ "integral_turret_plant.h",
+ "turret_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)