Merging in Brian's latest gyro board code.
Conflicts:
gyro_board/src/usb/encoder.c
diff --git a/aos/atom_code/camera/Buffers.cpp b/aos/atom_code/camera/Buffers.cpp
index 9cd1a7d..d0d20f5 100644
--- a/aos/atom_code/camera/Buffers.cpp
+++ b/aos/atom_code/camera/Buffers.cpp
@@ -23,18 +23,15 @@
} addr;
const int r = socket(AF_UNIX, SOCK_STREAM, 0);
if (r == -1) {
- LOG(ERROR, "socket(AF_UNIX, SOCK_STREAM, 0) failed with %d: %s\n",
+ LOG(FATAL, "socket(AF_UNIX, SOCK_STREAM, 0) failed with %d: %s\n",
errno, strerror(errno));
- return -1;
}
addr.un.sun_family = AF_UNIX;
memset(addr.un.sun_path, 0, sizeof(addr.un.sun_path));
strcpy(addr.un.sun_path, kFDServerName.c_str());
if (bind_connect(r, &addr.addr, sizeof(addr.un)) == -1) {
- LOG(ERROR, "bind_connect(=%p)(%d, %p, %zd) failed with %d: %s\n",
+ LOG(FATAL, "bind_connect(=%p)(%d, %p, %zd) failed with %d: %s\n",
bind_connect, r, &addr.addr, sizeof(addr.un), errno, strerror(errno));
- close(r); // what are we going to do about an error?
- return -1;
}
return r;
}
diff --git a/aos/atom_code/camera/Reader.cpp b/aos/atom_code/camera/Reader.cpp
index 95f6128..125fde1 100644
--- a/aos/atom_code/camera/Reader.cpp
+++ b/aos/atom_code/camera/Reader.cpp
@@ -391,7 +391,7 @@
}
if (FD_ISSET(fd_, &fds)) {
- LOG(INFO, "Got a frame\n");
+ LOG(DEBUG, "Got a frame\n");
ReadFrame();
}
if (FD_ISSET(server_fd_, &fds)) {
diff --git a/aos/atom_code/input/joystick_input.cc b/aos/atom_code/input/joystick_input.cc
index 28618ed..97b2c95 100644
--- a/aos/atom_code/input/joystick_input.cc
+++ b/aos/atom_code/input/joystick_input.cc
@@ -62,6 +62,26 @@
}
}
}
+
+ using driver_station::ControlBit;
+ if (data.PosEdge(ControlBit::kFmsAttached)) {
+ LOG(INFO, "PosEdge(kFmsAttached)\n");
+ }
+ if (data.NegEdge(ControlBit::kFmsAttached)) {
+ LOG(INFO, "NegEdge(kFmsAttached)\n");
+ }
+ if (data.PosEdge(ControlBit::kAutonomous)) {
+ LOG(INFO, "PosEdge(kAutonomous)\n");
+ }
+ if (data.NegEdge(ControlBit::kAutonomous)) {
+ LOG(INFO, "NegEdge(kAutonomous)\n");
+ }
+ if (data.PosEdge(ControlBit::kEnabled)) {
+ LOG(INFO, "PosEdge(kEnabled)\n");
+ }
+ if (data.NegEdge(ControlBit::kEnabled)) {
+ LOG(INFO, "NegEdge(kEnabled)\n");
+ }
}
RunIteration(data);
diff --git a/aos/build/download_externals.sh b/aos/build/download_externals.sh
index f671ac3..13c8eff 100755
--- a/aos/build/download_externals.sh
+++ b/aos/build/download_externals.sh
@@ -121,3 +121,18 @@
CFLAGS='-m32' CXXFLAGS='-m32' LDFLAGS='-m32' \
bash -c "cd ${LIBEVENT_DIR} && ./configure \
--prefix=`readlink -f ${LIBEVENT_PREFIX}` && make && make install"
+
+# get and build libcdd
+LIBCDD_VERSION=094g
+LIBCDD_DIR=${EXTERNALS}/libcdd-${LIBCDD_VERSION}
+LIBCDD_PREFIX=${LIBCDD_DIR}-prefix
+LIBCDD_LIB=${LIBCDD_PREFIX}/lib/libcdd.a
+LIBCDD_URL=ftp://ftp.ifor.math.ethz.ch/pub/fukuda/cdd/cddlib-${LIBCDD_VERSION}.tar.gz
+[ -f ${LIBCDD_DIR}.tar.gz ] || \
+ wget ${LIBCDD_URL} -O ${LIBCDD_DIR}.tar.gz
+[ -d ${LIBCDD_DIR} ] || ( mkdir ${LIBCDD_DIR} && tar \
+ --strip-components=1 -C ${LIBCDD_DIR} -xf ${LIBCDD_DIR}.tar.gz )
+[ -f ${LIBCDD_LIB} ] || env -i PATH="${PATH}" \
+ CFLAGS='-m32' CXXFLAGS='-m32' LDFLAGS='-m32' \
+ bash -c "cd ${LIBCDD_DIR} && ./configure --disable-shared \
+ --prefix=`readlink -f ${LIBCDD_PREFIX}` && make && make install"
diff --git a/aos/build/externals.gyp b/aos/build/externals.gyp
index 2bfee69..99b26cf 100644
--- a/aos/build/externals.gyp
+++ b/aos/build/externals.gyp
@@ -15,6 +15,7 @@
'libusb_apiversion': '1.0',
'compiler_rt_version': 'RELEASE_32_final',
'libevent_version': '2.0.21',
+ 'libcdd_version': '094g',
},
'targets': [
{
@@ -207,6 +208,16 @@
'include_dirs': ['<(externals)/libusb-<(libusb_version)-prefix/include'],
},
},
+ {
+ 'target_name': 'libcdd',
+ 'type': 'none',
+ 'link_settings': {
+ 'libraries': ['<(externals_abs)/libcdd-<(libcdd_version)-prefix/lib/libcdd.a'],
+ },
+ 'direct_dependent_settings': {
+ 'include_dirs': ['<(externals_abs)/libcdd-<(libcdd_version)-prefix/include'],
+ },
+ },
],
'includes': [
'libgcc-additions/libgcc-additions.gypi',
diff --git a/aos/controls/polytope.h b/aos/controls/polytope.h
new file mode 100644
index 0000000..ed4b36d
--- /dev/null
+++ b/aos/controls/polytope.h
@@ -0,0 +1,126 @@
+#ifndef _AOS_CONTROLS_POLYTOPE_H_
+#define _AOS_CONTROLS_POLYTOPE_H_
+
+#include "Eigen/Dense"
+#include "aos/externals/libcdd-094g-prefix/include/setoper.h"
+#include "aos/externals/libcdd-094g-prefix/include/cdd.h"
+
+namespace aos {
+namespace controls {
+
+// A n dimension polytope.
+template <int number_of_dimensions>
+class HPolytope {
+ public:
+ // Constructs a polytope given the H and k matricies.
+ HPolytope(Eigen::Matrix<double, Eigen::Dynamic, number_of_dimensions> H,
+ Eigen::Matrix<double, Eigen::Dynamic, 1> k)
+ : H_(H),
+ k_(k) {
+ }
+
+ static void Init() {
+ dd_set_global_constants();
+ }
+
+ // Returns a reference to H.
+ const Eigen::Matrix<double, Eigen::Dynamic,
+ number_of_dimensions> &H() const {
+ return H_;
+ }
+
+ // Returns a reference to k.
+ const Eigen::Matrix<double, Eigen::Dynamic,
+ 1> &k() const {
+ return k_;
+ }
+
+ // Returns the number of dimensions in the polytope.
+ int ndim() const { return number_of_dimensions; }
+
+ // Returns the number of constraints currently in the polytope.
+ int num_constraints() const { return k_.rows(); }
+
+ // Returns true if the point is inside the polytope.
+ bool IsInside(Eigen::Matrix<double, number_of_dimensions, 1> point);
+
+ // Returns the list of vertices inside the polytope.
+ Eigen::Matrix<double, number_of_dimensions, Eigen::Dynamic> Vertices();
+
+ private:
+ Eigen::Matrix<double, Eigen::Dynamic, number_of_dimensions> H_;
+ Eigen::Matrix<double, Eigen::Dynamic, 1> k_;
+};
+
+template <int number_of_dimensions>
+bool HPolytope<number_of_dimensions>::IsInside(
+ Eigen::Matrix<double, number_of_dimensions, 1> point) {
+ auto ev = H_ * point;
+ for (int i = 0; i < num_constraints(); ++i) {
+ if (ev(i, 0) > k_(i, 0)) {
+ return false;
+ }
+ }
+ return true;
+}
+
+template <int number_of_dimensions>
+Eigen::Matrix<double, number_of_dimensions, Eigen::Dynamic>
+ HPolytope<number_of_dimensions>::Vertices() {
+ dd_MatrixPtr matrix = dd_CreateMatrix(num_constraints(), ndim() + 1);
+
+ // Copy the data over. TODO(aschuh): Is there a better way? I hate copying...
+ for (int i = 0; i < num_constraints(); ++i) {
+ dd_set_d(matrix->matrix[i][0], k_(i, 0));
+ for (int j = 0; j < ndim(); ++j) {
+ dd_set_d(matrix->matrix[i][j + 1], -H_(i, j));
+ }
+ }
+
+ matrix->representation = dd_Inequality;
+ matrix->numbtype = dd_Real;
+
+ dd_ErrorType error;
+ dd_PolyhedraPtr polyhedra = dd_DDMatrix2Poly(matrix, &error);
+ if (error != dd_NoError || polyhedra == NULL) {
+ dd_WriteErrorMessages(stderr, error);
+ dd_FreeMatrix(matrix);
+ Eigen::Matrix<double, number_of_dimensions, Eigen::Dynamic> ans(0, 0);
+ return ans;
+ }
+
+ dd_MatrixPtr vertex_matrix = dd_CopyGenerators(polyhedra);
+
+ int num_vertices = 0;
+ int num_rays = 0;
+ for (int i = 0; i < vertex_matrix->rowsize; ++i) {
+ if (dd_get_d(vertex_matrix->matrix[i][0]) == 0) {
+ num_rays += 1;
+ } else {
+ num_vertices += 1;
+ }
+ }
+
+ Eigen::Matrix<double, number_of_dimensions, Eigen::Dynamic> vertices(
+ number_of_dimensions, num_vertices);
+
+ int vertex_index = 0;
+ for (int i = 0; i < vertex_matrix->rowsize; ++i) {
+ if (dd_get_d(vertex_matrix->matrix[i][0]) != 0) {
+ for (int j = 0; j < number_of_dimensions; ++j) {
+ vertices(j, vertex_index) = dd_get_d(vertex_matrix->matrix[i][j + 1]);
+ }
+ ++vertex_index;
+ }
+ }
+ dd_FreeMatrix(vertex_matrix);
+ dd_FreePolyhedra(polyhedra);
+ dd_FreeMatrix(matrix);
+
+ return vertices;
+}
+
+} // namespace controls
+} // namespace aos
+
+#endif // _AOS_CONTROLS_POLYTOPE_H_
diff --git a/aos/externals/.gitignore b/aos/externals/.gitignore
index 73cb3e2..694129e 100644
--- a/aos/externals/.gitignore
+++ b/aos/externals/.gitignore
@@ -25,3 +25,7 @@
/libevent-2.0.21-prefix/
/libevent-2.0.21.tar.gz
/libevent-2.0.21/
+/libcdd-094g-prefix/
+/libcdd-094g.tar.gz
+/libcdd-094g/
+
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 76a5f3b..d062c77 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -8,6 +8,11 @@
#include "aos/common/once.h"
#include "aos/common/network/team_number.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h"
+
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
@@ -19,8 +24,8 @@
// It has about 0.029043 of gearbox slop.
// For purposes of moving the end up/down by a certain amount, the wrist is 18
// inches long.
-const double kCompWristHallEffectStartAngle = 1.285;
-const double kPracticeWristHallEffectStartAngle = 1.175;
+const double kCompWristHallEffectStartAngle = 1.27;
+const double kPracticeWristHallEffectStartAngle = 1.178;
const double kWristHallEffectStopAngle = 100 * M_PI / 180.0;
@@ -70,8 +75,23 @@
const int kCompCameraCenter = -2;
const int kPracticeCameraCenter = -5;
-const int kCompDrivetrainGearboxPinion = 19;
-const int kPracticeDrivetrainGearboxPinion = 17;
+const double kCompDrivetrainEncoderRatio =
+ (15.0 / 50.0) /*output reduction*/ * (36.0 / 24.0) /*encoder gears*/;
+const double kCompLowGearRatio = 14.0 / 60.0 * 15.0 / 50.0;
+const double kCompHighGearRatio = 30.0 / 44.0 * 15.0 / 50.0;
+
+const double kPracticeDrivetrainEncoderRatio =
+ (17.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/;
+const double kPracticeLowGearRatio = 16.0 / 60.0 * 19.0 / 50.0;
+const double kPracticeHighGearRatio = 28.0 / 48.0 * 19.0 / 50.0;
+
+const ShifterHallEffect kCompLeftDriveShifter{0.83, 2.32, 1.2, 1.0};
+const ShifterHallEffect kCompRightDriveShifter{0.865, 2.375, 1.2, 1.0};
+
+const ShifterHallEffect kPracticeLeftDriveShifter{2.082283, 0.834433, 0.60,
+ 0.47};
+const ShifterHallEffect kPracticeRightDriveShifter{2.070124, 0.838993, 0.62,
+ 0.55};
const Values *DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
@@ -95,7 +115,14 @@
kAngleAdjustZeroingSpeed,
kAngleAdjustZeroingOffSpeed,
kCompAngleAdjustDeadband,
- kCompDrivetrainGearboxPinion,
+ kCompDrivetrainEncoderRatio,
+ kCompLowGearRatio,
+ kCompHighGearRatio,
+ kCompLeftDriveShifter,
+ kCompRightDriveShifter,
+ true,
+ control_loops::MakeVClutchDrivetrainLoop,
+ control_loops::MakeClutchDrivetrainLoop,
kCompCameraCenter};
break;
case kPracticeTeamNumber:
@@ -116,7 +143,14 @@
kAngleAdjustZeroingSpeed,
kAngleAdjustZeroingOffSpeed,
kPracticeAngleAdjustDeadband,
- kPracticeDrivetrainGearboxPinion,
+ kPracticeDrivetrainEncoderRatio,
+ kPracticeLowGearRatio,
+ kPracticeHighGearRatio,
+ kPracticeLeftDriveShifter,
+ kPracticeRightDriveShifter,
+ false,
+ control_loops::MakeVDogDrivetrainLoop,
+ control_loops::MakeDogDrivetrainLoop,
kPracticeCameraCenter};
break;
default:
diff --git a/frc971/constants.h b/frc971/constants.h
index 0c9bfdd..838bb35 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -3,15 +3,26 @@
#include <stdint.h>
+#include "frc971/control_loops/state_feedback_loop.h"
+
namespace frc971 {
namespace constants {
// Has all of the numbers that change for both robots and makes it easy to
// retrieve the values for the current one.
-const uint16_t kCompTeamNumber = 5971;
+const uint16_t kCompTeamNumber = 8971;
const uint16_t kPracticeTeamNumber = 971;
+// Contains the voltages for an analog hall effect sensor on a shifter.
+struct ShifterHallEffect {
+ // The numbers to use for scaling raw voltages to 0-1.
+ double high, low;
+
+ // The numbers for when the dog is clear of each gear.
+ double clear_high, clear_low;
+};
+
// This structure contains current values for all of the things that change.
struct Values {
// Wrist hall effect positive and negative edges.
@@ -54,8 +65,20 @@
// Deadband voltage.
double angle_adjust_deadband;
- // The number of teeth on the pinion that drives the drivetrain wheels.
- int drivetrain_gearbox_pinion;
+ // The ratio from the encoder shaft to the drivetrain wheels.
+ double drivetrain_encoder_ratio;
+
+ // The gear ratios from motor shafts to the drivetrain wheels for high and low
+ // gear.
+ double low_gear_ratio;
+ double high_gear_ratio;
+
+ ShifterHallEffect left_drive, right_drive;
+
+ bool clutch_transmission;
+
+ ::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
+ ::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
// How many pixels off center the vertical line
// on the camera view is.
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index ea09d11..94c73d0 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -5,7 +5,6 @@
'type': 'static_library',
'sources': [
#'state_feedback_loop.h'
- #'StateFeedbackLoop.h'
],
'dependencies': [
'<(EXTERNALS):eigen',
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 548113e..921fab0 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -4,14 +4,18 @@
#include <sched.h>
#include <cmath>
#include <memory>
+#include "Eigen/Dense"
#include "aos/common/logging/logging.h"
#include "aos/common/queue.h"
+#include "aos/controls/polytope.h"
+#include "aos/common/commonmath.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
+#include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/queues/GyroAngle.q.h"
#include "frc971/queues/Piston.q.h"
+#include "frc971/constants.h"
using frc971::sensors::gyro;
@@ -21,10 +25,58 @@
// Width of the robot.
const double width = 22.0 / 100.0 * 2.54;
+Eigen::Matrix<double, 2, 1> CoerceGoal(aos::controls::HPolytope<2> ®ion,
+ const Eigen::Matrix<double, 1, 2> &K,
+ double w,
+ const Eigen::Matrix<double, 2, 1> &R) {
+ if (region.IsInside(R)) {
+ return R;
+ }
+ Eigen::Matrix<double, 2, 1> parallel_vector;
+ Eigen::Matrix<double, 2, 1> perpendicular_vector;
+ perpendicular_vector = K.transpose().normalized();
+ parallel_vector << perpendicular_vector(1, 0), -perpendicular_vector(0, 0);
+
+ aos::controls::HPolytope<1> t_poly(
+ region.H() * parallel_vector,
+ region.k() - region.H() * perpendicular_vector * w);
+
+ Eigen::Matrix<double, 1, Eigen::Dynamic> vertices = t_poly.Vertices();
+ if (vertices.innerSize() > 0) {
+ double min_distance_sqr = 0;
+ Eigen::Matrix<double, 2, 1> closest_point;
+ for (int i = 0; i < vertices.innerSize(); i++) {
+ Eigen::Matrix<double, 2, 1> point;
+ point = parallel_vector * vertices(0, i) + perpendicular_vector * w;
+ const double length = (R - point).squaredNorm();
+ if (i == 0 || length < min_distance_sqr) {
+ closest_point = point;
+ min_distance_sqr = length;
+ }
+ }
+ return closest_point;
+ } else {
+ Eigen::Matrix<double, 2, Eigen::Dynamic> region_vertices =
+ region.Vertices();
+ double min_distance;
+ int closest_i = 0;
+ for (int i = 0; i < region_vertices.outerSize(); i++) {
+ const double length = ::std::abs(
+ (perpendicular_vector.transpose() * (region_vertices.col(i)))(0, 0));
+ if (i == 0 || length < min_distance) {
+ closest_i = i;
+ min_distance = length;
+ }
+ }
+ return region_vertices.col(closest_i);
+ }
+}
+
class DrivetrainMotorsSS {
public:
- DrivetrainMotorsSS ()
- : loop_(new StateFeedbackLoop<4, 2, 2>(MakeDrivetrainLoop())) {
+ DrivetrainMotorsSS()
+ : loop_(new StateFeedbackLoop<4, 2, 2>(
+ constants::GetValues().make_drivetrain_loop())) {
_offset = 0;
_integral_offset = 0;
_left_goal = 0.0;
@@ -47,14 +99,14 @@
double left, double right, double gyro, bool control_loop_driving) {
// Decay the offset quickly because this gyro is great.
_offset = (0.25) * (right - left - gyro * width) / 2.0 + 0.75 * _offset;
- const double angle_error = (_right_goal - _left_goal) / width - (_raw_right - _offset - _raw_left - _offset) / width;
+ //const double angle_error = (_right_goal - _left_goal) / width - (_raw_right - _offset - _raw_left - _offset) / width;
// TODO(aschuh): Add in the gyro.
_integral_offset = 0.0;
_offset = 0.0;
_gyro = gyro;
_control_loop_driving = control_loop_driving;
SetRawPosition(left, right);
- LOG(DEBUG, "Left %f->%f Right %f->%f Gyro %f aerror %f ioff %f\n", left + _offset, _left_goal, right - _offset, _right_goal, gyro, angle_error, _integral_offset);
+ //LOG(DEBUG, "Left %f->%f Right %f->%f Gyro %f aerror %f ioff %f\n", left + _offset, _left_goal, right - _offset, _right_goal, gyro, angle_error, _integral_offset);
}
void Update(bool update_observer, bool stop_motors) {
@@ -86,62 +138,485 @@
bool _control_loop_driving;
};
+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;
+ // 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 = 6.4;
+ // Mass of the robot, in kg.
+ static constexpr double m = 68;
+ // Radius of the robot, in meters (from last year).
+ static constexpr double rb = 0.617998644 / 2.0;
+ static constexpr double kWheelRadius = 0.04445;
+ // Resistance of the motor, divided by the number of motors.
+ static constexpr double kR = (12.0 / kStallCurrent / 4 + 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())),
+ left_cim_(new StateFeedbackLoop<1, 1, 1>(MakeCIMLoop())),
+ right_cim_(new StateFeedbackLoop<1, 1, 1>(MakeCIMLoop())),
+ 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(double shifter_position, double velocity) {
+ // TODO(austin): G_high, G_low and kWheelRadius
+ if (shifter_position > 0.57) {
+ return velocity / constants::GetValues().high_gear_ratio / kWheelRadius;
+ } else {
+ return velocity / constants::GetValues().low_gear_ratio / kWheelRadius;
+ }
+ }
+
+ Gear ComputeGear(double velocity, Gear current) {
+ const double low_omega = MotorSpeed(0, ::std::abs(velocity));
+ const double high_omega = MotorSpeed(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 = 0.3;
+ // 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);
+ 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 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(current_left_velocity, left_gear_);
+ Gear right_requested = ComputeGear(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 Drivetrain::Position *position) {
+ if (position == NULL) {
+ ++stale_count_;
+ } else {
+ last_position_ = position_;
+ position_ = *position;
+ position_time_delta_ = (stale_count_ + 1) * 0.01;
+ stale_count_ = 0;
+ }
+
+ if (position) {
+ // Switch to the correct controller.
+ // TODO(austin): Un-hard code 0.57
+ if (position->left_shifter_position < 0.57) {
+ if (position->right_shifter_position < 0.57 || right_gear_ == LOW) {
+ LOG(DEBUG, "Loop Left low, Right low\n");
+ loop_->set_controller_index(0);
+ } else {
+ LOG(DEBUG, "Loop Left low, Right high\n");
+ loop_->set_controller_index(1);
+ }
+ } else {
+ if (position->right_shifter_position < 0.57 || left_gear_ == LOW) {
+ LOG(DEBUG, "Loop Left high, Right low\n");
+ loop_->set_controller_index(2);
+ } else {
+ LOG(DEBUG, "Loop Left high, Right high\n");
+ loop_->set_controller_index(3);
+ }
+ }
+ switch (left_gear_) {
+ case LOW:
+ LOG(DEBUG, "Left is in low\n");
+ break;
+ case HIGH:
+ LOG(DEBUG, "Left is in high\n");
+ break;
+ case SHIFTING_UP:
+ LOG(DEBUG, "Left is shifting up\n");
+ break;
+ case SHIFTING_DOWN:
+ LOG(DEBUG, "Left is shifting down\n");
+ break;
+ }
+ switch (right_gear_) {
+ case LOW:
+ LOG(DEBUG, "Right is in low\n");
+ break;
+ case HIGH:
+ LOG(DEBUG, "Right is in high\n");
+ break;
+ case SHIFTING_UP:
+ LOG(DEBUG, "Right is shifting up\n");
+ break;
+ case SHIFTING_DOWN:
+ LOG(DEBUG, "Right is shifting down\n");
+ break;
+ }
+ // TODO(austin): Constants.
+ if (position->left_shifter_position > 0.9 && left_gear_ == SHIFTING_UP) {
+ left_gear_ = HIGH;
+ }
+ if (position->left_shifter_position < 0.1 && left_gear_ == SHIFTING_DOWN) {
+ left_gear_ = LOW;
+ }
+ if (position->right_shifter_position > 0.9 && right_gear_ == SHIFTING_UP) {
+ right_gear_ = HIGH;
+ }
+ if (position->right_shifter_position < 0.1 && right_gear_ == SHIFTING_DOWN) {
+ right_gear_ = LOW;
+ }
+ }
+ }
+
+ 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() {
+ // TODO(austin): Observer for the current velocity instead of difference
+ // calculations.
+ ++counter_;
+ 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(position_.left_shifter_position, current_left_velocity);
+ const double right_motor_speed =
+ MotorSpeed(position_.right_shifter_position, current_right_velocity);
+
+ // Reset the CIM model to the current conditions to be ready for when we shift.
+ if (IsInGear(left_gear_)) {
+ left_cim_->X_hat(0, 0) = left_motor_speed;
+ LOG(DEBUG, "Setting left CIM to %f at robot speed %f\n", left_motor_speed,
+ current_left_velocity);
+ }
+ if (IsInGear(right_gear_)) {
+ right_cim_->X_hat(0, 0) = right_motor_speed;
+ LOG(DEBUG, "Setting right CIM to %f at robot speed %f\n",
+ right_motor_speed, current_right_velocity);
+ }
+ LOG(DEBUG, "robot speed l=%f r=%f\n", current_left_velocity,
+ current_right_velocity);
+
+ if (IsInGear(left_gear_) && IsInGear(right_gear_)) {
+ // 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;
+
+ // Integrate velocity to get the position.
+ // This position is used to get integral control.
+ loop_->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_->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_->U[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ }
+
+ // TODO(austin): Model this better.
+ // TODO(austin): Feed back?
+ loop_->X_hat = loop_->A() * loop_->X_hat + loop_->B() * loop_->U;
+ } else {
+ // Any motor is not in gear. Speed match.
+ ::Eigen::Matrix<double, 1, 1> R_left;
+ R_left(0, 0) = left_motor_speed;
+ const double wiggle = (static_cast<double>((counter_ % 4) / 2) - 0.5) * 3.5;
+
+ loop_->U(0, 0) =
+ ::aos::Clip((R_left / Kv)(0, 0) + wiggle, -position_.battery_voltage,
+ position_.battery_voltage);
+ right_cim_->X_hat = right_cim_->A() * right_cim_->X_hat +
+ right_cim_->B() * loop_->U(0, 0);
+
+ ::Eigen::Matrix<double, 1, 1> R_right;
+ R_right(0, 0) = right_motor_speed;
+ loop_->U(1, 0) =
+ ::aos::Clip((R_right / Kv)(0, 0) + wiggle, -position_.battery_voltage,
+ position_.battery_voltage);
+ right_cim_->X_hat = right_cim_->A() * right_cim_->X_hat +
+ right_cim_->B() * loop_->U(1, 0);
+ loop_->U *= 12.0 / position_.battery_voltage;
+ }
+ }
+
+ void SendMotors(Drivetrain::Output *output) {
+ LOG(DEBUG, "left pwm: %f right pwm: %f wheel: %f throttle: %f\n",
+ loop_->U(0, 0), loop_->U(1, 0), wheel_, throttle_);
+ if (output != NULL) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ }
+ // Go in high gear if anything wants to be in high gear.
+ // TODO(austin): Seperate these.
+ if (left_gear_ == HIGH || left_gear_ == SHIFTING_UP ||
+ right_gear_ == HIGH || right_gear_ == SHIFTING_UP) {
+ shifters.MakeWithBuilder().set(false).Send();
+ } else {
+ shifters.MakeWithBuilder().set(true).Send();
+ }
+ }
+
+ private:
+ const ::aos::controls::HPolytope<2> U_Poly_;
+
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+ ::std::unique_ptr<StateFeedbackLoop<1, 1, 1>> left_cim_;
+ ::std::unique_ptr<StateFeedbackLoop<1, 1, 1>> right_cim_;
+
+ const double ttrust_;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ int stale_count_;
+ double position_time_delta_;
+ Gear left_gear_;
+ Gear right_gear_;
+ Drivetrain::Position last_position_;
+ Drivetrain::Position position_;
+ int counter_;
+};
+
+
class DrivetrainMotorsOL {
public:
DrivetrainMotorsOL() {
_old_wheel = 0.0;
- _wheel = 0.0;
- _throttle = 0.0;
- _quickturn = false;
- _highgear = true;
+ wheel_ = 0.0;
+ throttle_ = 0.0;
+ quickturn_ = false;
+ highgear_ = true;
_neg_inertia_accumulator = 0.0;
_left_pwm = 0.0;
_right_pwm = 0.0;
}
void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
- _wheel = wheel;
- _throttle = throttle;
- _quickturn = quickturn;
- _highgear = highgear;
+ wheel_ = wheel;
+ throttle_ = throttle;
+ quickturn_ = quickturn;
+ highgear_ = highgear;
_left_pwm = 0.0;
_right_pwm = 0.0;
}
- void Update(void) {
+ void Update() {
double overPower;
float sensitivity = 1.7;
float angular_power;
float linear_power;
double wheel;
- double neg_inertia = _wheel - _old_wheel;
- _old_wheel = _wheel;
+ double neg_inertia = wheel_ - _old_wheel;
+ _old_wheel = wheel_;
double wheelNonLinearity;
- if (_highgear) {
+ if (highgear_) {
wheelNonLinearity = 0.1; // used to be csvReader->TURN_NONLIN_HIGH
// Apply a sin function that's scaled to make it feel better.
const double angular_range = M_PI / 2.0 * wheelNonLinearity;
- wheel = sin(angular_range * _wheel) / sin(angular_range);
+ wheel = sin(angular_range * wheel_) / sin(angular_range);
wheel = sin(angular_range * wheel) / sin(angular_range);
} else {
wheelNonLinearity = 0.2; // used to be csvReader->TURN_NONLIN_LOW
// Apply a sin function that's scaled to make it feel better.
const double angular_range = M_PI / 2.0 * wheelNonLinearity;
- wheel = sin(angular_range * _wheel) / sin(angular_range);
+ wheel = sin(angular_range * wheel_) / sin(angular_range);
wheel = sin(angular_range * wheel) / sin(angular_range);
wheel = sin(angular_range * wheel) / sin(angular_range);
}
static const double kThrottleDeadband = 0.05;
- if (::std::abs(_throttle) < kThrottleDeadband) {
- _throttle = 0;
+ if (::std::abs(throttle_) < kThrottleDeadband) {
+ throttle_ = 0;
} else {
- _throttle = copysign((::std::abs(_throttle) - kThrottleDeadband) /
- (1.0 - kThrottleDeadband), _throttle);
+ throttle_ = copysign((::std::abs(throttle_) - kThrottleDeadband) /
+ (1.0 - kThrottleDeadband), throttle_);
}
double neg_inertia_scalar;
- if (_highgear) {
+ if (highgear_) {
neg_inertia_scalar = 8.0; // used to be csvReader->NEG_INTERTIA_HIGH
sensitivity = 1.22; // used to be csvReader->SENSE_HIGH
} else {
@@ -168,9 +643,9 @@
_neg_inertia_accumulator = 0;
}
- linear_power = _throttle;
+ linear_power = throttle_;
- if (_quickturn) {
+ if (quickturn_) {
double qt_angular_power = wheel;
if (::std::abs(linear_power) < 0.2) {
if (qt_angular_power > 1) qt_angular_power = 1.0;
@@ -179,7 +654,7 @@
qt_angular_power = 0.0;
}
overPower = 1.0;
- if (_highgear) {
+ if (highgear_) {
sensitivity = 1.0;
} else {
sensitivity = 1.0;
@@ -187,7 +662,7 @@
angular_power = wheel;
} else {
overPower = 0.0;
- angular_power = ::std::abs(_throttle) * wheel * sensitivity;
+ angular_power = ::std::abs(throttle_) * wheel * sensitivity;
}
_right_pwm = _left_pwm = linear_power;
@@ -211,12 +686,12 @@
void SendMotors(Drivetrain::Output *output) {
LOG(DEBUG, "left pwm: %f right pwm: %f wheel: %f throttle: %f\n",
- _left_pwm, _right_pwm, _wheel, _throttle);
+ _left_pwm, _right_pwm, wheel_, throttle_);
if (output) {
output->left_voltage = _left_pwm * 12.0;
output->right_voltage = _right_pwm * 12.0;
}
- if (_highgear) {
+ if (highgear_) {
shifters.MakeWithBuilder().set(false).Send();
} else {
shifters.MakeWithBuilder().set(true).Send();
@@ -225,10 +700,10 @@
private:
double _old_wheel;
- double _wheel;
- double _throttle;
- bool _quickturn;
- bool _highgear;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ bool highgear_;
double _neg_inertia_accumulator;
double _left_pwm;
double _right_pwm;
@@ -240,10 +715,10 @@
Drivetrain::Status * /*status*/) {
// TODO(aschuh): These should be members of the class.
static DrivetrainMotorsSS dt_closedloop;
- static DrivetrainMotorsOL dt_openloop;
+ static PolyDrivetrain dt_openloop;
bool bad_pos = false;
- if (position == NULL) {
+ if (position == nullptr) {
LOG(WARNING, "no position\n");
bad_pos = true;
}
@@ -257,20 +732,20 @@
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);
+ dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+ goal->right_velocity_goal);
if (!bad_pos) {
const double left_encoder = position->left_encoder;
const double right_encoder = position->right_encoder;
if (gyro.FetchLatest()) {
- dt_closedloop.SetPosition(left_encoder, right_encoder,
- gyro->angle, control_loop_driving);
+ dt_closedloop.SetPosition(left_encoder, right_encoder, gyro->angle,
+ control_loop_driving);
} else {
dt_closedloop.SetRawPosition(left_encoder, right_encoder);
}
}
+ dt_openloop.SetPosition(position);
dt_closedloop.Update(position, output == NULL);
- //dt_closedloop.PrintMotors();
dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
dt_openloop.Update();
if (control_loop_driving) {
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index 1776056..53bb16c 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -18,20 +18,38 @@
'includes': ['../../../aos/build/queues.gypi'],
},
{
+ 'target_name': 'polydrivetrain_plants',
+ 'type': 'static_library',
+ 'sources': [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_clutch_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'drivetrain_clutch_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
'target_name': 'drivetrain_lib',
'type': 'static_library',
'sources': [
'drivetrain.cc',
- 'drivetrain_motor_plant.cc',
+ 'polydrivetrain_cim_plant.cc',
],
'dependencies': [
'drivetrain_loop',
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/frc971.gyp:constants',
+ '<(DEPTH)/aos/build/externals.gyp:libcdd',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
'<(DEPTH)/frc971/queues/queues.gyp:queues',
],
'export_dependent_settings': [
+ '<(DEPTH)/aos/build/externals.gyp:libcdd',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
'<(AOS)/common/common.gyp:controls',
'drivetrain_loop',
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 244f3e5..249de70 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -1,12 +1,21 @@
#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+#include "Eigen/Dense"
+
+#include "aos/controls/polytope.h"
#include "aos/common/control_loop/ControlLoop.h"
+#include "aos/controls/polytope.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
namespace frc971 {
namespace control_loops {
+Eigen::Matrix<double, 2, 1> CoerceGoal(aos::controls::HPolytope<2> ®ion,
+ const Eigen::Matrix<double, 1, 2> &K,
+ double w,
+ const Eigen::Matrix<double, 2, 1> &R);
+
class DrivetrainLoop
: public aos::control_loops::ControlLoop<control_loops::Drivetrain, true, false> {
public:
@@ -15,7 +24,9 @@
explicit DrivetrainLoop(
control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
: aos::control_loops::ControlLoop<control_loops::Drivetrain, true, false>(
- my_drivetrain) {}
+ my_drivetrain) {
+ ::aos::controls::HPolytope<0>::Init();
+ }
protected:
// Executes one cycle of the control loop.
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 2085eb8..1dcc947 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -20,6 +20,9 @@
message Position {
double left_encoder;
double right_encoder;
+ double left_shifter_position;
+ double right_shifter_position;
+ double battery_voltage;
};
message Output {
diff --git a/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc
new file mode 100644
index 0000000..b3aa088
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeClutchDrivetrainPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.00876671940282, 0.0, 0.000204905465153, 0.0, 0.764245148008, 0.0, 0.0373841350548, 0.0, 0.000204905465153, 1.0, 0.00876671940282, 0.0, 0.0373841350548, 0.0, 0.764245148008;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 0.000157874070659, -2.62302512161e-05, 0.0301793267864, -0.00478559834045, -2.62302512161e-05, 0.000157874070659, -0.00478559834045, 0.0301793267864;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeClutchDrivetrainController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.60424514801, 0.0373841350548, 53.4463554671, 4.58647914599, 0.0373841350548, 1.60424514801, 4.58647914599, 53.4463554671;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 292.330461448, 10.4890095334, -85.5980253252, -0.517234397951, -58.0206391358, -1.5636023242, 153.384904309, 5.5616531565;
+ return StateFeedbackController<4, 2, 2>(L, K, MakeClutchDrivetrainPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeClutchDrivetrainPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
+ plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeClutchDrivetrainPlantCoefficients());
+ return StateFeedbackPlant<4, 2, 2>(plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeClutchDrivetrainLoop() {
+ ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
+ controllers[0] = new StateFeedbackController<4, 2, 2>(MakeClutchDrivetrainController());
+ return StateFeedbackLoop<4, 2, 2>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h
new file mode 100644
index 0000000..e9444e6
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeClutchDrivetrainPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeClutchDrivetrainController();
+
+StateFeedbackPlant<4, 2, 2> MakeClutchDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeClutchDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..7822056
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDogDrivetrainPlantCoefficients() {
+ Eigen::Matrix<double, 4, 4> A;
+ A << 1.0, 0.00923787174605, 0.0, 0.000131162317098, 0.0, 0.851672729447, 0.0, 0.0248457251406, 0.0, 0.000131162317098, 1.0, 0.00923787174605, 0.0, 0.0248457251406, 0.0, 0.851672729447;
+ Eigen::Matrix<double, 4, 2> B;
+ B << 0.000126364935405, -2.17474127771e-05, 0.0245934537462, -0.00411955394149, -2.17474127771e-05, 0.000126364935405, -0.00411955394149, 0.0245934537462;
+ Eigen::Matrix<double, 2, 4> C;
+ C << 1, 0, 0, 0, 0, 0, 1, 0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0, 0, 0, 0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeDogDrivetrainController() {
+ Eigen::Matrix<double, 4, 2> L;
+ L << 1.69167272945, 0.0248457251406, 64.4706646869, 3.2355304474, 0.0248457251406, 1.69167272945, 3.2355304474, 64.4706646869;
+ Eigen::Matrix<double, 2, 4> K;
+ K << 248.918529922, 14.4460993245, 41.6953764051, 3.43594323497, 41.6953764051, 3.43594323497, 248.918529922, 14.4460993245;
+ return StateFeedbackController<4, 2, 2>(L, K, MakeDogDrivetrainPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeDogDrivetrainPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
+ plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDogDrivetrainPlantCoefficients());
+ return StateFeedbackPlant<4, 2, 2>(plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeDogDrivetrainLoop() {
+ ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
+ controllers[0] = new StateFeedbackController<4, 2, 2>(MakeDogDrivetrainController());
+ return StateFeedbackLoop<4, 2, 2>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..ba3d584
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDogDrivetrainPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDogDrivetrainController();
+
+StateFeedbackPlant<4, 2, 2> MakeDogDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeDogDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index d15de44..0f8c87e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -5,10 +5,12 @@
#include "gtest/gtest.h"
#include "aos/common/queue.h"
#include "aos/common/queue_testutils.h"
+#include "aos/controls/polytope.h"
+
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "frc971/queues/GyroAngle.q.h"
@@ -18,15 +20,27 @@
namespace control_loops {
namespace testing {
+class Environment : public ::testing::Environment {
+ public:
+ virtual ~Environment() {}
+ // how to set up the environment.
+ virtual void SetUp() {
+ aos::controls::HPolytope<0>::Init();
+ }
+};
+::testing::Environment* const holder_env =
+ ::testing::AddGlobalTestEnvironment(new Environment);
+
// Class which simulates the drivetrain and sends out queue messages containing the
// position.
class DrivetrainSimulation {
public:
// Constructs a motor simulation.
+ // TODO(aschuh) Do we want to test the clutch one too?
DrivetrainSimulation()
: drivetrain_plant_(
- new StateFeedbackPlant<4, 2, 2>(MakeDrivetrainPlant())),
+ new StateFeedbackPlant<4, 2, 2>(MakeDogDrivetrainPlant())),
my_drivetrain_loop_(".frc971.control_loops.drivetrain",
0x8a8dde77, ".frc971.control_loops.drivetrain.goal",
".frc971.control_loops.drivetrain.position",
@@ -182,6 +196,108 @@
VerifyNearGoal();
}
+::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
+ double x2_min, double x2_max) {
+ Eigen::Matrix<double, 4, 2> box_H;
+ box_H << /*[[*/ 1.0, 0.0 /*]*/,
+ /*[*/-1.0, 0.0 /*]*/,
+ /*[*/ 0.0, 1.0 /*]*/,
+ /*[*/ 0.0,-1.0 /*]]*/;
+ Eigen::Matrix<double, 4, 1> box_k;
+ box_k << /*[[*/ x1_max /*]*/,
+ /*[*/-x1_min /*]*/,
+ /*[*/ x2_max /*]*/,
+ /*[*/-x2_min /*]]*/;
+ ::aos::controls::HPolytope<2> t_poly(box_H, box_k);
+ return t_poly;
+}
+
+class CoerceGoalTest : public ::testing::Test {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+// WHOOOHH!
+TEST_F(CoerceGoalTest, Inside) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << /*[[*/ 1, -1 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << /*[[*/ 1.5, 1.5 /*]]*/;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(R(0, 0), output(0, 0));
+ EXPECT_EQ(R(1, 0), output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_no_Intersect) {
+ ::aos::controls::HPolytope<2> box = MakeBox(3, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, -1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(3.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Middle_Of_Edge) {
+ ::aos::controls::HPolytope<2> box = MakeBox(0, 4, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << -1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(2.0, output(0, 0));
+ EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, PerpendicularLine) {
+ ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+ Eigen::Matrix<double, 1, 2> K;
+ K << 1, 1;
+
+ Eigen::Matrix<double, 2, 1> R;
+ R << 5, 5;
+
+ Eigen::Matrix<double, 2, 1> output =
+ ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+ EXPECT_EQ(1.0, output(0, 0));
+ EXPECT_EQ(1.0, output(1, 0));
+}
+
} // namespace testing
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc
deleted file mode 100644
index e543c9f..0000000
--- a/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainPlantCoefficients() {
- Eigen::Matrix<double, 4, 4> A;
- A << 1.0, 0.00931379160739, 0.0, 4.70184876909e-06, 0.0, 0.865971883056, 0.0, 0.000895808426591, 0.0, 4.70184876909e-06, 1.0, 0.00931379160739, 0.0, 0.000895808426591, 0.0, 0.865971883056;
- Eigen::Matrix<double, 4, 2> B;
- B << 0.000126707931029, -8.6819330098e-07, 0.0247482041615, -0.000165410440259, -8.6819330098e-07, 0.000126707931029, -0.000165410440259, 0.0247482041615;
- Eigen::Matrix<double, 2, 4> C;
- C << 1, 0, 0, 0, 0, 0, 1, 0;
- Eigen::Matrix<double, 2, 2> D;
- D << 0, 0, 0, 0;
- Eigen::Matrix<double, 2, 1> U_max;
- U_max << 12.0, 12.0;
- Eigen::Matrix<double, 2, 1> U_min;
- U_min << -12.0, -12.0;
- return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainController() {
- Eigen::Matrix<double, 4, 2> L;
- L << 1.70597188306, 0.000895808426591, 66.3158545945, 0.117712892743, 0.000895808426591, 1.70597188306, 0.117712892743, 66.3158545945;
- Eigen::Matrix<double, 2, 4> K;
- K << 240.432225842, 14.3659115621, 1.60698530163, 0.13242189318, 1.60698530163, 0.13242189318, 240.432225842, 14.3659115621;
- return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainPlantCoefficients());
-}
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant() {
- ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
- plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainPlantCoefficients());
- return StateFeedbackPlant<4, 2, 2>(plants);
-}
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop() {
- ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
- controllers[0] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainController());
- return StateFeedbackLoop<4, 2, 2>(controllers);
-}
-
-} // namespace control_loops
-} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_motor_plant.h
deleted file mode 100644
index 2060b6f..0000000
--- a/frc971/control_loops/drivetrain/drivetrain_motor_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainController();
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant();
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop();
-
-} // namespace control_loops
-} // namespace frc971
-
-#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc
new file mode 100644
index 0000000..1287483
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients() {
+ Eigen::Matrix<double, 1, 1> A;
+ A << 0.614537580221;
+ Eigen::Matrix<double, 1, 1> B;
+ B << 15.9657598852;
+ Eigen::Matrix<double, 1, 1> C;
+ C << 1;
+ Eigen::Matrix<double, 1, 1> D;
+ D << 0;
+ Eigen::Matrix<double, 1, 1> U_max;
+ U_max << 12.0;
+ Eigen::Matrix<double, 1, 1> U_min;
+ U_min << -12.0;
+ return StateFeedbackPlantCoefficients<1, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<1, 1, 1> MakeCIMController() {
+ Eigen::Matrix<double, 1, 1> L;
+ L << 0.604537580221;
+ Eigen::Matrix<double, 1, 1> K;
+ K << 0.0378646293422;
+ return StateFeedbackController<1, 1, 1>(L, K, MakeCIMPlantCoefficients());
+}
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<1, 1, 1> *> plants(1);
+ plants[0] = new StateFeedbackPlantCoefficients<1, 1, 1>(MakeCIMPlantCoefficients());
+ return StateFeedbackPlant<1, 1, 1>(plants);
+}
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop() {
+ ::std::vector<StateFeedbackController<1, 1, 1> *> controllers(1);
+ controllers[0] = new StateFeedbackController<1, 1, 1>(MakeCIMController());
+ return StateFeedbackLoop<1, 1, 1>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h
new file mode 100644
index 0000000..12b2c59
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients();
+
+StateFeedbackController<1, 1, 1> MakeCIMController();
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant();
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc
new file mode 100644
index 0000000..82962f0
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.764245148008, 0.0373841350548, 0.0373841350548, 0.764245148008;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0301793267864, -0.00478559834045, -0.00478559834045, 0.0301793267864;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.763446428918, 0.00494258902788, 0.042202491067, 0.968991856576;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0302815719967, -0.00184882243178, -0.00540240320973, 0.011598890947;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.968991856576, 0.042202491067, 0.00494258902788, 0.763446428918;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.011598890947, -0.00540240320973, -0.00184882243178, 0.0302815719967;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.968881997557, 0.00555499847336, 0.00555499847336, 0.968881997557;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0116399847578, -0.0020779000091, -0.0020779000091, 0.0116399847578;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.744245148008, 0.0373841350548, 0.0373841350548, 0.744245148008;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 5.78417881324, 2.15594244513, 2.15594244513, 5.78417881324;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.742469928763, 0.0421768815418, 0.0421768815418, 0.949968356732;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 5.78418649682, 2.16715237139, 6.33258809821, 32.8220766317;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.954934950673, 0.00591596315544, 0.00591596315544, 0.737503334821;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 32.8220766317, 6.33258809821, 2.16715237139, 5.78418649682;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.948881997557, 0.00555499847336, 0.00555499847336, 0.948881997557;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 32.8220767657, 6.33643373411, 6.33643373411, 32.8220767657;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVClutchDrivetrainPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
+ plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainLowLowPlantCoefficients());
+ plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainLowHighPlantCoefficients());
+ plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainHighLowPlantCoefficients());
+ plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainHighHighPlantCoefficients());
+ return StateFeedbackPlant<2, 2, 2>(plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVClutchDrivetrainLoop() {
+ ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
+ controllers[0] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainLowLowController());
+ controllers[1] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainLowHighController());
+ controllers[2] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainHighLowController());
+ controllers[3] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainHighHighController());
+ return StateFeedbackLoop<2, 2, 2>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h
new file mode 100644
index 0000000..85c87c1
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVClutchDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVClutchDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..b3d4277
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainLowLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.851672729447, 0.0248457251406, 0.0248457251406, 0.851672729447;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0245934537462, -0.00411955394149, -0.00411955394149, 0.0245934537462;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainLowHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.851389310398, 0.00553670185935, 0.0264939835067, 0.967000817219;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0246404461385, -0.00200815724925, -0.00439284398274, 0.0119687766843;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighLowPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.967000817219, 0.0264939835067, 0.00553670185935, 0.851389310398;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0119687766843, -0.00439284398274, -0.00200815724925, 0.0246404461385;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighHighPlantCoefficients() {
+ Eigen::Matrix<double, 2, 2> A;
+ A << 0.966936300149, 0.00589655754287, 0.00589655754287, 0.966936300149;
+ Eigen::Matrix<double, 2, 2> B;
+ B << 0.0119921769728, -0.00213867661221, -0.00213867661221, 0.0119921769728;
+ Eigen::Matrix<double, 2, 2> C;
+ C << 1.0, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 2, 2> D;
+ D << 0.0, 0.0, 0.0, 0.0;
+ Eigen::Matrix<double, 2, 1> U_max;
+ U_max << 12.0, 12.0;
+ Eigen::Matrix<double, 2, 1> U_min;
+ U_min << -12.0, -12.0;
+ return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.831672729447, 0.0248457251406, 0.0248457251406, 0.831672729447;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 10.7028500331, 2.80305051463, 2.80305051463, 10.7028500331;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.831852326508, 0.0264837489415, 0.0264837489415, 0.946537801108;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 10.7028511964, 2.80768406175, 6.14180888507, 31.6936764099;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighLowController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.951097545753, 0.0063707209266, 0.0063707209266, 0.827292581863;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 31.6936764099, 6.14180888507, 2.80768406175, 10.7028511964;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighHighController() {
+ Eigen::Matrix<double, 2, 2> L;
+ L << 0.946936300149, 0.00589655754287, 0.00589655754287, 0.946936300149;
+ Eigen::Matrix<double, 2, 2> K;
+ K << 31.6936764663, 6.14392885659, 6.14392885659, 31.6936764663;
+ return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVDogDrivetrainPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
+ plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainLowLowPlantCoefficients());
+ plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainLowHighPlantCoefficients());
+ plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainHighLowPlantCoefficients());
+ plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainHighHighPlantCoefficients());
+ return StateFeedbackPlant<2, 2, 2>(plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVDogDrivetrainLoop() {
+ ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
+ controllers[0] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainLowLowController());
+ controllers[1] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainLowHighController());
+ controllers[2] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainHighLowController());
+ controllers[3] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainHighHighController());
+ return StateFeedbackLoop<2, 2, 2>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..613bff4
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVDogDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVDogDrivetrainLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 6ac91b7..b36d517 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -108,7 +108,7 @@
const /*static*/ double IndexMotor::kTransferRollerRadius = 1.25 * 0.0254 / 2;
/*static*/ const int IndexMotor::kGrabbingDelay = 5;
-/*static*/ const int IndexMotor::kLiftingDelay = 2;
+/*static*/ const int IndexMotor::kLiftingDelay = 5;
/*static*/ const int IndexMotor::kLiftingTimeout = 100;
/*static*/ const int IndexMotor::kShootingDelay = 10;
/*static*/ const int IndexMotor::kLoweringDelay = 4;
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 0e791cb..fcca56a 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -5,9 +5,53 @@
import sys
from matplotlib import pylab
-class Drivetrain(control_loop.ControlLoop):
+
+class CIM(control_loop.ControlLoop):
def __init__(self):
- super(Drivetrain, self).__init__("Drivetrain")
+ super(CIM, self).__init__("CIM")
+ # Stall Torque in N m
+ self.stall_torque = 2.42
+ # Stall Current in Amps
+ self.stall_current = 133
+ # Free Speed in RPM
+ self.free_speed = 4650.0
+ # Free Current in Amps
+ self.free_current = 2.7
+ # Moment of inertia of the CIM in kg m^2
+ self.J = 0.0001
+ # Resistance of the motor, divided by 2 to account for the 2 motors
+ self.R = 12.0 / self.stall_current
+ # Motor velocity constant
+ self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+ (12.0 - self.R * self.free_current))
+ # Torque constant
+ self.Kt = self.stall_torque / self.stall_current
+ # Control loop time step
+ self.dt = 0.01
+
+ # State feedback matrices
+ self.A_continuous = numpy.matrix(
+ [[-self.Kt / self.Kv / (self.J * self.R)]])
+ self.B_continuous = numpy.matrix(
+ [[self.Kt / (self.J * self.R)]])
+ self.C = numpy.matrix([[1]])
+ self.D = numpy.matrix([[0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ self.PlaceControllerPoles([0.01])
+ self.PlaceObserverPoles([0.01])
+
+ self.U_max = numpy.matrix([[12.0]])
+ self.U_min = numpy.matrix([[-12.0]])
+
+ self.InitializeState()
+
+
+class Drivetrain(control_loop.ControlLoop):
+ def __init__(self, left_low=True, right_low=True, is_clutch=False):
+ super(Drivetrain, self).__init__(("Clutch" if is_clutch else "Dog" )+"Drivetrain")
# Stall Torque in N m
self.stall_torque = 2.42
# Stall Current in Amps
@@ -18,7 +62,7 @@
self.free_current = 2.7
# Moment of inertia of the drivetrain in kg m^2
# Just borrowed from last year.
- self.J = 6.4
+ self.J = 4.5
# Mass of the robot, in kg.
self.m = 68
# Radius of the robot, in meters (from last year).
@@ -26,16 +70,27 @@
# Radius of the wheels, in meters.
self.r = .04445
# Resistance of the motor, divided by the number of motors.
- self.R = 12.0 / self.stall_current / 6 + 0.03
+ self.R = (12.0 / self.stall_current / 4 + 0.03) / (0.93 ** 2.0)
# Motor velocity constant
self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
(12.0 - self.R * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Gear ratios
- self.G_low = 16.0 / 60.0 * 19.0 / 50.0
- self.G_high = 28.0 / 48.0 * 19.0 / 50.0
- self.G = self.G_low
+ if is_clutch:
+ self.G_low = 14.0 / 60.0 * 15.0 / 50.0
+ self.G_high = 30.0 / 44.0 * 15.0 / 50.0
+ else:
+ self.G_low = 16.0 / 60.0 * 17.0 / 50.0
+ self.G_high = 28.0 / 48.0 * 17.0 / 50.0
+ if left_low:
+ self.Gl = self.G_low
+ else:
+ self.Gl = self.G_high
+ if right_low:
+ self.Gr = self.G_low
+ else:
+ self.Gr = self.G_high
# Control loop time step
self.dt = 0.01
@@ -44,22 +99,24 @@
self.msp = 1.0 / self.m + self.rb * self.rb / self.J
self.msn = 1.0 / self.m - self.rb * self.rb / self.J
# The calculations which we will need for A and B.
- self.tc = -self.Kt / self.Kv / (self.G * self.G * self.R * self.r * self.r)
- self.mp = self.Kt / (self.G * self.R * self.r)
+ self.tcl = -self.Kt / self.Kv / (self.Gl * self.Gl * self.R * self.r * self.r)
+ self.tcr = -self.Kt / self.Kv / (self.Gr * self.Gr * self.R * self.r * self.r)
+ self.mpl = self.Kt / (self.Gl * self.R * self.r)
+ self.mpr = self.Kt / (self.Gr * self.R * self.r)
# State feedback matrices
# X will be of the format
- # [[position1], [velocity1], [position2], velocity2]]
+ # [[positionl], [velocityl], [positionr], velocityr]]
self.A_continuous = numpy.matrix(
[[0, 1, 0, 0],
- [0, self.msp * self.tc, 0, self.msn * self.tc],
+ [0, self.msp * self.tcl, 0, self.msn * self.tcr],
[0, 0, 0, 1],
- [0, self.msn * self.tc, 0, self.msp * self.tc]])
+ [0, self.msn * self.tcl, 0, self.msp * self.tcr]])
self.B_continuous = numpy.matrix(
[[0, 0],
- [self.msp * self.mp, self.msn * self.mp],
+ [self.msp * self.mpl, self.msn * self.mpr],
[0, 0],
- [self.msn * self.mp, self.msp * self.mp]])
+ [self.msn * self.mpl, self.msp * self.mpr]])
self.C = numpy.matrix([[1, 0, 0, 0],
[0, 0, 1, 0]])
self.D = numpy.matrix([[0, 0],
@@ -73,8 +130,6 @@
self.lp = 0.83
self.PlaceControllerPoles([self.hp, self.hp, self.lp, self.lp])
- print self.K
-
self.hlp = 0.07
self.llp = 0.09
self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
@@ -149,14 +204,23 @@
#pylab.show()
# Write the generated constants out to a file.
- if len(argv) != 3:
+ dog_drivetrain = Drivetrain(is_clutch=False)
+ clutch_drivetrain = Drivetrain(is_clutch=True)
+
+ if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
- loop_writer = control_loop.ControlLoopWriter("Drivetrain", [drivetrain])
+ dog_loop_writer = control_loop.ControlLoopWriter("DogDrivetrain", [dog_drivetrain])
if argv[1][-3:] == '.cc':
- loop_writer.Write(argv[2], argv[1])
+ dog_loop_writer.Write(argv[2], argv[1])
else:
- loop_writer.Write(argv[1], argv[2])
+ dog_loop_writer.Write(argv[1], argv[2])
+
+ clutch_loop_writer = control_loop.ControlLoopWriter("ClutchDrivetrain", [clutch_drivetrain])
+ if argv[3][-3:] == '.cc':
+ clutch_loop_writer.Write(argv[4], argv[3])
+ else:
+ clutch_loop_writer.Write(argv[3], argv[4])
if __name__ == '__main__':
sys.exit(main(sys.argv))
diff --git a/frc971/control_loops/python/libcdd.py b/frc971/control_loops/python/libcdd.py
index a217728..6305aaf 100644
--- a/frc971/control_loops/python/libcdd.py
+++ b/frc971/control_loops/python/libcdd.py
@@ -119,7 +119,7 @@
# Return None on error.
# The error values are enums, so they aren't exposed.
- if error.value != NO_ERRORS:
+ if error.value != DD_NO_ERRORS:
# Dump out the errors to stderr
libcdd._Z21dd_WriteErrorMessagesP8_IO_FILE12dd_ErrorType(
ctypes.pythonapi.PyFile_AsFile(ctypes.py_object(sys.stdout)),
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
new file mode 100755
index 0000000..5ffcff4
--- /dev/null
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -0,0 +1,512 @@
+#!/usr/bin/python
+
+import numpy
+import sys
+import polytope
+import drivetrain
+import control_loop
+import controls
+from matplotlib import pylab
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+def CoerceGoal(region, K, w, R):
+ """Intersects a line with a region, and finds the closest point to R.
+
+ Finds a point that is closest to R inside the region, and on the line
+ defined by K X = w. If it is not possible to find a point on the line,
+ finds a point that is inside the region and closest to the line. This
+ function assumes that
+
+ Args:
+ region: HPolytope, the valid goal region.
+ K: numpy.matrix (2 x 1), the matrix for the equation [K1, K2] [x1; x2] = w
+ w: float, the offset in the equation above.
+ R: numpy.matrix (2 x 1), the point to be closest to.
+
+ Returns:
+ numpy.matrix (2 x 1), the point.
+ """
+
+ if region.IsInside(R):
+ return R
+
+ perpendicular_vector = K.T / numpy.linalg.norm(K)
+ parallel_vector = numpy.matrix([[perpendicular_vector[1, 0]],
+ [-perpendicular_vector[0, 0]]])
+
+ # We want to impose the constraint K * X = w on the polytope H * X <= k.
+ # We do this by breaking X up into parallel and perpendicular components to
+ # the half plane. This gives us the following equation.
+ #
+ # parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) = X
+ #
+ # Then, substitute this into the polytope.
+ #
+ # H * (parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) <= k
+ #
+ # Substitute K * X = w
+ #
+ # H * parallel * (parallel.T \dot X) + H * perpendicular * w <= k
+ #
+ # Move all the knowns to the right side.
+ #
+ # H * parallel * ([parallel1 parallel2] * X) <= k - H * perpendicular * w
+ #
+ # Let t = parallel.T \dot X, the component parallel to the surface.
+ #
+ # H * parallel * t <= k - H * perpendicular * w
+ #
+ # This is a polytope which we can solve, and use to figure out the range of X
+ # that we care about!
+
+ t_poly = polytope.HPolytope(
+ region.H * parallel_vector,
+ region.k - region.H * perpendicular_vector * w)
+
+ vertices = t_poly.Vertices()
+
+ if vertices.shape[0]:
+ # The region exists!
+ # Find the closest vertex
+ min_distance = numpy.infty
+ closest_point = None
+ for vertex in vertices:
+ point = parallel_vector * vertex + perpendicular_vector * w
+ length = numpy.linalg.norm(R - point)
+ if length < min_distance:
+ min_distance = length
+ closest_point = point
+
+ return closest_point
+ else:
+ # Find the vertex of the space that is closest to the line.
+ region_vertices = region.Vertices()
+ min_distance = numpy.infty
+ closest_point = None
+ for vertex in region_vertices:
+ point = vertex.T
+ length = numpy.abs((perpendicular_vector.T * point)[0, 0])
+ if length < min_distance:
+ min_distance = length
+ closest_point = point
+
+ return closest_point
+
+
+class VelocityDrivetrainModel(control_loop.ControlLoop):
+ def __init__(self, left_low=True, right_low=True, name="VelocityDrivetrainModel", is_clutch=False):
+ super(VelocityDrivetrainModel, self).__init__(name)
+ self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
+ right_low=right_low,
+ is_clutch=is_clutch)
+ self.dt = 0.01
+ self.A_continuous = numpy.matrix(
+ [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
+ [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
+
+ self.B_continuous = numpy.matrix(
+ [[self._drivetrain.B_continuous[1, 0], self._drivetrain.B_continuous[1, 1]],
+ [self._drivetrain.B_continuous[3, 0], self._drivetrain.B_continuous[3, 1]]])
+ self.C = numpy.matrix(numpy.eye(2));
+ self.D = numpy.matrix(numpy.zeros((2, 2)));
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ # FF * X = U (steady state)
+ self.FF = self.B.I * (numpy.eye(2) - self.A)
+
+ self.PlaceControllerPoles([0.6, 0.6])
+ self.PlaceObserverPoles([0.02, 0.02])
+
+ self.G_high = self._drivetrain.G_high
+ self.G_low = self._drivetrain.G_low
+ self.R = self._drivetrain.R
+ self.r = self._drivetrain.r
+ self.Kv = self._drivetrain.Kv
+ self.Kt = self._drivetrain.Kt
+
+ self.U_max = self._drivetrain.U_max
+ self.U_min = self._drivetrain.U_min
+
+
+class VelocityDrivetrain(object):
+ HIGH = 'high'
+ LOW = 'low'
+ SHIFTING_UP = 'up'
+ SHIFTING_DOWN = 'down'
+
+ def __init__(self, is_clutch):
+ prefix = 'Clutch' if is_clutch else 'Dog'
+ self.drivetrain_low_low = VelocityDrivetrainModel(
+ left_low=True, right_low=True, name=prefix+'VelocityDrivetrainLowLow', is_clutch=is_clutch)
+ self.drivetrain_low_high = VelocityDrivetrainModel(left_low=True, right_low=False, name=prefix+'VelocityDrivetrainLowHigh', is_clutch=is_clutch)
+ self.drivetrain_high_low = VelocityDrivetrainModel(left_low=False, right_low=True, name = prefix+'VelocityDrivetrainHighLow', is_clutch=is_clutch)
+ self.drivetrain_high_high = VelocityDrivetrainModel(left_low=False, right_low=False, name = prefix+'VelocityDrivetrainHighHigh', is_clutch=is_clutch)
+
+ # X is [lvel, rvel]
+ self.X = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
+ self.U_poly = polytope.HPolytope(
+ numpy.matrix([[1, 0],
+ [-1, 0],
+ [0, 1],
+ [0, -1]]),
+ numpy.matrix([[12],
+ [12],
+ [12],
+ [12]]))
+
+ self.U_max = numpy.matrix(
+ [[12.0],
+ [12.0]])
+ self.U_min = numpy.matrix(
+ [[-12.0000000000],
+ [-12.0000000000]])
+
+ self.dt = 0.01
+
+ self.R = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
+ # ttrust is the comprimise between having full throttle negative inertia,
+ # and having no throttle negative inertia. A value of 0 is full throttle
+ # inertia. A value of 1 is no throttle negative inertia.
+ self.ttrust = 1.0
+
+ self.left_gear = VelocityDrivetrain.LOW
+ self.right_gear = VelocityDrivetrain.LOW
+ self.left_shifter_position = 0.0
+ self.right_shifter_position = 0.0
+ self.left_cim = drivetrain.CIM()
+ self.right_cim = drivetrain.CIM()
+
+ def IsInGear(self, gear):
+ return gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.LOW
+
+ def MotorRPM(self, shifter_position, velocity):
+ if shifter_position > 0.5:
+ return (velocity / self.CurrentDrivetrain().G_high /
+ self.CurrentDrivetrain().r)
+ else:
+ return (velocity / self.CurrentDrivetrain().G_low /
+ self.CurrentDrivetrain().r)
+
+ def CurrentDrivetrain(self):
+ if self.left_shifter_position > 0.5:
+ if self.right_shifter_position > 0.5:
+ return self.drivetrain_high_high
+ else:
+ return self.drivetrain_high_low
+ else:
+ if self.right_shifter_position > 0.5:
+ return self.drivetrain_low_high
+ else:
+ return self.drivetrain_low_low
+
+ def SimShifter(self, gear, shifter_position):
+ if gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.SHIFTING_UP:
+ shifter_position = min(shifter_position + 0.5, 1.0)
+ else:
+ shifter_position = max(shifter_position - 0.5, 0.0)
+
+ if shifter_position == 1.0:
+ gear = VelocityDrivetrain.HIGH
+ elif shifter_position == 0.0:
+ gear = VelocityDrivetrain.LOW
+
+ return gear, shifter_position
+
+ def ComputeGear(self, wheel_velocity, should_print=False, current_gear=False, gear_name=None):
+ high_omega = (wheel_velocity / self.CurrentDrivetrain().G_high /
+ self.CurrentDrivetrain().r)
+ low_omega = (wheel_velocity / self.CurrentDrivetrain().G_low /
+ self.CurrentDrivetrain().r)
+ #print gear_name, "Motor Energy Difference.", 0.5 * 0.000140032647 * (low_omega * low_omega - high_omega * high_omega), "joules"
+ high_torque = ((12.0 - high_omega / self.CurrentDrivetrain().Kv) *
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ low_torque = ((12.0 - low_omega / self.CurrentDrivetrain().Kv) *
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ high_power = high_torque * high_omega
+ low_power = low_torque * low_omega
+ #if should_print:
+ # print gear_name, "High omega", high_omega, "Low omega", low_omega
+ # print gear_name, "High torque", high_torque, "Low torque", low_torque
+ # print gear_name, "High power", high_power, "Low power", low_power
+
+ # Shift algorithm improvements.
+ # TODO(aschuh):
+ # It takes time to shift. Shifting down for 1 cycle doesn't make sense
+ # because you will end up slower than without shifting. Figure out how
+ # to include that info.
+ # If the driver is still in high gear, but isn't asking for the extra power
+ # from low gear, don't shift until he asks for it.
+ goal_gear_is_high = high_power > low_power
+ #goal_gear_is_high = True
+
+ if not self.IsInGear(current_gear):
+ print gear_name, 'Not in gear.'
+ return current_gear
+ else:
+ is_high = current_gear is VelocityDrivetrain.HIGH
+ if is_high != goal_gear_is_high:
+ if goal_gear_is_high:
+ print gear_name, 'Shifting up.'
+ return VelocityDrivetrain.SHIFTING_UP
+ else:
+ print gear_name, 'Shifting down.'
+ return VelocityDrivetrain.SHIFTING_DOWN
+ else:
+ return current_gear
+
+ def FilterVelocity(self, throttle):
+ # 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 equal.
+
+ # The throttle filter should filter such that the motor in the highest gear
+ # should be controlling the time constant.
+ # Do this by finding the index of FF that has the lowest value, and computing
+ # the sums using that index.
+ FF_sum = self.CurrentDrivetrain().FF.sum(axis=1)
+ min_FF_sum_index = numpy.argmin(FF_sum)
+ min_FF_sum = FF_sum[min_FF_sum_index, 0]
+ min_K_sum = self.CurrentDrivetrain().K[min_FF_sum_index, :].sum()
+ # Compute the FF sum for high gear.
+ high_min_FF_sum = self.drivetrain_high_high.FF[0, :].sum()
+
+ # U = self.K[0, :].sum() * (R - x_avg) + self.FF[0, :].sum() * R
+ # throttle * 12.0 = (self.K[0, :].sum() + self.FF[0, :].sum()) * R
+ # - self.K[0, :].sum() * x_avg
+
+ # R = (throttle * 12.0 + self.K[0, :].sum() * x_avg) /
+ # (self.K[0, :].sum() + self.FF[0, :].sum())
+
+ # U = (K + FF) * R - K * X
+ # (K + FF) ^-1 * (U + K * X) = R
+
+ # Scale throttle by min_FF_sum / high_min_FF_sum. This will make low gear
+ # have the same velocity goal as high gear, and so that the robot will hold
+ # the same speed for the same throttle for all gears.
+ adjusted_ff_voltage = numpy.clip(throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0)
+ return ((adjusted_ff_voltage + self.ttrust * min_K_sum * (self.X[0, 0] + self.X[1, 0]) / 2.0)
+ / (self.ttrust * min_K_sum + min_FF_sum))
+
+ def Update(self, throttle, steering):
+ # Shift into the gear which sends the most power to the floor.
+ # This is the same as sending the most torque down to the floor at the
+ # wheel.
+
+ self.left_gear = self.ComputeGear(self.X[0, 0], should_print=True,
+ current_gear=self.left_gear,
+ gear_name="left")
+ self.right_gear = self.ComputeGear(self.X[1, 0], should_print=True,
+ current_gear=self.right_gear,
+ gear_name="right")
+ if self.IsInGear(self.left_gear):
+ self.left_cim.X[0, 0] = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+
+ if self.IsInGear(self.right_gear):
+ self.right_cim.X[0, 0] = self.MotorRPM(self.right_shifter_position, self.X[0, 0])
+
+ if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ # Filter the throttle to provide a nicer response.
+ fvel = self.FilterVelocity(throttle)
+
+ # Constant radius means that angualar_velocity / linear_velocity = constant.
+ # Compute the left and right velocities.
+ left_velocity = fvel - steering * numpy.abs(fvel)
+ right_velocity = fvel + steering * numpy.abs(fvel)
+
+ # Write this constraint in the form of K * R = w
+ # angular velocity / linear velocity = constant
+ # (left - right) / (left + right) = constant
+ # left - right = constant * left + constant * right
+
+ # (fvel - steering * numpy.abs(fvel) - fvel - steering * numpy.abs(fvel)) /
+ # (fvel - steering * numpy.abs(fvel) + fvel + steering * numpy.abs(fvel)) =
+ # constant
+ # (- 2 * steering * numpy.abs(fvel)) / (2 * fvel) = constant
+ # (-steering * sign(fvel)) = constant
+ # (-steering * sign(fvel)) * (left + right) = left - right
+ # (steering * sign(fvel) + 1) * left + (steering * sign(fvel) - 1) * right = 0
+
+ equality_k = numpy.matrix(
+ [[1 + steering * numpy.sign(fvel), -(1 - steering * numpy.sign(fvel))]])
+ equality_w = 0.0
+
+ self.R[0, 0] = left_velocity
+ self.R[1, 0] = right_velocity
+
+ # Construct a constraint on R by manipulating the constraint on U
+ # Start out with H * U <= k
+ # U = FF * R + K * (R - X)
+ # H * (FF * R + K * R - K * X) <= k
+ # H * (FF + K) * R <= k + H * K * X
+ R_poly = polytope.HPolytope(
+ self.U_poly.H * (self.CurrentDrivetrain().K + self.CurrentDrivetrain().FF),
+ self.U_poly.k + self.U_poly.H * self.CurrentDrivetrain().K * self.X)
+
+ # Limit R back inside the box.
+ self.boxed_R = CoerceGoal(R_poly, equality_k, equality_w, self.R)
+
+ FF_volts = self.CurrentDrivetrain().FF * self.boxed_R
+ self.U_ideal = self.CurrentDrivetrain().K * (self.boxed_R - self.X) + FF_volts
+ else:
+ print 'Not all in gear'
+ if not self.IsInGear(self.left_gear) and not self.IsInGear(self.right_gear):
+ # TODO(austin): Use battery volts here.
+ R_left = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+ self.U_ideal[0, 0] = numpy.clip(
+ self.left_cim.K * (R_left - self.left_cim.X) + R_left / self.left_cim.Kv,
+ self.left_cim.U_min, self.left_cim.U_max)
+ self.left_cim.Update(self.U_ideal[0, 0])
+
+ R_right = self.MotorRPM(self.right_shifter_position, self.X[1, 0])
+ self.U_ideal[1, 0] = numpy.clip(
+ self.right_cim.K * (R_right - self.right_cim.X) + R_right / self.right_cim.Kv,
+ self.right_cim.U_min, self.right_cim.U_max)
+ self.right_cim.Update(self.U_ideal[1, 0])
+ else:
+ assert False
+
+ self.U = numpy.clip(self.U_ideal, self.U_min, self.U_max)
+
+ # TODO(austin): Model the robot as not accelerating when you shift...
+ # This hack only works when you shift at the same time.
+ if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+ self.X = self.CurrentDrivetrain().A * self.X + self.CurrentDrivetrain().B * self.U
+
+ self.left_gear, self.left_shifter_position = self.SimShifter(
+ self.left_gear, self.left_shifter_position)
+ self.right_gear, self.right_shifter_position = self.SimShifter(
+ self.right_gear, self.right_shifter_position)
+
+ print "U is", self.U[0, 0], self.U[1, 0]
+ print "Left shifter", self.left_gear, self.left_shifter_position, "Right shifter", self.right_gear, self.right_shifter_position
+
+
+def main(argv):
+ dog_vdrivetrain = VelocityDrivetrain(False)
+ clutch_vdrivetrain = VelocityDrivetrain(True)
+
+ if len(argv) != 7:
+ print "Expected .h file name and .cc file name"
+ else:
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "VDogDrivetrain", [dog_vdrivetrain.drivetrain_low_low,
+ dog_vdrivetrain.drivetrain_low_high,
+ dog_vdrivetrain.drivetrain_high_low,
+ dog_vdrivetrain.drivetrain_high_high])
+
+ if argv[1][-3:] == '.cc':
+ dog_loop_writer.Write(argv[2], argv[1])
+ else:
+ dog_loop_writer.Write(argv[1], argv[2])
+
+ clutch_loop_writer = control_loop.ControlLoopWriter(
+ "VClutchDrivetrain", [clutch_vdrivetrain.drivetrain_low_low,
+ clutch_vdrivetrain.drivetrain_low_high,
+ clutch_vdrivetrain.drivetrain_high_low,
+ clutch_vdrivetrain.drivetrain_high_high])
+
+ if argv[3][-3:] == '.cc':
+ clutch_loop_writer.Write(argv[4], argv[3])
+ else:
+ clutch_loop_writer.Write(argv[3], argv[4])
+
+ cim_writer = control_loop.ControlLoopWriter(
+ "CIM", [drivetrain.CIM()])
+
+ if argv[5][-3:] == '.cc':
+ cim_writer.Write(argv[6], argv[5])
+ else:
+ cim_writer.Write(argv[5], argv[6])
+ return
+
+ vl_plot = []
+ vr_plot = []
+ ul_plot = []
+ ur_plot = []
+ radius_plot = []
+ t_plot = []
+ left_gear_plot = []
+ right_gear_plot = []
+ vdrivetrain.left_shifter_position = 0.0
+ vdrivetrain.right_shifter_position = 0.0
+ vdrivetrain.left_gear = VelocityDrivetrain.LOW
+ vdrivetrain.right_gear = VelocityDrivetrain.LOW
+
+ print "K is", vdrivetrain.CurrentDrivetrain().K
+
+ if vdrivetrain.left_gear is VelocityDrivetrain.HIGH:
+ print "Left is high"
+ else:
+ print "Left is low"
+ if vdrivetrain.right_gear is VelocityDrivetrain.HIGH:
+ print "Right is high"
+ else:
+ print "Right is low"
+
+ for t in numpy.arange(0, 4.0, vdrivetrain.dt):
+ if t < 1.0:
+ vdrivetrain.Update(throttle=1.00, steering=0.0)
+ elif t < 1.2:
+ vdrivetrain.Update(throttle=1.00, steering=0.0)
+ else:
+ vdrivetrain.Update(throttle=1.00, steering=0.0)
+ t_plot.append(t)
+ vl_plot.append(vdrivetrain.X[0, 0])
+ vr_plot.append(vdrivetrain.X[1, 0])
+ ul_plot.append(vdrivetrain.U[0, 0])
+ ur_plot.append(vdrivetrain.U[1, 0])
+ left_gear_plot.append((vdrivetrain.left_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+ right_gear_plot.append((vdrivetrain.right_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+
+ fwd_velocity = (vdrivetrain.X[1, 0] + vdrivetrain.X[0, 0]) / 2
+ turn_velocity = (vdrivetrain.X[1, 0] - vdrivetrain.X[0, 0])
+ if abs(fwd_velocity) < 0.0000001:
+ radius_plot.append(turn_velocity)
+ else:
+ radius_plot.append(turn_velocity / fwd_velocity)
+
+ cim_velocity_plot = []
+ cim_voltage_plot = []
+ cim_time = []
+ cim = drivetrain.CIM()
+ R = numpy.matrix([[300]])
+ for t in numpy.arange(0, 0.5, cim.dt):
+ U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)
+ cim.Update(U)
+ cim_velocity_plot.append(cim.X[0, 0])
+ cim_voltage_plot.append(U[0, 0] * 10)
+ cim_time.append(t)
+ #pylab.plot(cim_time, cim_velocity_plot, label='cim spinup')
+ #pylab.plot(cim_time, cim_voltage_plot, label='cim voltage')
+ #pylab.legend()
+ #pylab.show()
+
+ # TODO(austin):
+ # Shifting compensation.
+
+ # Tighten the turn.
+ # Closed loop drive.
+
+ pylab.plot(t_plot, vl_plot, label='left velocity')
+ pylab.plot(t_plot, vr_plot, label='right velocity')
+ pylab.plot(t_plot, ul_plot, label='left voltage')
+ pylab.plot(t_plot, ur_plot, label='right voltage')
+ pylab.plot(t_plot, radius_plot, label='radius')
+ pylab.plot(t_plot, left_gear_plot, label='left gear high')
+ pylab.plot(t_plot, right_gear_plot, label='right gear high')
+ pylab.legend()
+ pylab.show()
+ return 0
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/frc971/control_loops/python/polydrivetrain_test.py b/frc971/control_loops/python/polydrivetrain_test.py
new file mode 100755
index 0000000..434cdca
--- /dev/null
+++ b/frc971/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+import polydrivetrain
+import numpy
+from numpy.testing import *
+import polytope
+import unittest
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+class TestVelocityDrivetrain(unittest.TestCase):
+ def MakeBox(self, x1_min, x1_max, x2_min, x2_max):
+ H = numpy.matrix([[1, 0],
+ [-1, 0],
+ [0, 1],
+ [0, -1]])
+ K = numpy.matrix([[x1_max],
+ [-x1_min],
+ [x2_max],
+ [-x2_min]])
+ return polytope.HPolytope(H, K)
+
+ def test_coerce_inside(self):
+ """Tests coercion when the point is inside the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w,
+ numpy.matrix([[1.5], [1.5]])),
+ numpy.matrix([[1.5], [1.5]]))
+
+ def test_coerce_outside_intersect(self):
+ """Tests coercion when the line intersects the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_outside_no_intersect(self):
+ """Tests coercion when the line does not intersect the box."""
+ box = self.MakeBox(3, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[3.0], [2.0]]))
+
+ def test_coerce_middle_of_edge(self):
+ """Tests coercion when the line intersects the middle of an edge."""
+ box = self.MakeBox(0, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[-1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_perpendicular_line(self):
+ """Tests coercion when the line does not intersect and is in quadrant 2."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = -x2
+ K = numpy.matrix([[1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[1.0], [1.0]]))
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index cc11dfc..034ee9e 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -5,9 +5,6 @@
#include <vector>
-// Stupid vxworks system headers define it which blows up Eigen...
-#undef m_data
-
#include "Eigen/Dense"
template <int number_of_states, int number_of_inputs, int number_of_outputs>
@@ -223,15 +220,17 @@
Eigen::Matrix<double, number_of_outputs, 1> U_ff;
Eigen::Matrix<double, number_of_outputs, 1> Y;
- ::std::vector<StateFeedbackController<number_of_states, number_of_inputs,
- number_of_outputs> *> controllers_;
-
- const StateFeedbackController<
- number_of_states, number_of_inputs, number_of_outputs>
- &controller() const {
+ const StateFeedbackController<number_of_states, number_of_inputs,
+ number_of_outputs> &controller() const {
return *controllers_[controller_index_];
}
+ const StateFeedbackController<number_of_states, number_of_inputs,
+ number_of_outputs> &controller(
+ int index) const {
+ return *controllers_[index];
+ }
+
void Reset() {
X_hat.setZero();
R.setZero();
@@ -241,22 +240,17 @@
Y.setZero();
}
- StateFeedbackLoop(
- const StateFeedbackController<number_of_states, number_of_inputs,
- number_of_outputs> &controller)
+ StateFeedbackLoop(const StateFeedbackController<
+ number_of_states, number_of_inputs, number_of_outputs> &controller)
: controller_index_(0) {
- controllers_.push_back(
- new StateFeedbackController<number_of_states, number_of_inputs,
- number_of_outputs>(controller));
+ controllers_.push_back(new StateFeedbackController<
+ number_of_states, number_of_inputs, number_of_outputs>(controller));
Reset();
}
- StateFeedbackLoop(
- const ::std::vector<StateFeedbackController<
- number_of_states, number_of_inputs,
- number_of_outputs> *> &controllers)
- : controllers_(controllers),
- controller_index_(0) {
+ StateFeedbackLoop(const ::std::vector<StateFeedbackController<
+ number_of_states, number_of_inputs, number_of_outputs> *> &controllers)
+ : controllers_(controllers), controller_index_(0) {
Reset();
}
@@ -328,6 +322,9 @@
void controller_index() const { return controller_index_; }
protected:
+ ::std::vector<StateFeedbackController<number_of_states, number_of_inputs,
+ number_of_outputs> *> controllers_;
+
// these are accessible from non-templated subclasses
static const int kNumStates = number_of_states;
static const int kNumOutputs = number_of_outputs;
diff --git a/frc971/control_loops/update_drivetrain.sh b/frc971/control_loops/update_drivetrain.sh
index 9d17e99..bad1074 100755
--- a/frc971/control_loops/update_drivetrain.sh
+++ b/frc971/control_loops/update_drivetrain.sh
@@ -1,6 +1,10 @@
#!/bin/bash
#
-# Updates the drivetrain controller.
+# Updates the drivetrain controllers (for both robots).
-./python/drivetrain.py drivetrain/drivetrain_motor_plant.h \
- drivetrain/drivetrain_motor_plant.cc
+cd $(dirname $0)
+
+./python/drivetrain.py drivetrain/drivetrain_dog_motor_plant.h \
+ drivetrain/drivetrain_dog_motor_plant.cc \
+ drivetrain/drivetrain_clutch_motor_plant.h \
+ drivetrain/drivetrain_clutch_motor_plant.cc
diff --git a/frc971/control_loops/update_polydrivetrain.sh b/frc971/control_loops/update_polydrivetrain.sh
new file mode 100755
index 0000000..2e2748e
--- /dev/null
+++ b/frc971/control_loops/update_polydrivetrain.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+#
+# Updates the polydrivetrain controllers (for both robots) and CIM models.
+
+cd $(dirname $0)
+
+./python/polydrivetrain.py drivetrain/polydrivetrain_dog_motor_plant.h \
+ drivetrain/polydrivetrain_dog_motor_plant.cc \
+ drivetrain/polydrivetrain_clutch_motor_plant.h \
+ drivetrain/polydrivetrain_clutch_motor_plant.cc \
+ drivetrain/polydrivetrain_cim_plant.h \
+ drivetrain/polydrivetrain_cim_plant.cc
diff --git a/frc971/frc971.gyp b/frc971/frc971.gyp
index 6d5202c..b6d842d 100644
--- a/frc971/frc971.gyp
+++ b/frc971/frc971.gyp
@@ -10,6 +10,11 @@
'<(AOS)/build/aos.gyp:logging',
'<(AOS)/common/common.gyp:once',
'<(AOS)/common/network/network.gyp:team_number',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:polydrivetrain_plants',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
],
}
],
diff --git a/frc971/input/gyro_board_data.h b/frc971/input/gyro_board_data.h
index fb47642..94200c9 100644
--- a/frc971/input/gyro_board_data.h
+++ b/frc971/input/gyro_board_data.h
@@ -1,6 +1,8 @@
#ifndef FRC971_INPUT_GYRO_BOARD_DATA_H_
#define FRC971_INPUT_GYRO_BOARD_DATA_H_
+#include <stdint.h>
+
namespace frc971 {
#define DATA_STRUCT_NAME GyroBoardData
diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index 411fb5e..fcfabb2 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -11,6 +11,7 @@
#include "frc971/control_loops/shooter/shooter_motor.q.h"
#include "frc971/queues/GyroAngle.q.h"
#include "frc971/input/usb_receiver.h"
+#include "frc971/constants.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
@@ -27,50 +28,57 @@
namespace frc971 {
namespace {
-inline double drivetrain_translate(int32_t in) {
+double drivetrain_translate(int32_t in) {
return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- (19.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/ *
+ constants::GetValues().drivetrain_encoder_ratio *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
-inline double wrist_translate(int32_t in) {
+double wrist_translate(int32_t in) {
return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
(14.0 / 50.0 * 20.0 / 84.0) /*gears*/ * (2 * M_PI);
}
-inline double angle_adjust_translate(int32_t in) {
+double angle_adjust_translate(int32_t in) {
static const double kCableDiameter = 0.060;
return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
((0.75 + kCableDiameter) / (16.61125 + kCableDiameter)) /*pulleys*/ *
(2 * M_PI);
}
-inline double shooter_translate(int32_t in) {
+double shooter_translate(int32_t in) {
return static_cast<double>(in) / (32.0 /*cpr*/ * 4.0 /*quad*/) *
(15.0 / 34.0) /*gears*/ * (2 * M_PI);
}
-inline double index_translate(int32_t in) {
+double index_translate(int32_t in) {
return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*quad*/) *
(1.0) /*gears*/ * (2 * M_PI);
}
// Translates values from the ADC into voltage.
-inline double adc_translate(uint16_t in) {
+double adc_translate(uint16_t in) {
static const double kVRefN = 0;
static const double kVRefP = 3.3;
- static const int kMaximumValue = 0x3FF;
- return kVRefN +
+ static const int kMaximumValue = 0xFFF;
+ static const double kDividerGnd = 31.6, kDividerOther = 28;
+ return (kVRefN +
(static_cast<double>(in) / static_cast<double>(kMaximumValue) *
- (kVRefP - kVRefN));
+ (kVRefP - kVRefN))) * (kDividerGnd + kDividerOther) / kDividerGnd;
}
-inline double gyro_translate(int64_t in) {
+double gyro_translate(int64_t in) {
return in / 16.0 / 1000.0 / (180.0 / M_PI);
}
-inline double battery_translate(uint16_t in) {
- return adc_translate(in) * 80.8 / 17.8;
+double battery_translate(uint16_t in) {
+ static const double kDividerBig = 98.9, kDividerSmall = 17.8;
+ return adc_translate(in) * kDividerBig / kDividerSmall;
+}
+
+double hall_translate(const constants::ShifterHallEffect &k, uint16_t in) {
+ const double voltage = adc_translate(in);
+ return (voltage - k.low) / (k.high - k.low);
}
} // namespace
@@ -79,14 +87,34 @@
public:
GyroSensorReceiver() : USBReceiver(2) {}
+ virtual void PacketReceived(const ::aos::time::Time &/*timestamp*/) override {
+ if (data()->bad_gyro) {
+ LOG(ERROR, "bad gyro\n");
+ bad_gyro_ = true;
+ gyro.MakeWithBuilder().angle(0).Send();
+ } else if (data()->old_gyro_reading) {
+ LOG(WARNING, "old gyro reading\n");
+ bad_gyro_ = true;
+ } else {
+ bad_gyro_ = false;
+ }
+ }
+
virtual void ProcessData(const ::aos::time::Time &/*timestamp*/) override {
- gyro.MakeWithBuilder()
- .angle(gyro_translate(data()->gyro_angle))
- .Send();
+ if (!bad_gyro_) {
+ gyro.MakeWithBuilder()
+ .angle(gyro_translate(data()->gyro_angle))
+ .Send();
+ }
drivetrain.position.MakeWithBuilder()
.right_encoder(drivetrain_translate(data()->main.right_drive))
.left_encoder(-drivetrain_translate(data()->main.left_drive))
+ .left_shifter_position(hall_translate(constants::GetValues().left_drive,
+ data()->main.left_drive_hall))
+ .right_shifter_position(hall_translate(
+ constants::GetValues().right_drive, data()->main.right_drive_hall))
+ .battery_voltage(battery_translate(data()->main.battery_voltage))
.Send();
wrist.position.MakeWithBuilder()
@@ -130,16 +158,10 @@
.loader_top(data()->main.loader_top)
.loader_bottom(data()->main.loader_bottom)
.Send();
-
- LOG(DEBUG, "battery %f %f %" PRIu16 "\n",
- battery_translate(data()->main.battery_voltage),
- adc_translate(data()->main.battery_voltage),
- data()->main.battery_voltage);
- LOG(DEBUG, "halls l=%f r=%f\n",
- adc_translate(data()->main.left_drive_hall),
- adc_translate(data()->main.right_drive_hall));
}
+ bool bad_gyro_;
+
WrappingCounter top_rise_;
WrappingCounter top_fall_;
WrappingCounter bottom_rise_;
diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index 9a26bce..b0bcb20 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -38,6 +38,7 @@
'<(AOS)/build/aos.gyp:logging',
'<(AOS)/common/util/util.gyp:wrapping_counter',
'usb_receiver',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
],
},
{
@@ -56,6 +57,13 @@
'<(DEPTH)/gyro_board/src/libusb-driver/libusb-driver.gyp:libusb_wrap',
'<(AOS)/common/common.gyp:time',
],
+ 'variables': {
+ # TODO(brians): Add dependency on this file too (or something).
+ 'checksum': '<!(<(DEPTH)/gyro_board/src/usb/data_struct_checksum.sh)',
+ },
+ 'defines': [
+ 'GYRO_BOARD_DATA_CHECKSUM=<(checksum)',
+ ],
},
],
}
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index be4e188..b29e17d 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -82,7 +82,7 @@
bool is_control_loop_driving = false;
double left_goal = 0.0;
double right_goal = 0.0;
- const double wheel = data.GetAxis(kSteeringWheel);
+ const double wheel = -data.GetAxis(kSteeringWheel);
const double throttle = -data.GetAxis(kDriveThrottle);
LOG(DEBUG, "wheel %f throttle %f\n", wheel, throttle);
const double kThrottleGain = 1.0 / 2.5;
@@ -177,22 +177,13 @@
shooter_goal->velocity = target_angle->shooter_speed;
angle_adjust_goal = target_angle->shooter_angle;
// TODO(brians): do the math right here
- wrist_up_position = 0.70;
+ if (!hopper_clear) wrist_up_position = 0.70;
} else {
LOG(WARNING, "camera frame too old\n");
- // pretend like no button is pressed
+ // Pretend like no button is pressed.
}
#endif
- // This shot is from 30'.
- shooter_goal->velocity = 360;
- if (!hopper_clear) wrist_up_position = 1.23 - 0.4;
- angle_adjust_goal = 0.630;
} else if (data.IsPressed(kMediumShot)) {
-#if 0
- shooter_goal->velocity = 375;
- wrist_up_position = 0.70;
- angle_adjust_goal = 0.564;
-#endif
// middle wheel on the back line (same as auto)
shooter_goal->velocity = 395;
if (!hopper_clear) wrist_up_position = 1.23 - 0.4;
diff --git a/frc971/input/usb_receiver.cc b/frc971/input/usb_receiver.cc
index b70ff61..06eb7df 100644
--- a/frc971/input/usb_receiver.cc
+++ b/frc971/input/usb_receiver.cc
@@ -18,23 +18,27 @@
if (ReceiveData()) {
Reset();
} else {
- if (phase_locker_.IsCurrentPacketGood(transfer_received_time_, frame_number_)) {
- static const int kCountsPerSecond = 100000;
- const ::aos::time::Time timestamp =
- ::aos::time::Time(data()->timestamp / kCountsPerSecond,
- (data()->timestamp * ::aos::time::Time::kNSecInSec /
- kCountsPerSecond) %
- ::aos::time::Time::kNSecInSec);
+ const ::aos::time::Time timestamp =
+ ::aos::time::Time::InMS(data()->frame_number);
- if (data()->robot_id != expected_robot_id_) {
- LOG(ERROR, "gyro board sent data for robot id %hhd instead of %hhd!"
- " dip switches are %hhx\n",
- data()->robot_id, expected_robot_id_, data()->dip_switches);
- return;
- } else {
- LOG(DEBUG, "processing dips %hhx frame %" PRId32 " at %f\n",
- data()->dip_switches, data()->frame_number, timestamp.ToSeconds());
- }
+ if (data()->robot_id != expected_robot_id_) {
+ LOG(ERROR, "gyro board sent data for robot id %hhd instead of %hhd!"
+ " dip switches are %hhx\n",
+ data()->robot_id, expected_robot_id_, data()->dip_switches);
+ return;
+ }
+ if (data()->checksum != GYRO_BOARD_DATA_CHECKSUM) {
+ LOG(ERROR,
+ "gyro board sent checksum %" PRIu16 " instead of %" PRIu16 "!\n",
+ data()->checksum, GYRO_BOARD_DATA_CHECKSUM);
+ return;
+ }
+
+ PacketReceived(timestamp);
+
+ if (phase_locker_.IsCurrentPacketGood(transfer_received_time_, frame_number_)) {
+ LOG(DEBUG, "processing dips %hhx frame %" PRId32 " at %f\n",
+ data()->dip_switches, data()->frame_number, timestamp.ToSeconds());
ProcessData(timestamp);
}
@@ -50,6 +54,9 @@
good_phase_early_ = good_phase_late_ = 0;
}
+void USBReceiver::PacketReceived(const ::aos::time::Time &/*timestamp*/) {}
+void USBReceiver::ProcessData(const ::aos::time::Time &/*timestamp*/) {}
+
bool USBReceiver::PhaseLocker::IsCurrentPacketGood(
const ::aos::time::Time &received_time,
uint32_t sequence) {
@@ -176,7 +183,6 @@
void USBReceiver::TransferCallback(libusb::Transfer *transfer) {
transfer_received_time_ = ::aos::time::Time::Now();
if (transfer->status() == LIBUSB_TRANSFER_COMPLETED) {
- LOG(DEBUG, "transfer %p completed\n", transfer);
completed_transfer_ = transfer;
} else if (transfer->status() == LIBUSB_TRANSFER_TIMED_OUT) {
LOG(WARNING, "transfer %p timed out\n", transfer);
@@ -227,8 +233,8 @@
LOG(WARNING, "frame number went from %" PRId32" to %" PRId32 "\n",
frame_number_before, frame_number_);
}
- if (frame_number_ < last_frame_number_) {
- LOG(WARNING, "frame number went down\n");
+ if (frame_number_ < last_frame_number_ - 2) {
+ LOG(WARNING, "frame number went down a lot\n");
return true;
}
last_frame_number_ = frame_number_;
diff --git a/frc971/input/usb_receiver.h b/frc971/input/usb_receiver.h
index 509b740..fec847f 100644
--- a/frc971/input/usb_receiver.h
+++ b/frc971/input/usb_receiver.h
@@ -102,7 +102,19 @@
void Reset();
- virtual void ProcessData(const ::aos::time::Time ×tamp) = 0;
+ // These 2 are the functions for subclasses to override and do stuff in.
+ // timestamp for both of them is the time (as best as this code can determine)
+ // that the values in the packet were captured.
+ // They both have empty implementations here for subclasses that don't want to
+ // do anything in one of them.
+
+ // Gets called after each packet is received (possibly before ProcessData for
+ // the same packet).
+ virtual void PacketReceived(const ::aos::time::Time ×tamp);
+ // Gets called every 10th packet (or so) (at the right time for data for
+ // control loops to get read). PacketReceived will always be called right
+ // before this.
+ virtual void ProcessData(const ::aos::time::Time ×tamp);
const uint8_t expected_robot_id_;
diff --git a/gyro_board/schematic/.gitignore b/gyro_board/schematic/.gitignore
new file mode 100644
index 0000000..d6b9d75
--- /dev/null
+++ b/gyro_board/schematic/.gitignore
@@ -0,0 +1,2 @@
+*.b#*
+*.s#*
diff --git a/gyro_board/src/usb/CAN.c b/gyro_board/src/usb/CAN.c
index 35f811f..61e7f47 100644
--- a/gyro_board/src/usb/CAN.c
+++ b/gyro_board/src/usb/CAN.c
@@ -231,10 +231,6 @@
vTaskDelete(NULL);
}
- // Set all of the CAN stuff to run at CCLK/6, which translates to about 1 Mbit
- // (1.042).
- SC->PCLKSEL0 |= 3 << 26 | 3 << 28 | 3 << 30;
-
// Enable CAN
SC->PCONP |= PCONP_PCCAN1;
@@ -279,6 +275,11 @@
}
}
+void CAN_PCLKSEL(void) {
+ // Set all of the CAN stuff to run at CCLK/6, which translates to about 1 Mbit
+ // (1.042).
+ SC->PCLKSEL0 |= 3 << 26 | 3 << 28 | 3 << 30;
+}
void initCAN(void){
xTaskCreate(vCAN1, (signed char *) "CAN1rx", configMINIMAL_STACK_SIZE + 400, NULL, tskIDLE_PRIORITY + 1, NULL);
diff --git a/gyro_board/src/usb/CAN.h b/gyro_board/src/usb/CAN.h
index 1ef39d5..60f2d10 100644
--- a/gyro_board/src/usb/CAN.h
+++ b/gyro_board/src/usb/CAN.h
@@ -14,6 +14,9 @@
} can_message;
int CAN_get(can_message *message);
+
+// Sets up PCLKSEL for CAN stuff (errata PCLKSELx.1).
+void CAN_PCLKSEL(void);
void initCAN(void);
#endif
diff --git a/gyro_board/src/usb/LPCUSB/USB_CDC.c b/gyro_board/src/usb/LPCUSB/USB_CDC.c
deleted file mode 100644
index 47d28db..0000000
--- a/gyro_board/src/usb/LPCUSB/USB_CDC.c
+++ /dev/null
@@ -1,454 +0,0 @@
-/*
- LPCUSB, an USB device driver for LPC microcontrollers
- Copyright (C) 2006 Bertrik Sikken (bertrik@sikken.nl)
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
-
- 1. Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- 2. Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- 3. The name of the author may not be used to endorse or promote products
- derived from this software without specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
- IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
- OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
- IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
- INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
- NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
- THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-/*
- Minimal implementation of a USB serial port, using the CDC class.
- This example application simply echoes everything it receives right back
- to the host.
-
- Windows:
- Extract the usbser.sys file from .cab file in C:\WINDOWS\Driver Cache\i386
- and store it somewhere (C:\temp is a good place) along with the usbser.inf
- file. Then plug in the LPC176x and direct windows to the usbser driver.
- Windows then creates an extra COMx port that you can open in a terminal
- program, like hyperterminal. [Note for FreeRTOS users - the required .inf
- file is included in the project directory.]
-
- Linux:
- The device should be recognised automatically by the cdc_acm driver,
- which creates a /dev/ttyACMx device file that acts just like a regular
- serial port.
-
-*/
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "task.h"
-
-#include <stdio.h>
-#include <string.h>
-
-#include "usbapi.h"
-#include "usbdebug.h"
-#include "usbstruct.h"
-
-#include "LPC17xx.h"
-
-#define usbMAX_SEND_BLOCK ( 20 / portTICK_RATE_MS )
-#define usbRXBUFFER_LEN ( 80 )
-#define usbTXBUFFER_LEN ( 600 )
-
-#define INCREMENT_ECHO_BY 0
-#define BAUD_RATE 115200
-
-#define INT_IN_EP 0x81
-#define BULK_OUT_EP 0x05
-#define BULK_IN_EP 0x82
-
-#define MAX_PACKET_SIZE 64
-
-#define LE_WORD(x) ((x)&0xFF),((x)>>8)
-
-// CDC definitions
-#define CS_INTERFACE 0x24
-#define CS_ENDPOINT 0x25
-
-#define SET_LINE_CODING 0x20
-#define GET_LINE_CODING 0x21
-#define SET_CONTROL_LINE_STATE 0x22
-
-// data structure for GET_LINE_CODING / SET_LINE_CODING class requests
-typedef struct {
- unsigned long dwDTERate;
- unsigned char bCharFormat;
- unsigned char bParityType;
- unsigned char bDataBits;
-} TLineCoding;
-
-static TLineCoding LineCoding = {115200, 0, 0, 8};
-static unsigned char abBulkBuf[64];
-static unsigned char abClassReqData[8];
-
-static xQueueHandle xRxedChars = NULL, xCharsForTx = NULL;
-
-// forward declaration of interrupt handler
-void USBIntHandler(void);
-
-static const unsigned char abDescriptors[] = {
-
-// device descriptor
- 0x12,
- DESC_DEVICE,
- LE_WORD(0x0101), // bcdUSB
- 0x02, // bDeviceClass
- 0x00, // bDeviceSubClass
- 0x00, // bDeviceProtocol
- MAX_PACKET_SIZE0, // bMaxPacketSize
- LE_WORD(0xFFFF), // idVendor
- LE_WORD(0x0005), // idProduct
- LE_WORD(0x0100), // bcdDevice
- 0x01, // iManufacturer
- 0x02, // iProduct
- 0x03, // iSerialNumber
- 0x01, // bNumConfigurations
-
-// configuration descriptor
- 0x09,
- DESC_CONFIGURATION,
- LE_WORD(67), // wTotalLength
- 0x02, // bNumInterfaces
- 0x01, // bConfigurationValue
- 0x00, // iConfiguration
- 0xC0, // bmAttributes
- 0x32, // bMaxPower
-// control class interface
- 0x09,
- DESC_INTERFACE,
- 0x00, // bInterfaceNumber
- 0x00, // bAlternateSetting
- 0x01, // bNumEndPoints
- 0x02, // bInterfaceClass
- 0x02, // bInterfaceSubClass
- 0x01, // bInterfaceProtocol, linux requires value of 1 for the cdc_acm module
- 0x00, // iInterface
-// header functional descriptor
- 0x05,
- CS_INTERFACE,
- 0x00,
- LE_WORD(0x0110),
-// call management functional descriptor
- 0x05,
- CS_INTERFACE,
- 0x01,
- 0x01, // bmCapabilities = device handles call management
- 0x01, // bDataInterface
-// ACM functional descriptor
- 0x04,
- CS_INTERFACE,
- 0x02,
- 0x02, // bmCapabilities
-// union functional descriptor
- 0x05,
- CS_INTERFACE,
- 0x06,
- 0x00, // bMasterInterface
- 0x01, // bSlaveInterface0
-// notification EP
- 0x07,
- DESC_ENDPOINT,
- INT_IN_EP, // bEndpointAddress
- 0x03, // bmAttributes = intr
- LE_WORD(8), // wMaxPacketSize
- 0x0A, // bInterval
-// data class interface descriptor
- 0x09,
- DESC_INTERFACE,
- 0x01, // bInterfaceNumber
- 0x00, // bAlternateSetting
- 0x02, // bNumEndPoints
- 0x0A, // bInterfaceClass = data
- 0x00, // bInterfaceSubClass
- 0x00, // bInterfaceProtocol
- 0x00, // iInterface
-// data EP OUT
- 0x07,
- DESC_ENDPOINT,
- BULK_OUT_EP, // bEndpointAddress
- 0x02, // bmAttributes = bulk
- LE_WORD(MAX_PACKET_SIZE), // wMaxPacketSize
- 0x00, // bInterval
-// data EP in
- 0x07,
- DESC_ENDPOINT,
- BULK_IN_EP, // bEndpointAddress
- 0x02, // bmAttributes = bulk
- LE_WORD(MAX_PACKET_SIZE), // wMaxPacketSize
- 0x00, // bInterval
-
- // string descriptors
- 0x04,
- DESC_STRING,
- LE_WORD(0x0409),
-
- 0x0E,
- DESC_STRING,
- 'L', 0, 'P', 0, 'C', 0, 'U', 0, 'S', 0, 'B', 0,
-
- 0x14,
- DESC_STRING,
- 'U', 0, 'S', 0, 'B', 0, 'S', 0, 'e', 0, 'r', 0, 'i', 0, 'a', 0, 'l', 0,
-
- 0x12,
- DESC_STRING,
- 'A', 0, 'B', 0, 'S', 0, 'M', 0, 'o', 0, 't', 0, 'o', 0, 'r', 0,
-
-// terminating zero
- 0
-};
-
-
-/**
- Local function to handle incoming bulk data
-
- @param [in] bEP
- @param [in] bEPStatus
- */
-static void BulkOut(unsigned char bEP, unsigned char bEPStatus)
-{
- int i, iLen;
- long lHigherPriorityTaskWoken = pdFALSE;
-
- (void) bEPStatus;
-
- // get data from USB into intermediate buffer
- iLen = USBHwEPRead(bEP, abBulkBuf, sizeof(abBulkBuf));
- for (i = 0; i < iLen; i++) {
- // put into queue
- xQueueSendFromISR(xRxedChars, &(abBulkBuf[ i ]), &lHigherPriorityTaskWoken);
- }
-
- portEND_SWITCHING_ISR(lHigherPriorityTaskWoken);
-}
-
-
-/**
- Local function to handle outgoing bulk data
-
- @param [in] bEP
- @param [in] bEPStatus
- */
-static void BulkIn(unsigned char bEP, unsigned char bEPStatus)
-{
- int i, iLen;
- long lHigherPriorityTaskWoken = pdFALSE;
-
- (void) bEPStatus;
-
- if (uxQueueMessagesWaitingFromISR(xCharsForTx) == 0) {
- // no more data, disable further NAK interrupts until next USB frame
- USBHwNakIntEnable(0);
- return;
- }
-
- // get bytes from transmit FIFO into intermediate buffer
- for (i = 0; i < MAX_PACKET_SIZE; i++) {
- if (xQueueReceiveFromISR(xCharsForTx, (&abBulkBuf[i]), &lHigherPriorityTaskWoken) != pdPASS) {
- break;
- }
- }
- iLen = i;
-
- // send over USB
- if (iLen > 0) {
- USBHwEPWrite(bEP, abBulkBuf, iLen);
- }
-
- portEND_SWITCHING_ISR(lHigherPriorityTaskWoken);
-}
-
-
-/**
- Local function to handle the USB-CDC class requests
-
- @param [in] pSetup
- @param [out] piLen
- @param [out] ppbData
- */
-static BOOL HandleClassRequest(TSetupPacket *pSetup, int *piLen, unsigned char **ppbData)
-{
- switch (pSetup->bRequest) {
-
- // set line coding
- case SET_LINE_CODING:
- DBG("SET_LINE_CODING\n");
- memcpy((unsigned char *)&LineCoding, *ppbData, 7);
- *piLen = 7;
- DBG("dwDTERate=%u, bCharFormat=%u, bParityType=%u, bDataBits=%u\n",
- LineCoding.dwDTERate,
- LineCoding.bCharFormat,
- LineCoding.bParityType,
- LineCoding.bDataBits);
- break;
-
- // get line coding
- case GET_LINE_CODING:
- DBG("GET_LINE_CODING\n");
- *ppbData = (unsigned char *) & LineCoding;
- *piLen = 7;
- break;
-
- // set control line state
- case SET_CONTROL_LINE_STATE:
- // bit0 = DTR, bit = RTS
- DBG("SET_CONTROL_LINE_STATE %X\n", pSetup->wValue);
- break;
-
- default:
- return FALSE;
- }
- return TRUE;
-}
-
-
-/**
- Writes one character to VCOM port
-
- @param [in] c character to write
- @returns character written, or EOF if character could not be written
- */
-int VCOM_putchar(int c)
-{
- char cc = (char) c;
-
- if (xQueueSend(xCharsForTx, &cc, usbMAX_SEND_BLOCK) == pdPASS) {
- return c;
- } else {
- return EOF;
- }
-}
-
-
-/**
- Reads one character from VCOM port
-
- @returns character read, or EOF if character could not be read
- */
-int VCOM_getchar(void)
-{
- unsigned char c;
-
- /* Block the task until a character is available. */
- xQueueReceive(xRxedChars, &c, portMAX_DELAY);
- return c;
-}
-
-
-/**
- Interrupt handler
-
- Simply calls the USB ISR
- */
-void USB_IRQHandler(void)
-{
- USBHwISR();
-}
-
-
-static void USBFrameHandler(unsigned short wFrame)
-{
- (void) wFrame;
-
- if (uxQueueMessagesWaitingFromISR(xCharsForTx) > 0) {
- // data available, enable NAK interrupt on bulk in
- USBHwNakIntEnable(INACK_BI);
- }
-}
-
-unsigned long CPUcpsie(void)
-{
- unsigned long ulRet;
-
- //
- // Read PRIMASK and enable interrupts.
- //
- __asm(" mrs %0, PRIMASK\n"
- " cpsie i\n"
- " bx lr\n"
- : "=r"(ulRet));
-
- //
- // The return is handled in the inline assembly, but the compiler will
- // still complain if there is not an explicit return here (despite the fact
- // that this does not result in any code being produced because of the
- // naked attribute).
- //
- return(ulRet);
-}
-
-void vUSBTask(void *pvParameters)
-{
- //int c;
- portTickType xLastFlashTime;
-
- /* Just to prevent compiler warnings about the unused parameter. */
- (void) pvParameters;
- DBG("Initialising USB stack\n");
-
- xRxedChars = xQueueCreate(usbRXBUFFER_LEN, sizeof(char));
- xCharsForTx = xQueueCreate(usbTXBUFFER_LEN, sizeof(char));
-
- if ((xRxedChars == NULL) || (xCharsForTx == NULL)) {
- /* Not enough heap available to create the buffer queues, can't do
- anything so just delete ourselves. */
- vTaskDelete(NULL);
- }
-
-
- // initialise stack
- USBInit();
-
- // register descriptors
- USBRegisterDescriptors(abDescriptors);
-
- // register class request handler
- USBRegisterRequestHandler(REQTYPE_TYPE_CLASS, HandleClassRequest, abClassReqData);
-
- // register endpoint handlers
- USBHwRegisterEPIntHandler(INT_IN_EP, NULL);
- USBHwRegisterEPIntHandler(BULK_IN_EP, BulkIn);
- USBHwRegisterEPIntHandler(BULK_OUT_EP, BulkOut);
-
- // register frame handler
- USBHwRegisterFrameHandler(USBFrameHandler);
-
- // enable bulk-in interrupts on NAKs
- USBHwNakIntEnable(INACK_BI);
-
- DBG("Starting USB communication\n");
-
- NVIC_SetPriority(USB_IRQn, configUSB_INTERRUPT_PRIORITY);
- NVIC_EnableIRQ(USB_IRQn);
-
- // connect to bus
-
- DBG("Connecting to USB bus\n");
- USBHwConnect(TRUE);
-
- xLastFlashTime = xTaskGetTickCount();
-
- // echo any character received (do USB stuff in interrupt)
- for (;;) {
- // c = VCOM_getchar();
- // if (c != EOF) {
- // // Echo character back with INCREMENT_ECHO_BY offset, so for example if
- // // INCREMENT_ECHO_BY is 1 and 'A' is received, 'B' will be echoed back.
- // VCOM_putchar(c + INCREMENT_ECHO_BY);
- // }
- vTaskDelayUntil(&xLastFlashTime, 1000 / portTICK_RATE_MS);
- }
-}
-
diff --git a/gyro_board/src/usb/Makefile b/gyro_board/src/usb/Makefile
index da8a4c5..a66848c 100644
--- a/gyro_board/src/usb/Makefile
+++ b/gyro_board/src/usb/Makefile
@@ -37,25 +37,27 @@
analog.c \
digital.c \
encoder.c \
+ gyro.c \
+ CAN.c \
FreeRTOS/portable/GCC/ARM_CM3/port.c \
FreeRTOS/tasks.c \
FreeRTOS/list.c \
FreeRTOS/queue.c \
- CAN.c \
LPCUSB/usbinit.c \
LPCUSB/usbcontrol.c \
- usb_device.c \
LPCUSB/usbhw_lpc.c \
- gyro.c \
- LPCUSB/usbstdreq.c
+ LPCUSB/usbstdreq.c \
+ usb_device.c \
+
+DATA_STRUCT_CHECKSUM=$(shell ./data_struct_checksum.sh)
all: $(NAME).hex
$(NAME).elf: Makefile $(SOURCES:.c=.o) $(LDSCRIPT)
$(CC) $(CFLAGS) -nostartfiles -nostdlib -T $(LDSCRIPT) -o $@ -L$(TOOLS_PREFIX)/lib/gcc/arm-eabi/4.5.1/ $(SOURCES:.c=.o) -Wa,-Map -Wa,main.map -lgcc
-%.o: %.c Makefile
- $(CC) $(CFLAGS) -nostartfiles -nostdlib -c -o $@ $< -Wall -std=gnu99
+%.o: %.c Makefile data_struct_checksum.sh
+ $(CC) $(CFLAGS) -nostartfiles -nostdlib -c -o $@ $< -Wall -std=gnu99 -DDATA_STRUCT_CHECKSUM=$(DATA_STRUCT_CHECKSUM)
run: deploy
$(FLASHER) -termonly -control $(NAME).hex $(PORT) $(SPEED) $(OSC)
diff --git a/gyro_board/src/usb/analog.c b/gyro_board/src/usb/analog.c
index b2ab48f..7968094 100644
--- a/gyro_board/src/usb/analog.c
+++ b/gyro_board/src/usb/analog.c
@@ -1,39 +1,81 @@
#include "analog.h"
#include "LPC17xx.h"
+#include "FreeRTOS.h"
+
+static int discarded_samples[4];
+
+static uint16_t raw_analog(int channel) {
+ uint32_t value;
+ switch (channel) {
+ case 0:
+ value = ADC->ADDR0;
+ break;
+ case 1:
+ value = ADC->ADDR1;
+ break;
+ case 2:
+ value = ADC->ADDR2;
+ break;
+ case 3:
+ value = ADC->ADDR3;
+ break;
+ }
+
+ return (value >> 4) & 0xFFF;
+}
+
+void TIMER1_IRQHandler(void) {
+ TIM1->IR = 1 << 0; // clear channel 0 match
+
+ static const int kBadSampleThreshold = 175;
+ static const int kMaxBadSamples = 4;
+
+ static const uint32_t kBitShift = 16;
+ static const uint32_t kA =
+ (1.0 - 0.8408964152537146 /*0.5^0.25*/) * (1 << kBitShift) + 0.5;
+ for (int i = 0; i < 4; ++i) {
+ uint16_t current = raw_analog(i);
+ uint16_t average = averaged_values[i];
+ if ((current - average) < -kBadSampleThreshold ||
+ (current - average) > kBadSampleThreshold) {
+ ++discarded_samples[i];
+ if (discarded_samples[i] >= kMaxBadSamples) {
+ discarded_samples[i] = 0;
+ averaged_values[i] = current;
+ }
+ } else {
+ discarded_samples[i] = 0;
+ averaged_values[i] =
+ ((uint32_t)current * kA +
+ (uint32_t)average * ((1 << kBitShift) - kA)) >> kBitShift;
+ }
+ }
+}
void analog_init(void) {
SC->PCONP |= PCONP_PCAD;
- // Enable AD0.0, AD0.1, AD0.2, AD0.3
+ // Enable AD0.0, AD0.1, AD0.2, and AD0.3 (0.23 - 0.26).
PINCON->PINSEL1 &= ~(3 << 14 | 3 << 16 | 3 << 18 | 3 << 20);
PINCON->PINSEL1 |= 1 << 14 | 1 << 16 | 1 << 18 | 1 << 20;
+ PINCON->PINMODE1 &= ~(3 << 14 | 3 << 16 | 3 << 18 | 3 << 20);
+ PINCON->PINMODE1 |= 2 << 14 | 2 << 16 | 2 << 18 | 2 << 20;
+
ADC->ADCR = (1 << 0 | 1 << 1 | 1 << 2 | 1 << 3) /* enable all 4 */ |
- 7 << 8 /* 100MHz / 8 = 12.5MHz */ |
+ 79 << 8 /* takes 208us to scan through all 4 */ |
1 << 16 /* enable burst mode */ |
1 << 21 /* turn on ADC */;
-}
-uint16_t analog(int channel) {
- uint32_t value;
- do {
- switch (channel) {
- case 0:
- value = ADC->ADDR0;
- break;
- case 1:
- value = ADC->ADDR1;
- break;
- case 2:
- value = ADC->ADDR2;
- break;
- case 3:
- value = ADC->ADDR3;
- break;
- default:
- return 0xFFFF;
- }
- } while (!(value & 1 << 31));
-
- return (value >> 4) & 0x3FF;
+ // Set up the timer for the low-pass filter.
+ SC->PCONP |= 1 << 2;
+ TIM1->PR = (configCPU_CLOCK_HZ / 2000) - 1;
+ TIM1->TC = 0; // don't match the first time around
+ TIM1->MR0 = 1; // match every time it wraps
+ TIM1->MCR = 1 << 0 | 1 << 1; // interrupt and reset on match channel 0
+ // Priority 4 is higher than any FreeRTOS-managed stuff (ie USB), but lower
+ // than encoders etc.
+ NVIC_SetPriority(TIMER1_IRQn, 4);
+ NVIC_EnableIRQ(TIMER1_IRQn);
+ TIM1->TCR = 1; // enable it
}
diff --git a/gyro_board/src/usb/analog.h b/gyro_board/src/usb/analog.h
index 5a06290..a77ee65 100644
--- a/gyro_board/src/usb/analog.h
+++ b/gyro_board/src/usb/analog.h
@@ -3,13 +3,22 @@
#include <stdint.h>
+// Internal variable for holding the averaged value. USE analog TO GET TO THIS
+// IN CASE IT CHANGES!
+uint16_t averaged_values[4];
+
// Starts the hardware constantly doing conversions on all 4 of our analog
// inputs.
void analog_init(void);
// Retrieves the most recent reading on channel (0-3).
// Returns 0xFFFF for invalid channel.
-// 0 means 0V and 0x3FF means 3.3V.
-uint16_t analog(int channel);
+// 0 means 0V and 0xFFF means 3.3V.
+// These values are run through a low-pass filter with unreasonable readings
+// discarded first.
+static inline uint16_t analog(int channel) {
+ if (channel < 0 || channel > 3) return 0xFFFF;
+ return averaged_values[channel];
+}
#endif // __ANALOG_H__
diff --git a/gyro_board/src/usb/data_struct.h b/gyro_board/src/usb/data_struct.h
index 317b0f5..0f54fe2 100644
--- a/gyro_board/src/usb/data_struct.h
+++ b/gyro_board/src/usb/data_struct.h
@@ -13,19 +13,31 @@
struct DATA_STRUCT_NAME {
int64_t gyro_angle;
- // In units of 100,000 counts/second.
- uint64_t timestamp;
-
union {
struct {
- // This is the USB frame number for this data. It gets incremented on
- // every packet sent.
+ // This is the USB frame number for this data. It (theoretically) gets
+ // incremented on every packet sent, but the gyro board will deal with it
+ // correctly if it misses a frame or whatever by tracking the frame
+ // numbers sent out by the host.
// Negative numbers mean that the gyro board has no idea what the right
// answer is.
// This value going down at all indicates that the code on the gyro board
// dealing with it reset.
+ //
+ // The USB 2.0 standard says that timing of frames is 1.000ms +- 500ns.
+ // Testing with a fitpc and gyro board on 2013-10-30 by Brian gave 10us
+ // (the resolution of the timer on the gyro board that was used) of drift
+ // every 90-130 frames (~100ns per frame) and no jitter (and the timer on
+ // the gyro board isn't necessarily that good). This is plenty accurate
+ // for what we need for timing, so this number is what the code uses to do
+ // all timing calculations.
int32_t frame_number;
+ // Checksum of this file calculated with sum(1).
+ // The gyro board sets this and then the fitpc checks it to make sure that
+ // they're both using the same version of this file.
+ uint16_t checksum;
+
// Which robot (+version) the gyro board is sending out data for.
// We should keep this in the same place for all gyro board software
// versions so that the fitpc can detect when it's reading from a gyro
@@ -62,7 +74,9 @@
uint8_t unknown_frame : 1;
};
};
- uint64_t header;
+ struct {
+ uint64_t header0, header1;
+ };
};
// We are 64-bit aligned at this point.
diff --git a/gyro_board/src/usb/data_struct_checksum.sh b/gyro_board/src/usb/data_struct_checksum.sh
new file mode 100755
index 0000000..147a365
--- /dev/null
+++ b/gyro_board/src/usb/data_struct_checksum.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+sum $(dirname $0)/data_struct.h | sed 's/^\([0-9]*\) .*$/\1/'
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index c625026..c735126 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -14,19 +14,6 @@
// before reading the indexer encoder.
static const int kBottomFallDelayTime = 32;
-// How long to wait for a revolution of the shooter wheel (on the third robot)
-// before said wheel is deemed "stopped". (In secs)
-static const float kWheelStopThreshold = 2.0;
-
-// The timer to use for timestamping sensor readings.
-// This is a constant to avoid hard-coding it in a lot of places, but there ARE
-// things (PCONP bits, IRQ numbers, etc) that have this value in them
-// implicitly.
-#define SENSOR_TIMING_TIMER TIM1
-// How many counts per second SENSOR_TIMING_TIMER should be.
-// This will wrap the counter about every 1/3 of a second.
-static const int kSensorTimingRate = 100000;
-
#define ENC(gpio, a, b) readGPIO(gpio, a) * 2 + readGPIO(gpio, b)
int encoder_bits(int channel) {
switch (channel) {
@@ -446,24 +433,7 @@
static volatile uint32_t sensor_timing_wraps = 0;
-void TIMER1_IRQHandler(void) {
- SENSOR_TIMING_TIMER->IR = 1 << 0; // clear channel 0 match
- ++sensor_timing_wraps;
-}
-
void encoder_init(void) {
- // Set up the timer for timestamping sensor readings.
- SC->PCONP |= 1 << 2;
- SENSOR_TIMING_TIMER->PR = (configCPU_CLOCK_HZ / kSensorTimingRate) - 1UL;
- SENSOR_TIMING_TIMER->TC = 1; // don't match the first time around
- SENSOR_TIMING_TIMER->MR0 = 0; // match every time it wraps
- SENSOR_TIMING_TIMER->MCR = 1 << 0; // interrupt on match channel 0
- // Priority 4 is higher than any FreeRTOS-managed stuff (ie USB), but lower
- // than encoders etc.
- NVIC_SetPriority(TIMER1_IRQn, 4);
- NVIC_EnableIRQ(TIMER1_IRQn);
- SENSOR_TIMING_TIMER->TCR = 1; // enable it
-
// Setup the encoder interface.
SC->PCONP |= PCONP_PCQEI;
PINCON->PINSEL3 = ((PINCON->PINSEL3 & 0xffff3dff) | 0x00004100);
@@ -587,9 +557,7 @@
packet->bad_gyro = 0;
}
- NVIC_DisableIRQ(TIMER1_IRQn);
- packet->timestamp = ((uint64_t)sensor_timing_wraps << 32) | TIM1->TC;
- NVIC_EnableIRQ(TIMER1_IRQn);
+ packet->checksum = DATA_STRUCT_CHECKSUM;
packet->dip_switch0 = dip_switch(0);
packet->dip_switch1 = dip_switch(1);
@@ -617,9 +585,6 @@
packet->main.shooter = encoder1_val;
packet->main.indexer = encoder3_val;
- packet->main.battery_voltage = analog(3);
- packet->main.left_drive_hall = analog(1);
- packet->main.right_drive_hall = analog(2);
NVIC_DisableIRQ(EINT3_IRQn);
@@ -643,6 +608,7 @@
packet->main.capture_bottom_fall_delay = capture_bottom_fall_delay;
packet->main.bottom_fall_delay_count = bottom_fall_delay_count;
packet->main.bottom_fall_count = bottom_fall_count;
+ packet->main.bottom_rise_count = bottom_rise_count;
packet->main.bottom_disc = !digital(1);
NVIC_EnableIRQ(EINT3_IRQn);
@@ -661,6 +627,10 @@
NVIC_EnableIRQ(EINT3_IRQn);
- packet->main.bottom_rise_count = bottom_rise_count;
+ // Do all of the analogs last because they have the potential to be slow and
+ // jittery.
+ packet->main.battery_voltage = analog(1);
+ packet->main.left_drive_hall = analog(3);
+ packet->main.right_drive_hall = analog(2);
}
}
diff --git a/gyro_board/src/usb/gyro.c b/gyro_board/src/usb/gyro.c
index ad49658..40734ff 100644
--- a/gyro_board/src/usb/gyro.c
+++ b/gyro_board/src/usb/gyro.c
@@ -187,10 +187,6 @@
static portTASK_FUNCTION(gyro_read_task, pvParameters) {
SC->PCONP |= PCONP_PCSSP0;
- // Make sure that the clock is set up right.
- SC->PCLKSEL1 &= ~(3 << 10);
- SC->PCLKSEL1 |= 1 << 10;
-
// Set up SSEL.
// It's is just a GPIO pin because we're the master (it would be special if we
// were a slave).
diff --git a/gyro_board/src/usb/main.c b/gyro_board/src/usb/main.c
index 4e74ce7..e186bba 100644
--- a/gyro_board/src/usb/main.c
+++ b/gyro_board/src/usb/main.c
@@ -149,14 +149,19 @@
setup_PLL1();
- // Set everything to run at full CCLK by default.
- SC->PCLKSEL0 = 0x55555555;
-
/* Configure the LEDs. */
vParTestInitialise();
}
int main(void) {
+ // Errata PCLKSELx.1 says that we have to do all of this BEFORE setting up
+ // PLL0 or it might not work.
+
+ // Set everything to run at full CCLK by default.
+ SC->PCLKSEL0 = 0x55555555;
+
+ CAN_PCLKSEL();
+
setup_hardware();
digital_init();
@@ -203,7 +208,6 @@
/* Power up and feed the timer. */
SC->PCONP |= 0x02UL;
- SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3 << 2))) | (0x01 << 2);
/* Reset Timer 0 */
TIM0->TCR = TCR_COUNT_RESET;
diff --git a/gyro_board/src/usb/usb_device.c b/gyro_board/src/usb/usb_device.c
index 39c3cae..c90bd0d 100644
--- a/gyro_board/src/usb/usb_device.c
+++ b/gyro_board/src/usb/usb_device.c
@@ -260,14 +260,17 @@
}
// Instead of registering an lpcusb handler for this, we do it ourself so that
-// we can get the timing jitter down.
+// we can get the timing jitter down and deal with the frame number right.
static void HandleFrame(void) {
USB->USBDevIntClr = FRAME;
static struct DataStruct sensor_values;
fillSensorPacket(&sensor_values);
+ // What the last good frame number that we got was.
+ // Values <0 are uninitialized.
static int32_t current_frame = -1;
+ // How many extra frames we're guessing happened since we got a good one.
static int guessed_frames = 0;
uint8_t error_status = USBHwCmdRead(CMD_DEV_READ_ERROR_STATUS);
@@ -283,6 +286,11 @@
current_frame = read_frame;
guessed_frames = 0;
} else {
+ // All of the complicated stuff in here tracks the frame number from
+ // hardware (which comes from the SOF tokens sent out by the host) except
+ // deal with it if we miss a couple or get off by a little bit (and reset
+ // completely if we get off by a lot or miss a lot in a row).
+
static const uint32_t kMaxReadFrame = 0x800;
static const uint32_t kReadMask = kMaxReadFrame - 1;
if ((current_frame & kReadMask) == read_frame) {
@@ -290,21 +298,24 @@
++guessed_frames;
} else {
guessed_frames = 0;
+ // The frame number that we think we should have gotten.
+ int32_t expected_frame = current_frame + guessed_frames + 1;
int16_t difference =
- read_frame - (int16_t)((current_frame + 1) & kReadMask);
+ read_frame - (int16_t)(expected_frame & kReadMask);
// If we're off by only a little.
if (difference > -10 && difference < 10) {
- current_frame = ((current_frame + 1) & ~kReadMask) | read_frame;
- // If we're ahead by only a little but we wrapped.
+ current_frame = (expected_frame & ~kReadMask) | read_frame;
+ // If we're ahead by only a little (or dead on) but we wrapped.
} else if (difference > kMaxReadFrame - 10) {
current_frame =
- ((current_frame & ~kReadMask) - kMaxReadFrame) | read_frame;
- // If we're behind by only a little but the packet counter wrapped.
+ ((expected_frame & ~kReadMask) - kMaxReadFrame) | read_frame;
+ // If we're behind by only a little (or dead on) but the number in the
+ // token wrapped.
} else if (difference < -(kMaxReadFrame - 10)) {
current_frame =
- ((current_frame & ~kReadMask) + kMaxReadFrame) | read_frame;
+ ((expected_frame & ~kReadMask) + kMaxReadFrame) | read_frame;
} else {
- // Give up and reset.
+ // We're way off, so give up and reset.
current_frame = -1;
}
}
diff --git a/vision/BinaryServer.cpp b/vision/BinaryServer.cpp
index 29deee9..18cf85b 100644
--- a/vision/BinaryServer.cpp
+++ b/vision/BinaryServer.cpp
@@ -18,7 +18,7 @@
namespace frc971 {
namespace vision {
-static void echo_read_cb(struct bufferevent *bev, void * /*ctx*/){
+static void echo_read_cb(struct bufferevent *bev, void * /*ctx*/) {
struct evbuffer *input = bufferevent_get_input(bev);
struct evbuffer *output = bufferevent_get_output(bev);
@@ -32,94 +32,98 @@
evbuffer_add_buffer(output, input);
}
-void BinaryServer::ErrorEvent(struct bufferevent *bev, short events){
- if (events & BEV_EVENT_ERROR)
- perror("Error from bufferevent");
+void BinaryServer::ErrorEvent(struct bufferevent *bev, short events) {
+ if (events & BEV_EVENT_ERROR) perror("Error from bufferevent");
if (events & (BEV_EVENT_EOF | BEV_EVENT_ERROR)) {
have_id = false;
bufferevent_free(bev);
}
}
-void BinaryServer::Accept(struct evconnlistener *listener,
- evutil_socket_t fd, struct sockaddr * /*address*/, int /*socklen*/){
+void BinaryServer::Accept(struct evconnlistener *listener, evutil_socket_t fd,
+ struct sockaddr * /*address*/, int /*socklen*/) {
struct event_base *base = evconnlistener_get_base(listener);
- if(!have_id){
- struct bufferevent *bev = bufferevent_socket_new(base, fd, BEV_OPT_CLOSE_ON_FREE);
+ if (!have_id) {
+ struct bufferevent *bev =
+ bufferevent_socket_new(base, fd, BEV_OPT_CLOSE_ON_FREE);
_output = bufferevent_get_output(bev);
_bufev = bev;
have_id = true;
int no_delay_flag = 1;
- setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &no_delay_flag, sizeof(no_delay_flag));
+ setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &no_delay_flag,
+ sizeof(no_delay_flag));
bufferevent_setcb(bev, echo_read_cb, NULL, StaticErrorEvent, this);
bufferevent_enable(bev, EV_READ | EV_WRITE);
}
}
-static void accept_error_cb(struct evconnlistener *listener, void * /*ctx*/)
-{
+static void accept_error_cb(struct evconnlistener *listener, void * /*ctx*/) {
struct event_base *base = evconnlistener_get_base(listener);
int err = EVUTIL_SOCKET_ERROR();
fprintf(stderr, "Got an error %d (%s) on the listener. "
- "Shutting down.\n", err, evutil_socket_error_to_string(err));
+ "Shutting down.\n",
+ err, evutil_socket_error_to_string(err));
event_base_loopexit(base, NULL);
}
-void BinaryServer::StartServer(uint16_t port){
+void BinaryServer::StartServer(uint16_t port) {
_fd = socket(AF_INET, SOCK_STREAM, 0);
struct sockaddr_in sin;
memset(&sin, 0, sizeof(sin));
sin.sin_family = AF_INET;
- sin.sin_port = htons( port );
+ sin.sin_port = htons(port);
sin.sin_addr.s_addr = inet_addr("0.0.0.0");
- listener = evconnlistener_new_bind(_base, StaticAccept, this,
- LEV_OPT_CLOSE_ON_FREE | LEV_OPT_REUSEABLE, -1,
- (struct sockaddr *) (void *)&sin, sizeof(sin));
+ listener = evconnlistener_new_bind(
+ _base, StaticAccept, this, LEV_OPT_CLOSE_ON_FREE | LEV_OPT_REUSEABLE, -1,
+ (struct sockaddr *)(void *)&sin, sizeof(sin));
if (!listener) {
- fprintf(stderr,"%s:%d: Couldn't create listener\n", __FILE__, __LINE__);
+ fprintf(stderr, "%s:%d: Couldn't create listener\n", __FILE__, __LINE__);
exit(-1);
}
evconnlistener_set_error_cb(listener, accept_error_cb);
}
-void BinaryServer::Notify(int fd,short /*what*/){
+void BinaryServer::Notify(int fd, short /*what*/) {
char notes[4096];
- int count = read(fd,notes,4096);
- if(count == 0){
+ int count = read(fd, notes, 4096);
+ if (count == 0) {
close(fd);
- fprintf(stderr,"%s:%d: Error No cheeze from OpenCV task!!!\n",__FILE__,__LINE__);
+ fprintf(stderr, "%s:%d: Error No cheeze from OpenCV task!!!\n", __FILE__,
+ __LINE__);
exit(-1);
}
- printf("notified!: %d\n",count);
- if(have_id){
+ printf("notified!: %d\n", count);
+ if (have_id) {
printf("got someone to read my stuff!\n");
char *binary_data;
size_t len;
- if(_notify->GetData(&binary_data,&len)){
+ if (_notify->GetData(&binary_data, &len)) {
printf("here is for sending\n");
- evbuffer_add_reference(_output, binary_data, len, PacketNotifier::StaticDataSent,_notify);
- printf("this is how sending went %d\n",bufferevent_flush(_bufev,EV_WRITE, BEV_FLUSH));
+ evbuffer_add_reference(_output, binary_data, len,
+ PacketNotifier::StaticDataSent, _notify);
+ printf("this is how sending went %d\n",
+ bufferevent_flush(_bufev, EV_WRITE, BEV_FLUSH));
}
}
}
-//Constructor
-BinaryServer::BinaryServer(uint16_t port,
- frc971::vision::PacketNotifier *notify) :
- _base(event_base_new()) {
- have_id = false;
- StartServer(port);
- _notify = notify;
- frame_notify = event_new(_base, notify->RecieverFD(),
- EV_READ|EV_PERSIST, StaticNotify, this);
- event_add(frame_notify,NULL);
- event_base_dispatch(_base);
- }
+// Constructor
+BinaryServer::BinaryServer(uint16_t port,
+ frc971::vision::PacketNotifier *notify)
+ : _base(event_base_new()) {
+ have_id = false;
+ StartServer(port);
+ _notify = notify;
+ frame_notify = event_new(_base, notify->RecieverFD(), EV_READ | EV_PERSIST,
+ StaticNotify, this);
+ event_add(frame_notify, NULL);
+ event_base_dispatch(_base);
+}
} // namespace vision
} // namespace frc971
diff --git a/vision/CameraProcessor.cpp b/vision/CameraProcessor.cpp
index 56bd36e..856e12b 100644
--- a/vision/CameraProcessor.cpp
+++ b/vision/CameraProcessor.cpp
@@ -459,7 +459,7 @@
raw_contour, rect, check, is_90));
}
if (contour.size() == 4 && cullObvious(rect, contourArea(contour))) {
- LOG(INFO, "check= %.2f\n", check);
+ LOG(DEBUG, "check= %.2f\n", check);
}
}
}
diff --git a/vision/GoalMaster.cpp b/vision/GoalMaster.cpp
index 3155cf7..5c8fad8 100644
--- a/vision/GoalMaster.cpp
+++ b/vision/GoalMaster.cpp
@@ -46,7 +46,8 @@
kMetersToShooterAngles,
meters);
- LOG(DEBUG, "think target is %f meters away Speed %f Angle %f\n",
+ LOG(DEBUG, "%+f=> think target is %f meters away Speed %f Angle %f\n",
+ targets->percent_elevation_off_center,
meters, shooter_speed, shooter_angle);
target_angle.MakeWithBuilder()
diff --git a/vision/OpenCVWorkTask.cpp b/vision/OpenCVWorkTask.cpp
index 9d68065..f17803e 100644
--- a/vision/OpenCVWorkTask.cpp
+++ b/vision/OpenCVWorkTask.cpp
@@ -4,11 +4,13 @@
#include <sys/mman.h>
#include <errno.h>
#include <string.h>
-#include <vector>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
+#include <vector>
+#include <iostream>
+
#include "aos/common/time.h"
#include "aos/atom_code/camera/Buffers.h"
#include "aos/externals/libjpeg/include/jpeglib.h"
@@ -17,8 +19,6 @@
#include "vision/OpenCVWorkTask.h"
#include "vision/CameraProcessor.h"
-#include "vision/BinaryServer.h"
-#include "vision/PacketNotifier.h"
#include "vision/JPEGRoutines.h"
@@ -28,10 +28,6 @@
} // namespace vision
} // namespace frc971
-void reciever_main(frc971::vision::PacketNotifier *notify){
- frc971::vision::BinaryServer test(8020,notify);
-}
-
namespace {
void SaveImageToFile(IplImage *image, const char *filename) {
FILE *file = fopen(filename, "w");
@@ -56,13 +52,13 @@
#include "frc971/queues/CameraTarget.q.h"
using frc971::vision::targets;
-#include <iostream>
-void sender_main(frc971::vision::PacketNotifier *notify){
- ::aos::InitNRT();
+void sender_main(){
::aos::camera::Buffers buffers;
CvSize size;
size.width = ::aos::camera::Buffers::Buffers::kWidth;
size.height = ::aos::camera::Buffers::Buffers::kHeight;
+ unsigned char buffer[::aos::camera::Buffers::Buffers::kWidth *
+ ::aos::camera::Buffers::Buffers::kHeight * 3];
// create processing object
ProcessorData processor(size.width, size.height, false);
@@ -73,17 +69,15 @@
//usleep(7500);
size_t data_size;
timeval timestamp_timeval;
+ LOG(DEBUG, "getting new image\n");
const void *image = buffers.GetNext(
true, &data_size, ×tamp_timeval, NULL);
::aos::time::Time timestamp(timestamp_timeval);
- //TODO(pschuh): find proper way to cast away const for this: :(
- // parker you prolly want const_cast<type>(var);
- LOG(INFO, "Got new image\n");
- unsigned char *buffer = (unsigned char *)notify->GetBuffer();
- frc971::vision::process_jpeg(buffer,
- (unsigned char *)const_cast<void *>(image),
- data_size);
+ LOG(DEBUG, "Got new image\n");
+ frc971::vision::process_jpeg(
+ buffer, static_cast<unsigned char *>(const_cast<void *>(image)),
+ data_size);
// build the headers on top of the buffer
cvSetData(processor.src_header_image,
@@ -104,7 +98,7 @@
std::vector<Target>::iterator target_it;
Target *best_target = NULL;
// run through the targets
- LOG(INFO, "Found %u targets\n", processor.target_list.size());
+ LOG(DEBUG, "Found %u targets\n", processor.target_list.size());
for(target_it = processor.target_list.begin();
target_it != processor.target_list.end(); target_it++){
//target_contours.push_back(*(target_it->this_contour));
@@ -119,7 +113,7 @@
}
// if we found one then send it on
if (best_target != NULL) {
- LOG(INFO, "Target is %f\n", best_target->rect.centroid.x);
+ LOG(DEBUG, "Target is %f\n", best_target->rect.centroid.x);
targets.MakeWithBuilder()
.percent_azimuth_off_center(
best_target->rect.centroid.y / (double)::aos::camera::Buffers::kHeight - 0.5)
@@ -128,29 +122,17 @@
.timestamp(timestamp.ToNSec())
.Send();
}
- notify->Notify();
//static int counter = 0;
//if (++counter > 2) {
//break;
//}
}
- ::aos::Cleanup();
}
int main(int /*argc*/, char** /*argv*/){
- frc971::vision::PacketNotifier *notify = frc971::vision::PacketNotifier::MMap(
- ::aos::camera::Buffers::kHeight * ::aos::camera::Buffers::kWidth * 3);
- pid_t pid = fork();
- if(pid < 0){
- fprintf(stderr,"%s:%d: Error in fork()\n",__FILE__,__LINE__);
- }
- if(pid == 0){
- notify->RegisterSender();
- sender_main(notify);
- }else{
- notify->RegisterReciever();
- reciever_main(notify);
- }
+ ::aos::InitNRT();
+ sender_main();
+ ::aos::Cleanup();
}
diff --git a/vision/SensorProcessor.h b/vision/SensorProcessor.h
index c219245..daf24be 100644
--- a/vision/SensorProcessor.h
+++ b/vision/SensorProcessor.h
@@ -10,27 +10,31 @@
} Interpolation;
static const Interpolation kPixelsToMeters[] = {
- {43.0 / 320.0, 12.573},
- {98.0 / 320.0, 6.604},
- {145.75 / 320.0, 4.420},
- {216.75 / 320.0, 2.794},
+ {-0.050781, 4.7498},
+ {-0.0375, 4.318},
+ {0.028125, 3.9878},
+ {0.080469, 3.51},
+ {0.126563, 3.1496},
+ {0.131, 2.9972},
+ {0.144, 2.921},
+ {0.196, 3.2258},
+ // Below here is junk because it starts coming off of the tower base.
+ {0.296875, 2.667},
+ {0.351562, 2.3876},
};
// Must be in reverse order in meters.
static const Interpolation kMetersToShooterSpeeds[] = {
- {12.5, 375.0},
- {21.0, 360.0},
- {25.0, 375.0},
+ {2.0, 375.0},
+ {3.0, 360.0},
+ {4.5, 375.0},
};
static const Interpolation kMetersToShooterAngles[] = {
- {0.0, 0.7267},
- {12.5, 0.7267},
- {16.5, 0.604},
- {18.0, 0.587},
- {20.0, 0.576},
- {21.0, 0.550},
- {23.0, 0.540},
+ {3.0, 0.68},
+ {3.7, 0.635},
+ {4.15, 0.58},
+ {5.0, 0.51},
};
double interpolate(int num_interp_vals,
diff --git a/vision/vision.gyp b/vision/vision.gyp
index 8fe50a4..df27045 100644
--- a/vision/vision.gyp
+++ b/vision/vision.gyp
@@ -6,8 +6,8 @@
'sources': [
'OpenCVWorkTask.cpp',
'CameraProcessor.cpp',
- 'BinaryServer.cpp',
- 'PacketNotifier.cpp',
+ #'BinaryServer.cpp',
+ #'PacketNotifier.cpp',
'JPEGRoutines.cpp',
],
'dependencies': [