| #!/usr/bin/python3 |
| |
| from frc971.control_loops.python import control_loop |
| from frc971.control_loops.python import controls |
| import numpy |
| import sys |
| from matplotlib import pylab |
| import glog |
| |
| |
| class DrivetrainParams(object): |
| |
| def __init__(self, |
| J, |
| mass, |
| robot_radius, |
| wheel_radius, |
| G=None, |
| G_high=None, |
| G_low=None, |
| q_pos=None, |
| q_pos_low=None, |
| q_pos_high=None, |
| q_vel=None, |
| q_vel_low=None, |
| q_vel_high=None, |
| efficiency=0.60, |
| has_imu=False, |
| force=False, |
| kf_q_voltage=10.0, |
| motor_type=control_loop.CIM(), |
| num_motors=2, |
| dt=0.00505, |
| controller_poles=[0.90, 0.90], |
| observer_poles=[0.02, 0.02], |
| robot_cg_offset=0.0): |
| """Defines all constants of a drivetrain. |
| |
| Args: |
| J: float, Moment of inertia of drivetrain in kg m^2 |
| mass: float, Mass of the robot in kg. |
| robot_radius: float, Radius of the robot, in meters (requires tuning by |
| hand). |
| wheel_radius: float, Radius of the wheels, in meters. |
| G: float, Gear ratio for a single speed. |
| G_high: float, Gear ratio for high gear. |
| G_low: float, Gear ratio for low gear. |
| dt: float, Control loop time step. |
| q_pos: float, q position for a single speed LQR controller. |
| q_pos_low: float, q position low gear LQR controller. |
| q_pos_high: float, q position high gear LQR controller. |
| q_vel: float, q velocity for a single speed LQR controller. |
| q_vel_low: float, q velocity low gear LQR controller. |
| q_vel_high: float, q velocity high gear LQR controller. |
| efficiency: float, gear box effiency. |
| has_imu: bool, true if imu is present. |
| force: bool, true if force. |
| kf_q_voltage: float |
| motor_type: object, class of values defining the motor in drivetrain. |
| num_motors: int, number of motors on one side of drivetrain. |
| controller_poles: array, An array of poles for the polydrivetrain |
| controller. (See control_loop.py) |
| observer_poles: array, An array of poles. (See control_loop.py) |
| robot_cg_offset: offset in meters of CG from robot center to left side |
| """ |
| if G is not None: |
| assert (G_high is None) |
| assert (G_low is None) |
| G_high = G |
| G_low = G |
| assert (G_high is not None) |
| assert (G_low is not None) |
| |
| if q_pos is not None: |
| assert (q_pos_low is None) |
| assert (q_pos_high is None) |
| q_pos_low = q_pos |
| q_pos_high = q_pos |
| assert (q_pos_low is not None) |
| assert (q_pos_high is not None) |
| |
| if q_vel is not None: |
| assert (q_vel_low is None) |
| assert (q_vel_high is None) |
| q_vel_low = q_vel |
| q_vel_high = q_vel |
| assert (q_vel_low is not None) |
| assert (q_vel_high is not None) |
| |
| self.J = J |
| self.mass = mass |
| self.robot_radius = robot_radius |
| self.robot_cg_offset = robot_cg_offset |
| self.wheel_radius = wheel_radius |
| self.G_high = G_high |
| self.G_low = G_low |
| self.dt = dt |
| self.q_pos_low = q_pos_low |
| self.q_pos_high = q_pos_high |
| self.q_vel_low = q_vel_low |
| self.q_vel_high = q_vel_high |
| self.efficiency = efficiency |
| self.has_imu = has_imu |
| self.kf_q_voltage = kf_q_voltage |
| self.motor_type = motor_type |
| self.force = force |
| self.num_motors = num_motors |
| self.controller_poles = controller_poles |
| self.observer_poles = observer_poles |
| |
| |
| class Drivetrain(control_loop.ControlLoop): |
| |
| def __init__(self, |
| drivetrain_params, |
| name="Drivetrain", |
| left_low=True, |
| right_low=True): |
| """Defines a base drivetrain for a robot. |
| |
| Args: |
| drivetrain_params: DrivetrainParams, class of values defining the drivetrain. |
| name: string, Name of this drivetrain. |
| left_low: bool, Whether the left is in high gear. |
| right_low: bool, Whether the right is in high gear. |
| """ |
| super(Drivetrain, self).__init__(name) |
| |
| # Moment of inertia of the drivetrain in kg m^2 |
| self.J = drivetrain_params.J |
| # Mass of the robot, in kg. |
| self.mass = drivetrain_params.mass |
| # Radius of the robot, in meters (requires tuning by hand) |
| self.robot_radius = drivetrain_params.robot_radius |
| # Radius of the wheels, in meters. |
| self.r = drivetrain_params.wheel_radius |
| self.has_imu = drivetrain_params.has_imu |
| # Offset in meters of the CG from the center of the robot to the left side |
| # of the robot. Since the arm is on the right side, the offset will |
| # likely be a negative number. |
| self.robot_cg_offset = drivetrain_params.robot_cg_offset |
| # Distance from the left side of the robot to the Center of Gravity |
| self.robot_radius_l = drivetrain_params.robot_radius - self.robot_cg_offset |
| # Distance from the right side of the robot to the Center of Gravity |
| self.robot_radius_r = drivetrain_params.robot_radius + self.robot_cg_offset |
| |
| # Gear ratios |
| self.G_low = drivetrain_params.G_low |
| self.G_high = drivetrain_params.G_high |
| 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 = drivetrain_params.dt |
| |
| self.efficiency = drivetrain_params.efficiency |
| self.force = drivetrain_params.force |
| |
| self.BuildDrivetrain(drivetrain_params.motor_type, |
| drivetrain_params.num_motors) |
| |
| if left_low or right_low: |
| q_pos = drivetrain_params.q_pos_low |
| q_vel = drivetrain_params.q_vel_low |
| else: |
| q_pos = drivetrain_params.q_pos_high |
| q_vel = drivetrain_params.q_vel_high |
| |
| self.BuildDrivetrainController(q_pos, q_vel) |
| |
| self.InitializeState() |
| |
| def BuildDrivetrain(self, motor, num_motors_per_side): |
| self.motor = motor |
| # Number of motors per side |
| self.num_motors = num_motors_per_side |
| # Stall Torque in N m |
| self.stall_torque = motor.stall_torque * self.num_motors * self.efficiency |
| # Stall Current in Amps |
| self.stall_current = motor.stall_current * self.num_motors |
| # Free Speed in rad/s |
| self.free_speed = motor.free_speed |
| # Free Current in Amps |
| self.free_current = motor.free_current * self.num_motors |
| |
| # Effective motor resistance in ohms. |
| self.resistance = 12.0 / self.stall_current |
| |
| # Resistance of the motor, divided by the number of motors. |
| # Motor velocity constant |
| self.Kv = ( |
| self.free_speed / (12.0 - self.resistance * self.free_current)) |
| # Torque constant |
| self.Kt = self.stall_torque / self.stall_current |
| |
| # These describe the way that a given side of a robot will be influenced |
| # by the other side. Units of 1 / kg. |
| self.mspl = 1.0 / self.mass + self.robot_radius_l * self.robot_radius_l / self.J |
| self.mspr = 1.0 / self.mass + self.robot_radius_r * self.robot_radius_r / self.J |
| self.msnl = self.robot_radius_r / ( self.robot_radius_l * self.mass ) - \ |
| self.robot_radius_l * self.robot_radius_r / self.J |
| self.msnr = self.robot_radius_l / ( self.robot_radius_r * self.mass ) - \ |
| self.robot_radius_l * self.robot_radius_r / self.J |
| # The calculations which we will need for A and B. |
| self.tcl = self.Kt / self.Kv / ( |
| self.Gl * self.Gl * self.resistance * self.r * self.r) |
| self.tcr = self.Kt / self.Kv / ( |
| self.Gr * self.Gr * self.resistance * self.r * self.r) |
| self.mpl = self.Kt / (self.Gl * self.resistance * self.r) |
| self.mpr = self.Kt / (self.Gr * self.resistance * self.r) |
| |
| # State feedback matrices |
| # X will be of the format |
| # [[positionl], [velocityl], [positionr], [velocityr]] |
| self.A_continuous = numpy.matrix( |
| [[0, 1, 0, 0], [0, -self.mspl * self.tcl, 0, -self.msnr * self.tcr], |
| [0, 0, 0, 1], [0, -self.msnl * self.tcl, 0, |
| -self.mspr * self.tcr]]) |
| self.B_continuous = numpy.matrix( |
| [[0, 0], [self.mspl * self.mpl, self.msnr * self.mpr], [0, 0], |
| [self.msnl * self.mpl, self.mspr * self.mpr]]) |
| self.C = numpy.matrix([[1, 0, 0, 0], [0, 0, 1, 0]]) |
| self.D = numpy.matrix([[0, 0], [0, 0]]) |
| |
| self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, |
| self.B_continuous, self.dt) |
| |
| def BuildDrivetrainController(self, q_pos, q_vel): |
| # We can solve for the max velocity by setting \dot(x) = Ax + Bu to 0 |
| max_voltage = 12 |
| glog.debug( |
| "Max speed %f m/s", |
| -(self.B_continuous[1, 1] + self.B_continuous[1, 0]) / |
| (self.A_continuous[1, 1] + self.A_continuous[1, 3]) * max_voltage) |
| |
| # Tune the LQR controller |
| self.Q = numpy.matrix([[(1.0 / (q_pos**2.0)), 0.0, 0.0, 0.0], |
| [0.0, (1.0 / (q_vel**2.0)), 0.0, 0.0], |
| [0.0, 0.0, (1.0 / (q_pos**2.0)), 0.0], |
| [0.0, 0.0, 0.0, (1.0 / (q_vel**2.0))]]) |
| |
| self.R = numpy.matrix([[(1.0 / (12.0**2.0)), 0.0], |
| [0.0, (1.0 / (12.0**2.0))]]) |
| self.K = controls.dlqr(self.A, self.B, self.Q, self.R) |
| |
| glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, self._name) |
| glog.debug('Poles: %s', str(numpy.linalg.eig(self.A - self.B * self.K)[0])) |
| glog.debug('Time constants: %s hz', |
| str([ |
| numpy.log(x) / -self.dt |
| for x in numpy.linalg.eig(self.A - self.B * self.K)[0] |
| ])) |
| glog.debug('K %s', repr(self.K)) |
| |
| self.hlp = 0.3 |
| self.llp = 0.4 |
| self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp]) |
| |
| self.U_max = numpy.matrix([[12.0], [12.0]]) |
| self.U_min = numpy.matrix([[-12.0], [-12.0]]) |
| |
| |
| class KFDrivetrain(Drivetrain): |
| |
| def __init__(self, |
| drivetrain_params, |
| name="KFDrivetrain", |
| left_low=True, |
| right_low=True): |
| """Kalman filter values of a drivetrain. |
| |
| Args: |
| drivetrain_params: DrivetrainParams, class of values defining the drivetrain. |
| name: string, Name of this drivetrain. |
| left_low: bool, Whether the left is in high gear. |
| right_low: bool, Whether the right is in high gear. |
| """ |
| super(KFDrivetrain, self).__init__(drivetrain_params, name, left_low, |
| right_low) |
| |
| self.unaugmented_A_continuous = self.A_continuous |
| self.unaugmented_B_continuous = self.B_continuous |
| |
| # The practical voltage applied to the wheels is |
| # V_left = U_left + left_voltage_error |
| # |
| # The states are |
| # [left position, left velocity, right position, right velocity, |
| # left voltage error, right voltage error, angular_error] |
| # |
| # The left and right positions are filtered encoder positions and are not |
| # adjusted for heading error. |
| # The turn velocity as computed by the left and right velocities is |
| # adjusted by the gyro velocity. |
| # The angular_error is the angular velocity error between the wheel speed |
| # and the gyro speed. |
| self.A_continuous = numpy.matrix(numpy.zeros((7, 7))) |
| self.B_continuous = numpy.matrix(numpy.zeros((7, 2))) |
| self.A_continuous[0:4, 0:4] = self.unaugmented_A_continuous |
| |
| if self.force: |
| self.A_continuous[0:4, 4:6] = numpy.matrix([[0.0, 0.0], |
| [self.mspl, self.msnl], |
| [0.0, 0.0], |
| [self.msnr, self.mspr]]) |
| q_voltage = drivetrain_params.kf_q_voltage * self.mpl |
| else: |
| self.A_continuous[0:4, 4:6] = self.unaugmented_B_continuous |
| q_voltage = drivetrain_params.kf_q_voltage |
| |
| self.B_continuous[0:4, 0:2] = self.unaugmented_B_continuous |
| self.A_continuous[0, 6] = 1 |
| self.A_continuous[2, 6] = -1 |
| |
| self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, |
| self.B_continuous, self.dt) |
| |
| if self.has_imu: |
| self.C = numpy.matrix([[1, 0, 0, 0, 0, 0, 0], [0, 0, 1, 0, 0, 0, 0], |
| [ |
| 0, -0.5 / drivetrain_params.robot_radius, |
| 0, 0.5 / drivetrain_params.robot_radius, |
| 0, 0, 0 |
| ], [0, 0, 0, 0, 0, 0, 0]]) |
| gravity = 9.8 |
| self.C[3, 0:6] = 0.5 * ( |
| self.A_continuous[1, 0:6] + self.A_continuous[3, 0:6]) / gravity |
| |
| self.D = numpy.matrix( |
| [[0, 0], [0, 0], [0, 0], |
| [ |
| 0.5 * (self.B_continuous[1, 0] + self.B_continuous[3, 0]) / |
| gravity, |
| 0.5 * (self.B_continuous[1, 1] + self.B_continuous[3, 1]) / |
| gravity |
| ]]) |
| else: |
| self.C = numpy.matrix([[1, 0, 0, 0, 0, 0, 0], [0, 0, 1, 0, 0, 0, 0], |
| [ |
| 0, -0.5 / drivetrain_params.robot_radius, |
| 0, 0.5 / drivetrain_params.robot_radius, |
| 0, 0, 0 |
| ]]) |
| |
| self.D = numpy.matrix([[0, 0], [0, 0], [0, 0]]) |
| |
| q_pos = 0.05 |
| q_vel = 1.00 |
| q_encoder_uncertainty = 2.00 |
| |
| self.Q = numpy.matrix( |
| [[(q_pos**2.0), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], |
| [0.0, (q_vel**2.0), 0.0, 0.0, 0.0, 0.0, 0.0], |
| [0.0, 0.0, (q_pos**2.0), 0.0, 0.0, 0.0, 0.0], |
| [0.0, 0.0, 0.0, (q_vel**2.0), 0.0, 0.0, 0.0], |
| [0.0, 0.0, 0.0, 0.0, (q_voltage**2.0), 0.0, 0.0], |
| [0.0, 0.0, 0.0, 0.0, 0.0, (q_voltage**2.0), 0.0], |
| [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, (q_encoder_uncertainty**2.0)]]) |
| |
| r_pos = 0.0001 |
| r_gyro = 0.000001 |
| if self.has_imu: |
| r_accelerometer = 7.0 |
| self.R = numpy.matrix([[(r_pos**2.0), 0.0, 0.0, 0.0], |
| [0.0, (r_pos**2.0), 0.0, 0.0], |
| [0.0, 0.0, (r_gyro**2.0), 0.0], |
| [0.0, 0.0, 0.0, (r_accelerometer**2.0)]]) |
| else: |
| self.R = numpy.matrix([[(r_pos**2.0), 0.0, 0.0], |
| [0.0, (r_pos**2.0), 0.0], |
| [0.0, 0.0, (r_gyro**2.0)]]) |
| |
| # Solving for kf gains. |
| self.KalmanGain, self.Q_steady = controls.kalman( |
| A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R) |
| |
| # If we don't have an IMU, pad various matrices with zeros so that |
| # we can still have 4 measurement outputs. |
| if not self.has_imu: |
| self.KalmanGain = numpy.hstack((self.KalmanGain, |
| numpy.matrix(numpy.zeros((7, 1))))) |
| self.C = numpy.vstack((self.C, numpy.matrix(numpy.zeros((1, 7))))) |
| self.D = numpy.vstack((self.D, numpy.matrix(numpy.zeros((1, 2))))) |
| Rtmp = numpy.zeros((4, 4)) |
| Rtmp[0:3, 0:3] = self.R |
| self.R = Rtmp |
| |
| self.L = self.A * self.KalmanGain |
| |
| unaug_K = self.K |
| |
| # Implement a nice closed loop controller for use by the closed loop |
| # controller. |
| self.K = numpy.matrix(numpy.zeros((self.B.shape[1], self.A.shape[0]))) |
| self.K[0:2, 0:4] = unaug_K |
| if self.force: |
| self.K[0, 4] = 1.0 / self.mpl |
| self.K[1, 5] = 1.0 / self.mpr |
| else: |
| self.K[0, 4] = 1.0 |
| self.K[1, 5] = 1.0 |
| |
| self.Qff = numpy.matrix(numpy.zeros((4, 4))) |
| qff_pos = 0.005 |
| qff_vel = 1.00 |
| self.Qff[0, 0] = 1.0 / qff_pos**2.0 |
| self.Qff[1, 1] = 1.0 / qff_vel**2.0 |
| self.Qff[2, 2] = 1.0 / qff_pos**2.0 |
| self.Qff[3, 3] = 1.0 / qff_vel**2.0 |
| self.Kff = numpy.matrix(numpy.zeros((2, 7))) |
| self.Kff[0:2, 0:4] = controls.TwoStateFeedForwards( |
| self.B[0:4, :], self.Qff) |
| |
| self.InitializeState() |
| |
| |
| def WriteDrivetrain(drivetrain_files, |
| kf_drivetrain_files, |
| year_namespace, |
| drivetrain_params, |
| scalar_type='double'): |
| |
| # Write the generated constants out to a file. |
| drivetrain_low_low = Drivetrain( |
| name="DrivetrainLowLow", |
| left_low=True, |
| right_low=True, |
| drivetrain_params=drivetrain_params) |
| drivetrain_low_high = Drivetrain( |
| name="DrivetrainLowHigh", |
| left_low=True, |
| right_low=False, |
| drivetrain_params=drivetrain_params) |
| drivetrain_high_low = Drivetrain( |
| name="DrivetrainHighLow", |
| left_low=False, |
| right_low=True, |
| drivetrain_params=drivetrain_params) |
| drivetrain_high_high = Drivetrain( |
| name="DrivetrainHighHigh", |
| left_low=False, |
| right_low=False, |
| drivetrain_params=drivetrain_params) |
| |
| kf_drivetrain_low_low = KFDrivetrain( |
| name="KFDrivetrainLowLow", |
| left_low=True, |
| right_low=True, |
| drivetrain_params=drivetrain_params) |
| kf_drivetrain_low_high = KFDrivetrain( |
| name="KFDrivetrainLowHigh", |
| left_low=True, |
| right_low=False, |
| drivetrain_params=drivetrain_params) |
| kf_drivetrain_high_low = KFDrivetrain( |
| name="KFDrivetrainHighLow", |
| left_low=False, |
| right_low=True, |
| drivetrain_params=drivetrain_params) |
| kf_drivetrain_high_high = KFDrivetrain( |
| name="KFDrivetrainHighHigh", |
| left_low=False, |
| right_low=False, |
| drivetrain_params=drivetrain_params) |
| |
| if isinstance(year_namespace, list): |
| namespaces = year_namespace |
| else: |
| namespaces = [year_namespace, 'control_loops', 'drivetrain'] |
| dog_loop_writer = control_loop.ControlLoopWriter( |
| "Drivetrain", [ |
| drivetrain_low_low, drivetrain_low_high, drivetrain_high_low, |
| drivetrain_high_high |
| ], |
| namespaces=namespaces, |
| scalar_type=scalar_type) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kDt", "%f", drivetrain_low_low.dt)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kStallTorque", "%f", |
| drivetrain_low_low.stall_torque)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kStallCurrent", "%f", |
| drivetrain_low_low.stall_current)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kFreeSpeed", "%f", |
| drivetrain_low_low.free_speed)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kFreeCurrent", "%f", |
| drivetrain_low_low.free_current)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kJ", "%f", drivetrain_low_low.J)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kMass", "%f", drivetrain_low_low.mass)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kRobotRadius", "%f", |
| drivetrain_low_low.robot_radius)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kWheelRadius", "%f", drivetrain_low_low.r)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kR", "%f", drivetrain_low_low.resistance)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kV", "%f", drivetrain_low_low.Kv)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kT", "%f", drivetrain_low_low.Kt)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kLowGearRatio", "%f", drivetrain_low_low.G_low)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant("kHighGearRatio", "%f", |
| drivetrain_high_high.G_high)) |
| dog_loop_writer.AddConstant( |
| control_loop.Constant( |
| "kHighOutputRatio", "%f", |
| drivetrain_high_high.G_high * drivetrain_high_high.r)) |
| |
| dog_loop_writer.Write(drivetrain_files[0], drivetrain_files[1]) |
| |
| kf_loop_writer = control_loop.ControlLoopWriter( |
| "KFDrivetrain", [ |
| kf_drivetrain_low_low, kf_drivetrain_low_high, |
| kf_drivetrain_high_low, kf_drivetrain_high_high |
| ], |
| namespaces=namespaces, |
| scalar_type=scalar_type) |
| kf_loop_writer.Write(kf_drivetrain_files[0], kf_drivetrain_files[1]) |
| |
| |
| def PlotDrivetrainMotions(drivetrain_params): |
| # Test out the voltage error. |
| drivetrain = KFDrivetrain( |
| left_low=False, right_low=False, drivetrain_params=drivetrain_params) |
| close_loop_left = [] |
| close_loop_right = [] |
| left_power = [] |
| right_power = [] |
| R = numpy.matrix([[0.0], [0.0], [0.0], [0.0], [0.0], [0.0], [0.0]]) |
| for _ in range(300): |
| U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat), drivetrain.U_min, |
| drivetrain.U_max) |
| drivetrain.UpdateObserver(U) |
| drivetrain.Update(U + numpy.matrix([[1.0], [1.0]])) |
| close_loop_left.append(drivetrain.X[0, 0]) |
| close_loop_right.append(drivetrain.X[2, 0]) |
| left_power.append(U[0, 0]) |
| right_power.append(U[1, 0]) |
| |
| t = [drivetrain.dt * x for x in range(300)] |
| pylab.plot(t, close_loop_left, label='left position') |
| pylab.plot(t, close_loop_right, 'm--', label='right position') |
| pylab.plot(t, left_power, label='left power') |
| pylab.plot(t, right_power, '--', label='right power') |
| pylab.suptitle('Voltage error') |
| pylab.legend() |
| pylab.show() |
| |
| # Simulate the response of the system to a step input. |
| drivetrain = KFDrivetrain( |
| left_low=False, right_low=False, drivetrain_params=drivetrain_params) |
| simulated_left = [] |
| simulated_right = [] |
| for _ in range(100): |
| drivetrain.Update(numpy.matrix([[12.0], [12.0]])) |
| simulated_left.append(drivetrain.X[0, 0]) |
| simulated_right.append(drivetrain.X[2, 0]) |
| |
| pylab.rc('lines', linewidth=4) |
| pylab.plot(range(100), simulated_left, label='left position') |
| pylab.plot(range(100), simulated_right, 'r--', label='right position') |
| pylab.suptitle('Acceleration Test\n12 Volt Step Input') |
| pylab.legend(loc='lower right') |
| pylab.show() |
| |
| # Simulate forwards motion. |
| drivetrain = KFDrivetrain( |
| left_low=False, right_low=False, drivetrain_params=drivetrain_params) |
| close_loop_left = [] |
| close_loop_right = [] |
| left_power = [] |
| right_power = [] |
| R = numpy.matrix([[1.0], [0.0], [1.0], [0.0], [0.0], [0.0], [0.0]]) |
| for _ in range(300): |
| U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat), drivetrain.U_min, |
| drivetrain.U_max) |
| drivetrain.UpdateObserver(U) |
| drivetrain.Update(U) |
| close_loop_left.append(drivetrain.X[0, 0]) |
| close_loop_right.append(drivetrain.X[2, 0]) |
| left_power.append(U[0, 0]) |
| right_power.append(U[1, 0]) |
| |
| t = [drivetrain.dt * x for x in range(300)] |
| pylab.plot(t, close_loop_left, label='left position') |
| pylab.plot(t, close_loop_right, 'm--', label='right position') |
| pylab.plot(t, left_power, label='left power') |
| pylab.plot(t, right_power, '--', label='right power') |
| pylab.suptitle('Linear Move\nLeft and Right Position going to 1') |
| pylab.legend() |
| pylab.show() |
| |
| # Try turning in place |
| drivetrain = KFDrivetrain(drivetrain_params=drivetrain_params) |
| close_loop_left = [] |
| close_loop_right = [] |
| R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0], [0.0], [0.0], [0.0]]) |
| for _ in range(200): |
| U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat), drivetrain.U_min, |
| drivetrain.U_max) |
| drivetrain.UpdateObserver(U) |
| drivetrain.Update(U) |
| close_loop_left.append(drivetrain.X[0, 0]) |
| close_loop_right.append(drivetrain.X[2, 0]) |
| |
| pylab.plot(range(200), close_loop_left, label='left position') |
| pylab.plot(range(200), close_loop_right, label='right position') |
| pylab.suptitle( |
| 'Angular Move\nLeft position going to -1 and right position going to 1') |
| pylab.legend(loc='center right') |
| pylab.show() |
| |
| # Try turning just one side. |
| drivetrain = KFDrivetrain(drivetrain_params=drivetrain_params) |
| close_loop_left = [] |
| close_loop_right = [] |
| R = numpy.matrix([[0.0], [0.0], [1.0], [0.0], [0.0], [0.0], [0.0]]) |
| for _ in range(300): |
| U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat), drivetrain.U_min, |
| drivetrain.U_max) |
| drivetrain.UpdateObserver(U) |
| drivetrain.Update(U) |
| close_loop_left.append(drivetrain.X[0, 0]) |
| close_loop_right.append(drivetrain.X[2, 0]) |
| |
| pylab.plot(range(300), close_loop_left, label='left position') |
| pylab.plot(range(300), close_loop_right, label='right position') |
| pylab.suptitle( |
| 'Pivot\nLeft position not changing and right position going to 1') |
| pylab.legend(loc='center right') |
| pylab.show() |