Add code for prototyping with the 2012 drivebase
Change-Id: I16b5b2e9982f1911b410c25872eca7a00fa561f3
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..d23c06f
--- /dev/null
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -0,0 +1,150 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+cc_binary(
+ name = 'replay_drivetrain',
+ srcs = [
+ 'replay_drivetrain.cc',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//aos/common/controls:replay_control_loop',
+ '//aos/linux_code:init',
+ '//frc971/queues:gyro',
+ ],
+)
+
+queue_library(
+ name = 'drivetrain_queue',
+ srcs = [
+ 'drivetrain.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ ],
+)
+
+genrule(
+ name = 'genrule_drivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2012/control_loops/python:drivetrain) $(OUTS)',
+ tools = [
+ '//y2012/control_loops/python:drivetrain',
+ ],
+ outs = [
+ 'drivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2012/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2012/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain_plants',
+ srcs = [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'ssdrivetrain',
+ srcs = [
+ 'ssdrivetrain.cc',
+ ],
+ hdrs = [
+ 'ssdrivetrain.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ ':drivetrain_queue',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ ':drivetrain_queue',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_lib',
+ srcs = [
+ 'drivetrain.cc',
+ ],
+ hdrs = [
+ 'drivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':polydrivetrain',
+ ':polydrivetrain_plants',
+ ':ssdrivetrain',
+ '//aos/common/controls:control_loop',
+ '//frc971/queues:gyro',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':drivetrain_lib',
+ ':drivetrain_queue',
+ ],
+)
diff --git a/y2012/control_loops/drivetrain/drivetrain.cc b/y2012/control_loops/drivetrain/drivetrain.cc
new file mode 100644
index 0000000..e97e440
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain.cc
@@ -0,0 +1,152 @@
+#include "y2012/control_loops/drivetrain/drivetrain.h"
+
+#include <stdio.h>
+#include <sched.h>
+#include <cmath>
+#include <memory>
+#include "Eigen/Dense"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain.h"
+#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/queues/gyro.q.h"
+
+// A consistent way to mark code that goes away without shifters. It's still
+// here because we will have shifters again in the future.
+#define HAVE_SHIFTERS 1
+
+using frc971::sensors::gyro_reading;
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+DrivetrainLoop::DrivetrainLoop(
+ ::y2012::control_loops::DrivetrainQueue *my_drivetrain)
+ : aos::controls::ControlLoop<::y2012::control_loops::DrivetrainQueue>(
+ my_drivetrain),
+ kf_(::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop()) {
+ ::aos::controls::HPolytope<0>::Init();
+}
+
+void DrivetrainLoop::RunIteration(
+ const ::y2012::control_loops::DrivetrainQueue::Goal *goal,
+ const ::y2012::control_loops::DrivetrainQueue::Position *position,
+ ::y2012::control_loops::DrivetrainQueue::Output *output,
+ ::y2012::control_loops::DrivetrainQueue::Status *status) {
+ bool bad_pos = false;
+ if (position == nullptr) {
+ LOG_INTERVAL(no_position_);
+ bad_pos = true;
+ }
+ no_position_.Print();
+
+ bool control_loop_driving = false;
+ if (goal) {
+ double wheel = goal->steering;
+ double throttle = goal->throttle;
+ bool quickturn = goal->quickturn;
+#if HAVE_SHIFTERS
+ bool highgear = goal->highgear;
+#endif
+
+ control_loop_driving = goal->control_loop_driving;
+ 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);
+#if HAVE_SHIFTERS
+ dt_openloop_.SetGoal(wheel, throttle, quickturn, highgear);
+#else
+ dt_openloop_.SetGoal(wheel, throttle, quickturn, false);
+#endif
+ }
+
+ if (!bad_pos) {
+ const double left_encoder = position->left_encoder;
+ const double right_encoder = position->right_encoder;
+ if (gyro_reading.FetchLatest()) {
+ LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
+ dt_closedloop_.SetPosition(left_encoder, right_encoder,
+ gyro_reading->angle);
+ last_gyro_heading_ = gyro_reading->angle;
+ last_gyro_rate_ = gyro_reading->velocity;
+ } else {
+ dt_closedloop_.SetRawPosition(left_encoder, right_encoder);
+ }
+ }
+ dt_openloop_.SetPosition(position);
+ dt_openloop_.Update();
+
+ if (control_loop_driving) {
+ dt_closedloop_.Update(output == NULL, true);
+ dt_closedloop_.SendMotors(output);
+ } else {
+ dt_openloop_.SendMotors(output);
+ if (output) {
+ dt_closedloop_.SetExternalMotors(output->left_voltage,
+ output->right_voltage);
+ }
+ dt_closedloop_.Update(output == NULL, false);
+ }
+
+ // set the output status of the control loop state
+ if (status) {
+ status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
+ status->filtered_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
+ status->filtered_right_position = dt_closedloop_.GetEstimatedRightEncoder();
+
+ status->filtered_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
+ status->filtered_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
+ status->output_was_capped = dt_closedloop_.OutputWasCapped();
+ status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
+ status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);
+ }
+
+
+ double left_voltage = 0.0;
+ double right_voltage = 0.0;
+ if (output) {
+ left_voltage = output->left_voltage;
+ right_voltage = output->right_voltage;
+ }
+
+ const double scalar = ::aos::robot_state->voltage_battery / 12.0;
+
+ left_voltage *= scalar;
+ right_voltage *= scalar;
+
+ kf_.set_controller_index(dt_openloop_.controller_index());
+
+ Eigen::Matrix<double, 3, 1> Y;
+ Y << position->left_encoder, position->right_encoder, last_gyro_rate_;
+ kf_.Correct(Y);
+ integrated_kf_heading_ +=
+ kDt * (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) / (kRobotRadius * 2.0);
+
+ // To validate, look at the following:
+
+ // Observed - dx/dt velocity for left, right.
+
+ // Angular velocity error compared to the gyro
+ // Gyro heading vs left-right
+ // Voltage error.
+
+ Eigen::Matrix<double, 2, 1> U;
+ U << last_left_voltage_, last_right_voltage_;
+ last_left_voltage_ = left_voltage;
+ last_right_voltage_ = right_voltage;
+
+ kf_.UpdateObserver(U);
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/drivetrain.h b/y2012/control_loops/drivetrain/drivetrain.h
new file mode 100644
index 0000000..6fcbca7
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain.h
@@ -0,0 +1,55 @@
+#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
+#define Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "Eigen/Dense"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain.h"
+#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
+#include "aos/common/util/log_interval.h"
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+class DrivetrainLoop : public aos::controls::ControlLoop<
+ ::y2012::control_loops::DrivetrainQueue> {
+ public:
+ // Constructs a control loop which can take a Drivetrain or defaults to the
+ // drivetrain at y2012::control_loops::drivetrain
+ explicit DrivetrainLoop(
+ ::y2012::control_loops::DrivetrainQueue *my_drivetrain =
+ &::y2012::control_loops::drivetrain_queue);
+
+ protected:
+ // Executes one cycle of the control loop.
+ virtual void RunIteration(
+ const ::y2012::control_loops::DrivetrainQueue::Goal *goal,
+ const ::y2012::control_loops::DrivetrainQueue::Position *position,
+ ::y2012::control_loops::DrivetrainQueue::Output *output,
+ ::y2012::control_loops::DrivetrainQueue::Status *status);
+
+ typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
+ SimpleLogInterval no_position_ = SimpleLogInterval(
+ ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
+ double last_gyro_heading_ = 0.0;
+ double last_gyro_rate_ = 0.0;
+
+ PolyDrivetrain dt_openloop_;
+ DrivetrainMotorsSS dt_closedloop_;
+ StateFeedbackLoop<7, 2, 3> kf_;
+
+ double last_left_voltage_ = 0;
+ double last_right_voltage_ = 0;
+
+ double integrated_kf_heading_ = 0;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
+
+#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2012/control_loops/drivetrain/drivetrain.q b/y2012/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..819a28f
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,126 @@
+package y2012.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+// For logging information about what the code is doing with the shifters.
+struct GearLogging {
+ // Which controller is being used.
+ int8_t controller_index;
+ // Whether the left loop is the high-gear one.
+ bool left_loop_high;
+ // Whether the right loop is the high-gear one.
+ bool right_loop_high;
+ // The state of the left shifter.
+ int8_t left_state;
+ // The state of the right shifter.
+ int8_t right_state;
+};
+
+// For logging information about the state of the shifters.
+struct CIMLogging {
+ // Whether the code thinks the left side is currently in gear.
+ bool left_in_gear;
+ // Whether the code thinks the right side is currently in gear.
+ bool right_in_gear;
+ // The velocity in rad/s (positive forward) the code thinks the left motor
+ // is currently spinning at.
+ double left_motor_speed;
+ // The velocity in rad/s (positive forward) the code thinks the right motor
+ // is currently spinning at.
+ double right_motor_speed;
+ // The velocity estimate for the left side of the robot in m/s (positive
+ // forward) used for shifting.
+ double left_velocity;
+ // The velocity estimate for the right side of the robot in m/s (positive
+ // forward) used for shifting.
+ double right_velocity;
+};
+
+queue_group DrivetrainQueue {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ // Position of the steering wheel (positive = turning left when going
+ // forwards).
+ double steering;
+ // Position of the throttle (positive forwards).
+ double throttle;
+ // True to shift into high, false to shift into low.
+ bool highgear;
+ // True to activate quickturn.
+ bool quickturn;
+ // True to have the closed-loop controller take over.
+ bool control_loop_driving;
+ // Position goal for the left side in meters when the closed-loop controller
+ // is active.
+ double left_goal;
+ // Velocity goal for the left side in m/s when the closed-loop controller
+ // is active.
+ double left_velocity_goal;
+ // Position goal for the right side in meters when the closed-loop
+ // controller is active.
+ double right_goal;
+ // Velocity goal for the right side in m/s when the closed-loop controller
+ // is active.
+ double right_velocity_goal;
+ };
+
+ message Position {
+ // Relative position of the left side in meters.
+ double left_encoder;
+ // Relative position of the right side in meters.
+ double right_encoder;
+ // The speed in m/s of the left side from the most recent encoder pulse,
+ // or 0 if there was no edge within the last 5ms.
+ double left_speed;
+ // The speed in m/s of the right side from the most recent encoder pulse,
+ // or 0 if there was no edge within the last 5ms.
+ double right_speed;
+ // Position of the left shifter (smaller = towards low gear).
+ double left_shifter_position;
+ // Position of the right shifter (smaller = towards low gear).
+ double right_shifter_position;
+ double low_left_hall;
+ double high_left_hall;
+ double low_right_hall;
+ double high_right_hall;
+ };
+
+ message Output {
+ // Voltage to send to the left motor(s).
+ double left_voltage;
+ // Voltage to send to the right motor(s).
+ double right_voltage;
+ // True to set the left shifter piston for high gear.
+ bool left_high;
+ // True to set the right shifter piston for high gear.
+ bool right_high;
+ };
+
+ message Status {
+ // Estimated speed of the center of the robot in m/s (positive forwards).
+ double robot_speed;
+ // Estimated relative position of the left side in meters.
+ double filtered_left_position;
+ // Estimated relative position of the right side in meters.
+ double filtered_right_position;
+ // Estimated velocity of the left side in m/s.
+ double filtered_left_velocity;
+ // Estimated velocity of the left side in m/s.
+ double filtered_right_velocity;
+
+ // The voltage we wanted to send to the left side last cycle.
+ double uncapped_left_voltage;
+ // The voltage we wanted to send to the right side last cycle.
+ double uncapped_right_voltage;
+ // True if the output voltage was capped last cycle.
+ bool output_was_capped;
+ };
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group DrivetrainQueue drivetrain_queue;
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..ddff516
--- /dev/null
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,11 @@
+#include "y2012/control_loops/drivetrain/drivetrain.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+ ::aos::Init();
+ ::y2012::control_loops::drivetrain::DrivetrainLoop drivetrain;
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2012/control_loops/drivetrain/polydrivetrain.cc b/y2012/control_loops/drivetrain/polydrivetrain.cc
new file mode 100644
index 0000000..598d635
--- /dev/null
+++ b/y2012/control_loops/drivetrain/polydrivetrain.cc
@@ -0,0 +1,332 @@
+#include "y2012/control_loops/drivetrain/polydrivetrain.h"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "aos/common/messages/robot_state.q.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+#define HAVE_SHIFTERS 1
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::y2012::control_loops::GearLogging;
+using ::y2012::control_loops::CIMLogging;
+using ::frc971::control_loops::CoerceGoal;
+
+PolyDrivetrain::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>(
+ ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop())),
+ ttrust_(1.1),
+ wheel_(0.0),
+ throttle_(0.0),
+ quickturn_(false),
+ stale_count_(0),
+ position_time_delta_(kDt),
+ left_gear_(LOW),
+ right_gear_(LOW),
+ counter_(0) {
+ last_position_.Zero();
+ position_.Zero();
+}
+
+double PolyDrivetrain::MotorSpeed(bool high_gear, double velocity) {
+ if (high_gear) {
+ return velocity / kHighGearRatio / kWheelRadius;
+ } else {
+ return velocity / kLowGearRatio / kWheelRadius;
+ }
+}
+
+void PolyDrivetrain::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 = highgear ? HIGH : LOW;
+
+ const Gear shift_up = HIGH;
+ const Gear shift_down = LOW;
+
+ 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 PolyDrivetrain::SetPosition(
+ const ::y2012::control_loops::DrivetrainQueue::Position *position) {
+ if (position == NULL) {
+ ++stale_count_;
+ } else {
+ last_position_ = position_;
+ position_ = *position;
+ position_time_delta_ = (stale_count_ + 1) * kDt;
+ stale_count_ = 0;
+ }
+
+#if HAVE_SHIFTERS
+ if (position) {
+ if (left_gear_ == LOW) {
+ if (right_gear_ == LOW) {
+ loop_->set_controller_index(0);
+ } else {
+ loop_->set_controller_index(1);
+ }
+ } else {
+ if (right_gear_ == LOW) {
+ loop_->set_controller_index(2);
+ } else {
+ loop_->set_controller_index(3);
+ }
+ }
+ }
+#endif
+}
+
+double PolyDrivetrain::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 PolyDrivetrain::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 PolyDrivetrain::Update() {
+ // TODO(austin): Observer for the current velocity instead of difference
+ // calculations.
+ ++counter_;
+#if HAVE_SHIFTERS
+ 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(left_gear_ == HIGH, current_left_velocity);
+ const double right_motor_speed =
+ MotorSpeed(right_gear_ == HIGH, current_right_velocity);
+
+ {
+ CIMLogging logging;
+
+ // Reset the CIM model to the current conditions to be ready for when we
+ // shift.
+ if (IsInGear(left_gear_)) {
+ logging.left_in_gear = true;
+ } else {
+ logging.left_in_gear = false;
+ }
+ logging.left_motor_speed = left_motor_speed;
+ logging.left_velocity = current_left_velocity;
+ if (IsInGear(right_gear_)) {
+ logging.right_in_gear = true;
+ } else {
+ logging.right_in_gear = false;
+ }
+ logging.right_motor_speed = right_motor_speed;
+ logging.right_velocity = current_right_velocity;
+
+ LOG_STRUCT(DEBUG, "currently", logging);
+ }
+#endif
+
+#if HAVE_SHIFTERS
+ if (IsInGear(left_gear_) && IsInGear(right_gear_))
+#endif
+ {
+ // 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_->mutable_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_->mutable_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_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+ }
+
+ // TODO(austin): Model this better.
+ // TODO(austin): Feed back?
+ loop_->mutable_X_hat() =
+ loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
+#if HAVE_SHIFTERS
+ } else {
+ // Any motor is not in gear. Speed match.
+ ::Eigen::Matrix<double, 1, 1> R_left;
+ ::Eigen::Matrix<double, 1, 1> R_right;
+ R_left(0, 0) = left_motor_speed;
+ R_right(0, 0) = right_motor_speed;
+
+ const double wiggle =
+ (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+
+ loop_->mutable_U(0, 0) = ::aos::Clip(
+ (R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle), -12.0, 12.0);
+ loop_->mutable_U(1, 0) =
+ ::aos::Clip((R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
+ -12.0, 12.0);
+ loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
+#endif
+ }
+}
+
+void PolyDrivetrain::SendMotors(
+ ::y2012::control_loops::DrivetrainQueue::Output *output) {
+ if (output != NULL) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
+ output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
+ }
+}
+
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/polydrivetrain.h b/y2012/control_loops/drivetrain/polydrivetrain.h
new file mode 100644
index 0000000..73dcc8b
--- /dev/null
+++ b/y2012/control_loops/drivetrain/polydrivetrain.h
@@ -0,0 +1,80 @@
+#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
+#define Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
+
+#include "aos/common/controls/polytope.h"
+
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+class PolyDrivetrain {
+ public:
+ enum Gear { HIGH, LOW, SHIFTING_UP, SHIFTING_DOWN };
+ // Stall Torque in N m
+ static constexpr double kStallTorque = drivetrain::kStallTorque;
+ // Stall Current in Amps
+ static constexpr double kStallCurrent = drivetrain::kStallCurrent;
+ // Free Speed in RPM. Used number from last year.
+ static constexpr double kFreeSpeed = drivetrain::kFreeSpeedRPM;
+ // Free Current in Amps
+ static constexpr double kFreeCurrent = drivetrain::kFreeCurrent;
+ static constexpr double kWheelRadius = drivetrain::kWheelRadius;
+ // Resistance of the motor, divided by the number of motors per side.
+ static constexpr double kR = drivetrain::kR;
+ // Motor velocity constant
+ static constexpr double Kv = drivetrain::kV;
+
+ // Torque constant
+ static constexpr double Kt = drivetrain::kT;
+
+ static constexpr double kLowGearRatio = 15.0 / 60.0 * 15.0 / 50.0;
+ static constexpr double kHighGearRatio = 30.0 / 45.0 * 15.0 / 50.0;
+
+ PolyDrivetrain();
+
+ int controller_index() const { return loop_->controller_index(); }
+
+ static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
+
+ static double MotorSpeed(bool high_gear, double velocity);
+
+ void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
+
+ void SetPosition(
+ const ::y2012::control_loops::DrivetrainQueue::Position *position);
+
+ double FilterVelocity(double throttle);
+
+ double MaxVelocity();
+
+ void Update();
+
+ void SendMotors(::y2012::control_loops::DrivetrainQueue::Output *output);
+
+ private:
+ const ::aos::controls::HPolytope<2> U_Poly_;
+
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+
+ const double ttrust_;
+ double wheel_;
+ double throttle_;
+ bool quickturn_;
+ int stale_count_;
+ double position_time_delta_;
+ Gear left_gear_;
+ Gear right_gear_;
+ ::y2012::control_loops::DrivetrainQueue::Position last_position_;
+ ::y2012::control_loops::DrivetrainQueue::Position position_;
+ int counter_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
+
+#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
diff --git a/y2012/control_loops/drivetrain/replay_drivetrain.cc b/y2012/control_loops/drivetrain/replay_drivetrain.cc
new file mode 100644
index 0000000..db03741
--- /dev/null
+++ b/y2012/control_loops/drivetrain/replay_drivetrain.cc
@@ -0,0 +1,36 @@
+#include "aos/common/controls/replay_control_loop.h"
+#include "aos/linux_code/init.h"
+
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/queues/gyro.q.h"
+
+// Reads one or more log files and sends out all the queue messages (in the
+// correct order and at the correct time) to feed a "live" drivetrain process.
+
+int main(int argc, char **argv) {
+ if (argc <= 1) {
+ fprintf(stderr, "Need at least one file to replay!\n");
+ return EXIT_FAILURE;
+ }
+
+ ::aos::InitNRT();
+
+ {
+ ::aos::controls::ControlLoopReplayer<
+ ::y2012::control_loops::DrivetrainQueue>
+ replayer(&::y2012::control_loops::drivetrain_queue, "drivetrain");
+
+ replayer.AddDirectQueueSender("wpilib_interface.Gyro", "sending",
+ ::frc971::sensors::gyro_reading);
+ for (int i = 1; i < argc; ++i) {
+ replayer.ProcessFile(argv[i]);
+ }
+ }
+ ::frc971::sensors::gyro_reading.Clear();
+ ::y2012::control_loops::drivetrain_queue.goal.Clear();
+ ::y2012::control_loops::drivetrain_queue.status.Clear();
+ ::y2012::control_loops::drivetrain_queue.position.Clear();
+ ::y2012::control_loops::drivetrain_queue.output.Clear();
+
+ ::aos::Cleanup();
+}
diff --git a/y2012/control_loops/drivetrain/ssdrivetrain.cc b/y2012/control_loops/drivetrain/ssdrivetrain.cc
new file mode 100644
index 0000000..0dd3eb1
--- /dev/null
+++ b/y2012/control_loops/drivetrain/ssdrivetrain.cc
@@ -0,0 +1,186 @@
+#include "y2012/control_loops/drivetrain/ssdrivetrain.h"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::control_loops::DoCoerceGoal;
+
+DrivetrainMotorsSS::LimitedDrivetrainLoop::LimitedDrivetrainLoop(
+ StateFeedbackLoop<4, 2, 2> &&loop)
+ : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
+ U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0, -1, 0, 0, 1, 0, -1)
+ .finished(),
+ (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0, 12.0, 12.0)
+ .finished()) {
+ ::aos::controls::HPolytope<0>::Init();
+ T << 1, -1, 1, 1;
+ T_inverse = T.inverse();
+}
+
+void DrivetrainMotorsSS::LimitedDrivetrainLoop::CapU() {
+ const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
+
+ if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
+ mutable_U() =
+ U() * 12.0 / ::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0)));
+ LOG_MATRIX(DEBUG, "U is now", U());
+ // TODO(Austin): Figure out why the polytope stuff wasn't working and
+ // remove this hack.
+ output_was_capped_ = true;
+ return;
+
+ LOG_MATRIX(DEBUG, "U at start", U());
+ LOG_MATRIX(DEBUG, "R at start", R());
+ LOG_MATRIX(DEBUG, "Xhat at start", X_hat());
+
+ Eigen::Matrix<double, 2, 2> position_K;
+ position_K << K(0, 0), K(0, 2), K(1, 0), K(1, 2);
+ Eigen::Matrix<double, 2, 2> velocity_K;
+ velocity_K << K(0, 1), K(0, 3), K(1, 1), K(1, 3);
+
+ Eigen::Matrix<double, 2, 1> position_error;
+ position_error << error(0, 0), error(2, 0);
+ const auto drive_error = T_inverse * position_error;
+ Eigen::Matrix<double, 2, 1> velocity_error;
+ velocity_error << error(1, 0), error(3, 0);
+ LOG_MATRIX(DEBUG, "error", error);
+
+ const auto &poly = U_Poly_;
+ const Eigen::Matrix<double, 4, 2> pos_poly_H = poly.H() * position_K * T;
+ const Eigen::Matrix<double, 4, 1> pos_poly_k =
+ poly.k() - poly.H() * velocity_K * velocity_error;
+ const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
+
+ Eigen::Matrix<double, 2, 1> adjusted_pos_error;
+ {
+ const auto &P = drive_error;
+
+ Eigen::Matrix<double, 1, 2> L45;
+ L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
+ const double w45 = 0;
+
+ Eigen::Matrix<double, 1, 2> LH;
+ if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
+ LH << 0, 1;
+ } else {
+ LH << 1, 0;
+ }
+ const double wh = LH.dot(P);
+
+ Eigen::Matrix<double, 2, 2> standard;
+ standard << L45, LH;
+ Eigen::Matrix<double, 2, 1> W;
+ W << w45, wh;
+ const Eigen::Matrix<double, 2, 1> intersection = standard.inverse() * W;
+
+ bool is_inside_h;
+ const auto adjusted_pos_error_h =
+ DoCoerceGoal(pos_poly, LH, wh, drive_error, &is_inside_h);
+ const auto adjusted_pos_error_45 =
+ DoCoerceGoal(pos_poly, L45, w45, intersection, nullptr);
+ if (pos_poly.IsInside(intersection)) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ if (is_inside_h) {
+ if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
+ adjusted_pos_error = adjusted_pos_error_h;
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ } else {
+ adjusted_pos_error = adjusted_pos_error_45;
+ }
+ }
+ }
+
+ LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+ mutable_U() =
+ velocity_K * velocity_error + position_K * T * adjusted_pos_error;
+ LOG_MATRIX(DEBUG, "U is now", U());
+ } else {
+ output_was_capped_ = false;
+ }
+}
+
+DrivetrainMotorsSS::DrivetrainMotorsSS()
+ : loop_(new LimitedDrivetrainLoop(
+ ::y2012::control_loops::drivetrain::MakeDrivetrainLoop())),
+ filtered_offset_(0.0),
+ gyro_(0.0),
+ left_goal_(0.0),
+ right_goal_(0.0),
+ raw_left_(0.0),
+ raw_right_(0.0) {
+ // High gear on both.
+ loop_->set_controller_index(3);
+}
+
+void DrivetrainMotorsSS::SetGoal(double left, double left_velocity,
+ double right, double right_velocity) {
+ left_goal_ = left;
+ right_goal_ = right;
+ loop_->mutable_R() << left, left_velocity, right, right_velocity;
+}
+void DrivetrainMotorsSS::SetRawPosition(double left, double right) {
+ raw_right_ = right;
+ raw_left_ = left;
+ Eigen::Matrix<double, 2, 1> Y;
+ Y << left + filtered_offset_, right - filtered_offset_;
+ loop_->Correct(Y);
+}
+void DrivetrainMotorsSS::SetPosition(double left, double right, double gyro) {
+ // Decay the offset quickly because this gyro is great.
+ const double offset =
+ (right - left - gyro * 0.5) / 2.0;
+ filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
+ gyro_ = gyro;
+ SetRawPosition(left, right);
+}
+
+void DrivetrainMotorsSS::SetExternalMotors(double left_voltage,
+ double right_voltage) {
+ loop_->mutable_U() << left_voltage, right_voltage;
+}
+
+void DrivetrainMotorsSS::Update(bool stop_motors, bool enable_control_loop) {
+ if (enable_control_loop) {
+ loop_->Update(stop_motors);
+ } else {
+ if (stop_motors) {
+ loop_->mutable_U().setZero();
+ loop_->mutable_U_uncapped().setZero();
+ }
+ loop_->UpdateObserver(loop_->U());
+ }
+ ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
+ LOG_MATRIX(DEBUG, "E", E);
+}
+
+double DrivetrainMotorsSS::GetEstimatedRobotSpeed() const {
+ // lets just call the average of left and right velocities close enough
+ return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
+}
+
+void DrivetrainMotorsSS::SendMotors(
+ ::y2012::control_loops::DrivetrainQueue::Output *output) const {
+ if (output) {
+ output->left_voltage = loop_->U(0, 0);
+ output->right_voltage = loop_->U(1, 0);
+ output->left_high = true;
+ output->right_high = true;
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/ssdrivetrain.h b/y2012/control_loops/drivetrain/ssdrivetrain.h
new file mode 100644
index 0000000..76df3fd
--- /dev/null
+++ b/y2012/control_loops/drivetrain/ssdrivetrain.h
@@ -0,0 +1,84 @@
+#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
+#define Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "y2012/control_loops/drivetrain/drivetrain.q.h"
+
+namespace y2012 {
+namespace control_loops {
+namespace drivetrain {
+
+class DrivetrainMotorsSS {
+ public:
+ class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
+ public:
+ LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop);
+
+ bool output_was_capped() const {
+ return output_was_capped_;
+ }
+
+ private:
+ void CapU() override;
+
+ const ::aos::controls::HPolytope<2> U_Poly_;
+ Eigen::Matrix<double, 2, 2> T, T_inverse;
+ bool output_was_capped_ = false;;
+ };
+
+ DrivetrainMotorsSS();
+
+ void SetGoal(double left, double left_velocity, double right,
+ double right_velocity);
+
+ void SetRawPosition(double left, double right);
+
+ void SetPosition(double left, double right, double gyro);
+
+ void SetExternalMotors(double left_voltage, double right_voltage);
+
+ void Update(bool stop_motors, bool enable_control_loop);
+
+ double GetEstimatedRobotSpeed() const;
+
+ double GetEstimatedLeftEncoder() const {
+ return loop_->X_hat(0, 0);
+ }
+
+ double left_velocity() const { return loop_->X_hat(1, 0); }
+ double right_velocity() const { return loop_->X_hat(3, 0); }
+
+ double GetEstimatedRightEncoder() const {
+ return loop_->X_hat(2, 0);
+ }
+
+ bool OutputWasCapped() const {
+ return loop_->output_was_capped();
+ }
+
+ void SendMotors(
+ ::y2012::control_loops::DrivetrainQueue::Output *output) const;
+
+ const LimitedDrivetrainLoop &loop() const { return *loop_; }
+
+ private:
+ ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
+
+ double filtered_offset_;
+ double gyro_;
+ double left_goal_;
+ double right_goal_;
+ double raw_left_;
+ double raw_right_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2012
+
+#endif // Y2014_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_