Add code for prototyping with the 2012 drivebase
Change-Id: I16b5b2e9982f1911b410c25872eca7a00fa561f3
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_