Added indexer support, with stall detection.
Re-tuned some other loops while I was learning more about the indexer.
Change-Id: I893f1f273b31357ae9137601ca27322fc3b09d98
diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 3e71a0f..8684c98 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -112,7 +112,7 @@
glog.debug('K %s', repr(self.K))
glog.debug('Poles are %s',
- repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+ repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
q_pos = 0.10
q_vel = 1.65
diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index 01d9797..6b1d59a 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -13,6 +13,8 @@
gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+gflags.DEFINE_bool('stall', False, 'If true, stall the indexer.')
+
class VelocityIndexer(control_loop.ControlLoop):
def __init__(self, name='VelocityIndexer'):
super(VelocityIndexer, self).__init__(name)
@@ -74,8 +76,11 @@
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)
- self.PlaceControllerPoles([.82])
- glog.debug(repr(self.K))
+ self.PlaceControllerPoles([.80])
+ glog.debug('K: %s', repr(self.K))
+
+ glog.debug('Poles are %s',
+ repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
self.PlaceObserverPoles([0.3])
@@ -127,7 +132,7 @@
class IntegralIndexer(Indexer):
- def __init__(self, name="IntegralIndexer"):
+ def __init__(self, name="IntegralIndexer", voltage_error_noise=None):
super(IntegralIndexer, self).__init__(name=name)
self.A_continuous_unaugmented = self.A_continuous
@@ -147,9 +152,12 @@
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)
- q_pos = 2.0
- q_vel = 0.001
- q_voltage = 10.0
+ q_pos = 0.01
+ q_vel = 2.0
+ q_voltage = 0.4
+ if voltage_error_noise is not None:
+ q_voltage = voltage_error_noise
+
self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
[0.0, (q_vel ** 2.0), 0.0],
[0.0, 0.0, (q_voltage ** 2.0)]])
@@ -179,6 +187,7 @@
self.x = []
self.v = []
self.a = []
+ self.stall_ratio = []
self.x_hat = []
self.u = []
self.offset = []
@@ -212,7 +221,10 @@
if observer_indexer is not None:
X_hat = observer_indexer.X_hat
+ observer_indexer.Y = indexer.Y
+ observer_indexer.CorrectObserver(numpy.matrix([[0.0]]))
self.x_hat.append(observer_indexer.X_hat[1, 0])
+ self.offset.append(observer_indexer.X_hat[2, 0])
ff_U = controller_indexer.Kff * (goal - observer_indexer.A * goal)
@@ -220,7 +232,6 @@
U[0, 0] = numpy.clip(U[0, 0], -vbat, vbat)
self.x.append(indexer.X[0, 0])
-
if self.v:
last_v = self.v[-1]
else:
@@ -229,17 +240,25 @@
self.v.append(indexer.X[1, 0])
self.a.append((self.v[-1] - last_v) / indexer.dt)
- if observer_indexer is not None:
- observer_indexer.Y = indexer.Y
- observer_indexer.CorrectObserver(U)
- self.offset.append(observer_indexer.X_hat[2, 0])
-
applied_U = U.copy()
- if i > 30:
- applied_U += 2
- indexer.Update(applied_U)
+ if i >= 40:
+ applied_U -= 2
+
+ if FLAGS.stall and i >= 40:
+ indexer.X[1, 0] = 0.0
+ else:
+ indexer.Update(applied_U)
if observer_indexer is not None:
+ clipped_u = U[0, 0]
+ clip_u_value = 3.0
+ if clipped_u < 0:
+ clipped_u = min(clipped_u, -clip_u_value)
+ else:
+ clipped_u = max(clipped_u, clip_u_value)
+
+ self.stall_ratio.append(10 * (-self.offset[-1] / clipped_u))
+
observer_indexer.PredictObserver(U)
self.t.append(initial_t + i * indexer.dt)
@@ -254,6 +273,10 @@
pylab.subplot(3, 1, 2)
pylab.plot(self.t, self.u, label='u')
pylab.plot(self.t, self.offset, label='voltage_offset')
+ pylab.plot(self.t, self.stall_ratio, label='stall_ratio')
+ pylab.plot(self.t,
+ [10.0 if x > 6.0 else 0.0 for x in self.stall_ratio],
+ label='is_stalled')
pylab.legend()
pylab.subplot(3, 1, 3)
@@ -278,8 +301,22 @@
if FLAGS.plot:
scenario_plotter.Plot()
- if len(argv) != 5:
- glog.fatal('Expected .h file name and .cc file name')
+ scenario_plotter = ScenarioPlotter()
+
+ indexer = Indexer()
+ indexer_controller = IntegralIndexer(voltage_error_noise=1.5)
+ observer_indexer = IntegralIndexer(voltage_error_noise=1.5)
+
+ initial_X = numpy.matrix([[0.0], [0.0]])
+ R = numpy.matrix([[0.0], [20.0], [0.0]])
+ scenario_plotter.run_test(indexer, goal=R, controller_indexer=indexer_controller,
+ observer_indexer=observer_indexer, iterations=200)
+
+ if FLAGS.plot:
+ scenario_plotter.Plot()
+
+ if len(argv) != 7:
+ glog.fatal('Expected .h file name and .cc file names')
else:
namespaces = ['y2017', 'control_loops', 'superstructure', 'indexer']
indexer = Indexer('Indexer')
@@ -296,6 +333,11 @@
'IntegralIndexer', [integral_indexer], namespaces=namespaces)
integral_loop_writer.Write(argv[3], argv[4])
+ stuck_integral_indexer = IntegralIndexer('StuckIntegralIndexer', voltage_error_noise=1.5)
+ stuck_integral_loop_writer = control_loop.ControlLoopWriter(
+ 'StuckIntegralIndexer', [stuck_integral_indexer], namespaces=namespaces)
+ stuck_integral_loop_writer.Write(argv[5], argv[6])
+
if __name__ == '__main__':
argv = FLAGS(sys.argv)
diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index 25e4b24..64732b5 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -58,6 +58,10 @@
self.PlaceControllerPoles([.90])
+ glog.debug('K %s', repr(self.K))
+ glog.debug('Poles are %s',
+ repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+
self.PlaceObserverPoles([0.3])
self.U_max = numpy.matrix([[12.0]])
@@ -128,9 +132,9 @@
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)
- q_pos = 2.0
- q_vel = 0.001
- q_voltage = 10.0
+ q_pos = 0.01
+ q_vel = 2.0
+ q_voltage = 0.2
self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
[0.0, (q_vel ** 2.0), 0.0],
[0.0, 0.0, (q_voltage ** 2.0)]])
@@ -226,8 +230,6 @@
self.t.append(initial_t + i * shooter.dt)
self.u.append(U[0, 0])
- glog.debug('Time: %f', self.t[-1])
-
def Plot(self):
pylab.subplot(3, 1, 1)
pylab.plot(self.t, self.v, label='x')
diff --git a/y2017/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
index 6c8291d..ebcc164 100644
--- a/y2017/control_loops/superstructure/BUILD
+++ b/y2017/control_loops/superstructure/BUILD
@@ -26,9 +26,10 @@
':superstructure_queue',
'//aos/common/controls:control_loop',
'//y2017/control_loops/superstructure/hood',
- '//y2017/control_loops/superstructure/turret',
+ '//y2017/control_loops/superstructure/indexer',
'//y2017/control_loops/superstructure/intake',
'//y2017/control_loops/superstructure/shooter',
+ '//y2017/control_loops/superstructure/turret',
'//y2017:constants',
],
)
@@ -49,6 +50,7 @@
'//frc971/control_loops:position_sensor_sim',
'//frc971/control_loops:team_number_test_environment',
'//y2017/control_loops/superstructure/hood:hood_plants',
+ '//y2017/control_loops/superstructure/indexer:indexer_plants',
'//y2017/control_loops/superstructure/intake:intake_plants',
'//y2017/control_loops/superstructure/shooter:shooter_plants',
'//y2017/control_loops/superstructure/turret:turret_plants',
diff --git a/y2017/control_loops/superstructure/indexer/BUILD b/y2017/control_loops/superstructure/indexer/BUILD
index 3df0810..10b726f 100644
--- a/y2017/control_loops/superstructure/indexer/BUILD
+++ b/y2017/control_loops/superstructure/indexer/BUILD
@@ -9,6 +9,8 @@
'indexer_plant.cc',
'indexer_integral_plant.h',
'indexer_integral_plant.cc',
+ 'stuck_indexer_integral_plant.h',
+ 'stuck_indexer_integral_plant.cc',
],
)
@@ -18,12 +20,31 @@
srcs = [
'indexer_plant.cc',
'indexer_integral_plant.cc',
+ 'stuck_indexer_integral_plant.cc',
],
hdrs = [
'indexer_plant.h',
'indexer_integral_plant.h',
+ 'stuck_indexer_integral_plant.h',
],
deps = [
'//frc971/control_loops:state_feedback_loop',
],
)
+
+cc_library(
+ name = 'indexer',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'indexer.cc',
+ ],
+ hdrs = [
+ 'indexer.h',
+ ],
+ deps = [
+ ':indexer_plants',
+ '//aos/common/controls:control_loop',
+ '//aos/common:math',
+ '//y2017/control_loops/superstructure:superstructure_queue',
+ ],
+)
diff --git a/y2017/control_loops/superstructure/indexer/indexer.cc b/y2017/control_loops/superstructure/indexer/indexer.cc
new file mode 100644
index 0000000..cab9864
--- /dev/null
+++ b/y2017/control_loops/superstructure/indexer/indexer.cc
@@ -0,0 +1,206 @@
+#include "y2017/control_loops/superstructure/indexer/indexer.h"
+
+#include <chrono>
+
+#include "aos/common/commonmath.h"
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/time.h"
+#include "y2017/control_loops/superstructure/indexer/indexer_integral_plant.h"
+#include "y2017/control_loops/superstructure/indexer/stuck_indexer_integral_plant.h"
+#include "y2017/control_loops/superstructure/superstructure.q.h"
+
+namespace y2017 {
+namespace control_loops {
+namespace superstructure {
+namespace indexer {
+
+namespace chrono = ::std::chrono;
+using ::aos::monotonic_clock;
+
+namespace {
+constexpr double kTolerance = 10.0;
+constexpr double kMinStuckVoltage = 3.0;
+constexpr chrono::milliseconds kForwardTimeout{500};
+constexpr chrono::milliseconds kReverseTimeout{500};
+constexpr chrono::milliseconds kReverseMinTimeout{100};
+} // namespace
+
+// TODO(austin): Pseudo current limit?
+
+IndexerController::IndexerController()
+ : loop_(new StateFeedbackLoop<3, 1, 1>(
+ superstructure::indexer::MakeIntegralIndexerLoop())),
+ stuck_indexer_detector_(new StateFeedbackLoop<3, 1, 1>(
+ superstructure::indexer::MakeStuckIntegralIndexerLoop())) {
+ history_.fill(0);
+ Y_.setZero();
+ X_hat_current_.setZero();
+ stuck_indexer_X_hat_current_.setZero();
+}
+
+void IndexerController::set_goal(double angular_velocity_goal) {
+ loop_->mutable_next_R() << 0.0, angular_velocity_goal, 0.0;
+}
+
+void IndexerController::set_position(double current_position) {
+ // Update position in the model.
+ Y_ << current_position;
+
+ // Add the position to the history.
+ history_[history_position_] = current_position;
+ history_position_ = (history_position_ + 1) % kHistoryLength;
+
+ dt_velocity_ = (current_position - last_position_) /
+ chrono::duration_cast<chrono::duration<double>>(
+ ::aos::controls::kLoopFrequency)
+ .count();
+ last_position_ = current_position;
+}
+
+double IndexerController::voltage() const { return loop_->U(0, 0); }
+
+double IndexerController::StuckRatio() const {
+ double applied_voltage = voltage();
+ if (applied_voltage < 0) {
+ applied_voltage = ::std::min(applied_voltage, -kMinStuckVoltage);
+ } else {
+ applied_voltage = ::std::max(applied_voltage, kMinStuckVoltage);
+ }
+ // Look at the ratio of the current controller power to the voltage_error
+ // term. If our output is dominated by the voltage_error, then we are likely
+ // pretty stuck and should try reversing.
+ // We don't want to worry about dividing by zero, so keep the applied voltage
+ // away from 0 though a min/max.
+ return -stuck_indexer_X_hat_current_(2, 0) / applied_voltage;
+}
+bool IndexerController::IsStuck() const { return StuckRatio() > 0.6; }
+
+void IndexerController::Reset() { reset_ = true; }
+
+void IndexerController::PartialReset() { loop_->mutable_X_hat(2, 0) = 0.0; }
+
+void IndexerController::Update(bool disabled) {
+ loop_->mutable_R() = loop_->next_R();
+ if (::std::abs(loop_->R(1, 0)) < 0.1) {
+ // Kill power at low angular velocities.
+ disabled = true;
+ }
+
+ if (reset_) {
+ loop_->mutable_X_hat(0, 0) = Y_(0, 0);
+ loop_->mutable_X_hat(1, 0) = 0.0;
+ loop_->mutable_X_hat(2, 0) = 0.0;
+ stuck_indexer_detector_->mutable_X_hat(0, 0) = Y_(0, 0);
+ stuck_indexer_detector_->mutable_X_hat(1, 0) = 0.0;
+ stuck_indexer_detector_->mutable_X_hat(2, 0) = 0.0;
+ reset_ = false;
+ }
+
+ loop_->Correct(Y_);
+ stuck_indexer_detector_->Correct(Y_);
+
+ // Compute the oldest point in the history.
+ const int oldest_history_position =
+ ((history_position_ == 0) ? kHistoryLength : history_position_) - 1;
+
+ // Compute the distance moved over that time period.
+ average_angular_velocity_ =
+ (history_[oldest_history_position] - history_[history_position_]) /
+ (chrono::duration_cast<chrono::duration<double>>(
+ ::aos::controls::kLoopFrequency)
+ .count() *
+ static_cast<double>(kHistoryLength - 1));
+
+ // Ready if average angular velocity is close to the goal.
+ error_ = average_angular_velocity_ - loop_->next_R(1, 0);
+
+ ready_ = std::abs(error_) < kTolerance && loop_->next_R(1, 0) > 1.0;
+
+ X_hat_current_ = loop_->X_hat();
+ stuck_indexer_X_hat_current_ = stuck_indexer_detector_->X_hat();
+ position_error_ = X_hat_current_(0, 0) - Y_(0, 0);
+
+ loop_->Update(disabled);
+ stuck_indexer_detector_->UpdateObserver(loop_->U());
+}
+
+void IndexerController::SetStatus(IndexerStatus *status) {
+ status->avg_angular_velocity = average_angular_velocity_;
+
+ status->angular_velocity = X_hat_current_(1, 0);
+ status->ready = ready_;
+
+ status->voltage_error = X_hat_current_(2, 0);
+ status->stuck_voltage_error = stuck_indexer_X_hat_current_(2, 0);
+ status->position_error = position_error_;
+ status->instantaneous_velocity = dt_velocity_;
+
+ status->stuck = IsStuck();
+
+ status->stuck_ratio = StuckRatio();
+}
+
+void Indexer::Reset() { indexer_.Reset(); }
+
+void Indexer::Iterate(const control_loops::IndexerGoal *goal,
+ const double *position, double *output,
+ control_loops::IndexerStatus *status) {
+ if (goal) {
+ // Start indexing at the suggested velocity.
+ // If a "stuck" event is detected, reverse. Stay reversed until either
+ // unstuck, or 0.5 seconds have elapsed.
+ // Then, start going forwards. Don't detect stuck for 0.5 seconds.
+
+ monotonic_clock::time_point monotonic_now = monotonic_clock::now();
+ switch (state_) {
+ case State::RUNNING:
+ // Pass the velocity goal through.
+ indexer_.set_goal(goal->angular_velocity);
+ // If we are stuck and weren't just reversing, try reversing to unstick
+ // us. We don't want to chatter back and forth too fast if reversing
+ // isn't working.
+ if (indexer_.IsStuck() &&
+ monotonic_now > kForwardTimeout + last_transition_time_) {
+ state_ = State::REVERSING;
+ last_transition_time_ = monotonic_now;
+ indexer_.Reset();
+ }
+ break;
+ case State::REVERSING:
+ // "Reverse" "slowly".
+ indexer_.set_goal(-5.0 * aos::sign(goal->angular_velocity));
+
+ // If we've timed out or are no longer stuck, try running again.
+ if ((!indexer_.IsStuck() &&
+ monotonic_now > last_transition_time_ + kReverseMinTimeout) ||
+ monotonic_now > kReverseTimeout + last_transition_time_) {
+ state_ = State::RUNNING;
+ last_transition_time_ = monotonic_now;
+
+ // Only reset if we got stuck going this way too.
+ if (monotonic_now > kReverseTimeout + last_transition_time_) {
+ indexer_.Reset();
+ }
+ }
+ break;
+ }
+ }
+
+ indexer_.set_position(*position);
+
+ indexer_.Update(output == nullptr);
+
+ indexer_.SetStatus(status);
+ status->state = static_cast<int32_t>(state_);
+
+ if (output) {
+ *output = indexer_.voltage();
+ }
+}
+
+} // namespace indexer
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2017
diff --git a/y2017/control_loops/superstructure/indexer/indexer.h b/y2017/control_loops/superstructure/indexer/indexer.h
new file mode 100644
index 0000000..5c1cc1b
--- /dev/null
+++ b/y2017/control_loops/superstructure/indexer/indexer.h
@@ -0,0 +1,121 @@
+#ifndef Y2017_CONTROL_LOOPS_INDEXER_INDEXER_H_
+#define Y2017_CONTROL_LOOPS_INDEXER_INDEXER_H_
+
+#include <memory>
+
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/time.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+#include "y2017/control_loops/superstructure/indexer/indexer_integral_plant.h"
+#include "y2017/control_loops/superstructure/superstructure.q.h"
+
+namespace y2017 {
+namespace control_loops {
+namespace superstructure {
+namespace indexer {
+
+class IndexerController {
+ public:
+ IndexerController();
+
+ // Sets the velocity goal in radians/sec
+ void set_goal(double angular_velocity_goal);
+ // Sets the current encoder position in radians
+ void set_position(double current_position);
+
+ // Populates the status structure.
+ void SetStatus(control_loops::IndexerStatus *status);
+
+ // Returns the control loop calculated voltage.
+ double voltage() const;
+
+ // Returns the instantaneous velocity.
+ double velocity() const { return loop_->X_hat(1, 0); }
+
+ double dt_velocity() const { return dt_velocity_; }
+
+ double error() const { return error_; }
+
+ // Returns true if the indexer is stuck.
+ bool IsStuck() const;
+ double StuckRatio() const;
+
+ // Executes the control loop for a cycle.
+ void Update(bool disabled);
+
+ // Resets the kalman filter and any other internal state.
+ void Reset();
+ // Resets the voltage error for when we reverse directions.
+ void PartialReset();
+
+ private:
+ // The current sensor measurement.
+ Eigen::Matrix<double, 1, 1> Y_;
+ // The control loop.
+ ::std::unique_ptr<StateFeedbackLoop<3, 1, 1>> loop_;
+
+ // The stuck indexer detector
+ ::std::unique_ptr<StateFeedbackLoop<3, 1, 1>> stuck_indexer_detector_;
+
+ // History array for calculating a filtered angular velocity.
+ static constexpr int kHistoryLength = 5;
+ ::std::array<double, kHistoryLength> history_;
+ ptrdiff_t history_position_ = 0;
+
+ double error_ = 0.0;
+ double dt_velocity_ = 0.0;
+ double last_position_ = 0.0;
+ double average_angular_velocity_ = 0.0;
+ double position_error_ = 0.0;
+
+ Eigen::Matrix<double, 3, 1> X_hat_current_;
+ Eigen::Matrix<double, 3, 1> stuck_indexer_X_hat_current_;
+
+ bool ready_ = false;
+ bool reset_ = false;
+
+ DISALLOW_COPY_AND_ASSIGN(IndexerController);
+};
+
+class Indexer {
+ public:
+ Indexer() {}
+
+ enum class State {
+ // The system is running correctly, no stuck condition detected.
+ RUNNING = 0,
+ // The system is reversing to unjam.
+ REVERSING = 1
+ };
+
+ // Iterates the indexer control loop one cycle. position and status must
+ // never be nullptr. goal can be nullptr if no goal exists, and output should
+ // be nullptr if disabled.
+ void Iterate(const control_loops::IndexerGoal *goal, const double *position,
+ double *output, control_loops::IndexerStatus *status);
+
+ // Sets the indexer up to reset the kalman filter next time Iterate is called.
+ void Reset();
+
+ State state() const { return state_; }
+
+ private:
+ IndexerController indexer_;
+
+ State state_ = State::RUNNING;
+
+ // The last time that we transitioned from RUNNING to REVERSING or the
+ // reverse. Used to implement the timeouts.
+ ::aos::monotonic_clock::time_point last_transition_time_ =
+ ::aos::monotonic_clock::min_time;
+
+ DISALLOW_COPY_AND_ASSIGN(Indexer);
+};
+
+} // namespace indexer
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2017
+
+#endif // Y2017_CONTROL_LOOPS_INDEXER_INDEXER_H_
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index d30a45c..c4d1630 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -90,9 +90,11 @@
}
}
if (reset_) {
- loop_->mutable_X_hat(2, 0) = 0.0;
- loop_->mutable_X_hat(1, 0) = dt_velocity_;
loop_->mutable_X_hat(0, 0) = Y_(0, 0);
+ // TODO(austin): This should be 0 for the WPILib reset since dt_velocity_
+ // will be rubbish.
+ loop_->mutable_X_hat(1, 0) = dt_velocity_;
+ loop_->mutable_X_hat(2, 0) = 0.0;
reset_ = false;
}
last_ready_ = ready_;
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 99de502..3cad298 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -27,6 +27,7 @@
turret_.Reset();
intake_.Reset();
shooter_.Reset();
+ indexer_.Reset();
}
hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
@@ -46,6 +47,10 @@
&(position->theta_shooter),
output != nullptr ? &(output->voltage_shooter) : nullptr,
&(status->shooter));
+ indexer_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->indexer) : nullptr,
+ &(position->theta_indexer),
+ output != nullptr ? &(output->voltage_indexer) : nullptr,
+ &(status->indexer));
}
} // namespace superstructure
diff --git a/y2017/control_loops/superstructure/superstructure.h b/y2017/control_loops/superstructure/superstructure.h
index 4dc99a5..575d1d3 100644
--- a/y2017/control_loops/superstructure/superstructure.h
+++ b/y2017/control_loops/superstructure/superstructure.h
@@ -6,10 +6,11 @@
#include "aos/common/controls/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017/control_loops/superstructure/hood/hood.h"
-#include "y2017/control_loops/superstructure/turret/turret.h"
+#include "y2017/control_loops/superstructure/indexer/indexer.h"
#include "y2017/control_loops/superstructure/intake/intake.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
#include "y2017/control_loops/superstructure/shooter/shooter.h"
+#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/turret/turret.h"
namespace y2017 {
namespace control_loops {
@@ -25,6 +26,8 @@
const hood::Hood &hood() const { return hood_; }
const turret::Turret &turret() const { return turret_; }
const intake::Intake &intake() const { return intake_; }
+ const shooter::Shooter &shooter() const { return shooter_; }
+ const indexer::Indexer &indexer() const { return indexer_; }
protected:
virtual void RunIteration(
@@ -38,6 +41,7 @@
turret::Turret turret_;
intake::Intake intake_;
shooter::Shooter shooter_;
+ indexer::Indexer indexer_;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 4a5edd8..49f93e5 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -64,8 +64,23 @@
// directly so there isn't confusion on if the goal is up to date.
bool ready;
- // If true, we have aborted.
- bool estopped;
+ // True if the indexer is stuck.
+ bool stuck;
+ float stuck_ratio;
+
+ // The state of the indexer state machine.
+ int32_t state;
+
+ // The estimated voltage error from the kalman filter in volts.
+ double voltage_error;
+ // The estimated voltage error from the stuck indexer kalman filter.
+ double stuck_voltage_error;
+
+ // The current velocity measured as delta x / delta t in radians/sec.
+ double instantaneous_velocity;
+
+ // The error between our measurement and expected measurement in radians.
+ double position_error;
};
struct ShooterStatus {
@@ -79,9 +94,6 @@
// directly so there isn't confusion on if the goal is up to date.
bool ready;
- // If true, we have aborted.
- bool estopped;
-
// The estimated voltage error from the kalman filter in volts.
double voltage_error;
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 6f96066..c7cef55 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -12,6 +12,7 @@
#include "gtest/gtest.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/hood/hood_plant.h"
+#include "y2017/control_loops/superstructure/indexer/indexer_plant.h"
#include "y2017/control_loops/superstructure/intake/intake_plant.h"
#include "y2017/control_loops/superstructure/shooter/shooter_plant.h"
#include "y2017/control_loops/superstructure/turret/turret_plant.h"
@@ -48,6 +49,25 @@
double voltage_offset_ = 0.0;
};
+class IndexerPlant : public StateFeedbackPlant<2, 1, 1> {
+ public:
+ explicit IndexerPlant(StateFeedbackPlant<2, 1, 1> &&other)
+ : StateFeedbackPlant<2, 1, 1>(::std::move(other)) {}
+
+ void CheckU() override {
+ EXPECT_LE(U(0, 0), U_max(0, 0) + 0.00001 + voltage_offset_);
+ EXPECT_GE(U(0, 0), U_min(0, 0) - 0.00001 + voltage_offset_);
+ }
+
+ double voltage_offset() const { return voltage_offset_; }
+ void set_voltage_offset(double voltage_offset) {
+ voltage_offset_ = voltage_offset;
+ }
+
+ private:
+ double voltage_offset_ = 0.0;
+};
+
class HoodPlant : public StateFeedbackPlant<2, 1, 1> {
public:
explicit HoodPlant(StateFeedbackPlant<2, 1, 1> &&other)
@@ -125,6 +145,9 @@
shooter_plant_(new ShooterPlant(::y2017::control_loops::superstructure::
shooter::MakeShooterPlant())),
+ indexer_plant_(new IndexerPlant(::y2017::control_loops::superstructure::
+ indexer::MakeIndexerPlant())),
+
superstructure_queue_(".y2017.control_loops.superstructure", 0xdeadbeef,
".y2017.control_loops.superstructure.goal",
".y2017.control_loops.superstructure.position",
@@ -182,6 +205,7 @@
turret_pot_encoder_.GetSensorValues(&position->turret);
intake_pot_encoder_.GetSensorValues(&position->intake);
position->theta_shooter = shooter_plant_->Y(0, 0);
+ position->theta_indexer = indexer_plant_->Y(0, 0);
position.Send();
}
@@ -196,6 +220,8 @@
double shooter_velocity() const { return shooter_plant_->X(1, 0); }
+ double indexer_velocity() const { return indexer_plant_->X(1, 0); }
+
// Sets the difference between the commanded and applied powers.
// This lets us test that the integrators work.
void set_hood_power_error(double power_error) {
@@ -214,6 +240,15 @@
shooter_plant_->set_voltage_offset(power_error);
}
+ void set_indexer_voltage_offset(double power_error) {
+ indexer_plant_->set_voltage_offset(power_error);
+ }
+
+ // Triggers the indexer to freeze in position.
+ void set_freeze_indexer(bool freeze_indexer) {
+ freeze_indexer_ = freeze_indexer;
+ }
+
// Simulates the superstructure for a single timestep.
void Simulate() {
EXPECT_TRUE(superstructure_queue_.output.FetchLatest());
@@ -262,10 +297,20 @@
<< superstructure_queue_.output->voltage_shooter +
shooter_plant_->voltage_offset();
+ indexer_plant_->mutable_U()
+ << superstructure_queue_.output->voltage_indexer +
+ indexer_plant_->voltage_offset();
+
hood_plant_->Update();
turret_plant_->Update();
intake_plant_->Update();
shooter_plant_->Update();
+ if (freeze_indexer_) {
+ indexer_plant_->mutable_X(1, 0) = 0.0;
+ } else {
+ indexer_plant_->Update();
+ }
+
const double angle_hood = hood_plant_->Y(0, 0);
const double angle_turret = turret_plant_->Y(0, 0);
@@ -295,6 +340,9 @@
::std::unique_ptr<ShooterPlant> shooter_plant_;
+ ::std::unique_ptr<IndexerPlant> indexer_plant_;
+ bool freeze_indexer_ = false;
+
SuperstructureQueue superstructure_queue_;
};
@@ -332,6 +380,8 @@
EXPECT_NEAR(superstructure_queue_.goal->intake.distance,
superstructure_plant_.intake_position(), 0.001);
+ // Check that the angular velocity, average angular velocity, and estimated
+ // angular velocity match when we are done for the shooter.
EXPECT_NEAR(superstructure_queue_.goal->shooter.angular_velocity,
superstructure_queue_.status->shooter.angular_velocity, 0.1);
EXPECT_NEAR(superstructure_queue_.goal->shooter.angular_velocity,
@@ -339,6 +389,16 @@
0.1);
EXPECT_NEAR(superstructure_queue_.goal->shooter.angular_velocity,
superstructure_plant_.shooter_velocity(), 0.1);
+
+ // Check that the angular velocity, average angular velocity, and estimated
+ // angular velocity match when we are done for the indexer.
+ EXPECT_NEAR(superstructure_queue_.goal->indexer.angular_velocity,
+ superstructure_queue_.status->indexer.angular_velocity, 0.1);
+ EXPECT_NEAR(superstructure_queue_.goal->indexer.angular_velocity,
+ superstructure_queue_.status->indexer.avg_angular_velocity,
+ 0.1);
+ EXPECT_NEAR(superstructure_queue_.goal->indexer.angular_velocity,
+ superstructure_plant_.indexer_velocity(), 0.1);
}
// Runs one iteration of the whole simulation.
@@ -658,7 +718,7 @@
// Tests that the shooter spins up to speed and that it then spins down
// without applying any power.
-TEST_F(SuperstructureTest, SpinUpAndDown) {
+TEST_F(SuperstructureTest, ShooterSpinUpAndDown) {
// Spin up.
{
auto goal = superstructure_queue_.goal.MakeMessage();
@@ -666,6 +726,7 @@
goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
goal->shooter.angular_velocity = 300.0;
+ goal->indexer.angular_velocity = 20.0;
ASSERT_TRUE(goal.Send());
}
@@ -679,6 +740,7 @@
goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
goal->shooter.angular_velocity = 0.0;
+ goal->indexer.angular_velocity = 0.0;
ASSERT_TRUE(goal.Send());
}
@@ -693,13 +755,14 @@
}
// Tests that the shooter can spin up nicely after being disabled for a while.
-TEST_F(SuperstructureTest, Disabled) {
+TEST_F(SuperstructureTest, ShooterDisabled) {
{
auto goal = superstructure_queue_.goal.MakeMessage();
goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
goal->shooter.angular_velocity = 200.0;
+ goal->indexer.angular_velocity = 20.0;
ASSERT_TRUE(goal.Send());
}
RunForTime(chrono::seconds(5), false);
@@ -710,6 +773,160 @@
VerifyNearGoal();
}
+// Tests that when the indexer gets stuck, it detects it and unjams.
+TEST_F(SuperstructureTest, StuckIndexerTest) {
+ // Spin up.
+ {
+ auto goal = superstructure_queue_.goal.MakeMessage();
+ goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
+ goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
+ goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
+ goal->shooter.angular_velocity = 0.0;
+ goal->indexer.angular_velocity = 5.0;
+ ASSERT_TRUE(goal.Send());
+ }
+
+ RunForTime(chrono::seconds(5));
+ VerifyNearGoal();
+ EXPECT_TRUE(superstructure_queue_.status->indexer.ready);
+
+ // Now, stick it.
+ const auto stuck_start_time = monotonic_clock::now();
+ superstructure_plant_.set_freeze_indexer(true);
+ while (monotonic_clock::now() < stuck_start_time + chrono::seconds(1)) {
+ RunIteration();
+ superstructure_queue_.status.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);
+ if (static_cast<indexer::Indexer::State>(
+ superstructure_queue_.status->indexer.state) ==
+ indexer::Indexer::State::REVERSING) {
+ break;
+ }
+ }
+
+ // Make sure it detected it reasonably fast.
+ const auto stuck_detection_time = monotonic_clock::now();
+ EXPECT_TRUE(stuck_detection_time - stuck_start_time <
+ chrono::milliseconds(200));
+
+ // Grab the position we were stuck at.
+ superstructure_queue_.position.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.position.get() != nullptr);
+ const double indexer_position = superstructure_queue_.position->theta_indexer;
+
+ // Now, unstick it.
+ superstructure_plant_.set_freeze_indexer(false);
+ const auto unstuck_start_time = monotonic_clock::now();
+ while (monotonic_clock::now() < unstuck_start_time + chrono::seconds(1)) {
+ RunIteration();
+ superstructure_queue_.status.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);
+ if (static_cast<indexer::Indexer::State>(
+ superstructure_queue_.status->indexer.state) ==
+ indexer::Indexer::State::RUNNING) {
+ break;
+ }
+ }
+
+ // Make sure it took some time, but not too much to detect us not being stuck anymore.
+ const auto unstuck_detection_time = monotonic_clock::now();
+ EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
+ chrono::milliseconds(200));
+ EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
+ chrono::milliseconds(40));
+
+ // Verify that it actually moved.
+ superstructure_queue_.position.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.position.get() != nullptr);
+ const double unstuck_indexer_position =
+ superstructure_queue_.position->theta_indexer;
+ EXPECT_LT(unstuck_indexer_position, indexer_position - 0.1);
+
+ // Now, verify that everything works as expected.
+ RunForTime(chrono::seconds(5));
+ VerifyNearGoal();
+}
+
+// Tests that when the indexer gets stuck forever, it switches back and forth at
+// a reasonable rate.
+TEST_F(SuperstructureTest, ReallyStuckIndexerTest) {
+ // Spin up.
+ {
+ auto goal = superstructure_queue_.goal.MakeMessage();
+ goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
+ goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
+ goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
+ goal->shooter.angular_velocity = 0.0;
+ goal->indexer.angular_velocity = 5.0;
+ ASSERT_TRUE(goal.Send());
+ }
+
+ RunForTime(chrono::seconds(5));
+ VerifyNearGoal();
+ EXPECT_TRUE(superstructure_queue_.status->indexer.ready);
+
+ // Now, stick it.
+ const auto stuck_start_time = monotonic_clock::now();
+ superstructure_plant_.set_freeze_indexer(true);
+ while (monotonic_clock::now() < stuck_start_time + chrono::seconds(1)) {
+ RunIteration();
+ superstructure_queue_.status.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);
+ if (static_cast<indexer::Indexer::State>(
+ superstructure_queue_.status->indexer.state) ==
+ indexer::Indexer::State::REVERSING) {
+ break;
+ }
+ }
+
+ // Make sure it detected it reasonably fast.
+ const auto stuck_detection_time = monotonic_clock::now();
+ EXPECT_TRUE(stuck_detection_time - stuck_start_time <
+ chrono::milliseconds(200));
+
+ // Now, try to unstick it.
+ const auto unstuck_start_time = monotonic_clock::now();
+ while (monotonic_clock::now() < unstuck_start_time + chrono::seconds(1)) {
+ RunIteration();
+ superstructure_queue_.status.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);
+ if (static_cast<indexer::Indexer::State>(
+ superstructure_queue_.status->indexer.state) ==
+ indexer::Indexer::State::RUNNING) {
+ break;
+ }
+ }
+
+ // Make sure it took some time, but not too much to detect us not being stuck
+ // anymore.
+ const auto unstuck_detection_time = monotonic_clock::now();
+ EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
+ chrono::milliseconds(600));
+ EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
+ chrono::milliseconds(400));
+
+ // Now, make sure it transitions to stuck again after a delay.
+ const auto restuck_start_time = monotonic_clock::now();
+ superstructure_plant_.set_freeze_indexer(true);
+ while (monotonic_clock::now() < restuck_start_time + chrono::seconds(1)) {
+ RunIteration();
+ superstructure_queue_.status.FetchLatest();
+ ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);
+ if (static_cast<indexer::Indexer::State>(
+ superstructure_queue_.status->indexer.state) ==
+ indexer::Indexer::State::REVERSING) {
+ break;
+ }
+ }
+
+ // Make sure it detected it reasonably fast.
+ const auto restuck_detection_time = monotonic_clock::now();
+ EXPECT_TRUE(restuck_detection_time - restuck_start_time >
+ chrono::milliseconds(400));
+ EXPECT_TRUE(restuck_detection_time - restuck_start_time <
+ chrono::milliseconds(600));
+}
+
} // namespace testing
} // namespace superstructure
} // namespace control_loops