Tune drivetrain.
Add force knob, efficiency, IMU
Change-Id: I4fd12665490d4e535d5890c2edf8ae611938333d
diff --git a/frc971/analysis/drivetrain_plot_stripped b/frc971/analysis/drivetrain_plot_stripped
index d42952e..3c24485 100644
--- a/frc971/analysis/drivetrain_plot_stripped
+++ b/frc971/analysis/drivetrain_plot_stripped
@@ -13,3 +13,8 @@
drivetrain.stripped goal left_goal
drivetrain.stripped goal right_goal
+
+drivetrain.stripped status left_voltage_error -m 0.1
+drivetrain.stripped status right_voltage_error -m 0.1
+
+drivetrain.stripped using accelerometer_y -m -10
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index d42e6c6..b4a23c3 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -139,6 +139,16 @@
const double angle = ::std::atan2(::frc971::imu_values->accelerometer_x,
::frc971::imu_values->accelerometer_z) +
0.008;
+
+ switch (dt_config_.imu_type) {
+ case IMUType::IMU_X:
+ last_accel_ = -::frc971::imu_values->accelerometer_x;
+ break;
+ case IMUType::IMU_Y:
+ last_accel_ = -::frc971::imu_values->accelerometer_y;
+ break;
+ }
+
if (accel_squared > 1.03 || accel_squared < 0.97) {
LOG(DEBUG, "New IMU value, rejecting reading\n");
} else {
@@ -206,8 +216,9 @@
}
{
- Eigen::Matrix<double, 3, 1> Y;
- Y << position->left_encoder, position->right_encoder, last_gyro_rate_;
+ Eigen::Matrix<double, 4, 1> Y;
+ Y << position->left_encoder, position->right_encoder, last_gyro_rate_,
+ last_accel_;
kf_.Correct(Y);
integrated_kf_heading_ += dt_config_.dt *
(kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) /
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index d641ab2..fd3f076 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -42,7 +42,7 @@
const DrivetrainConfig dt_config_;
- StateFeedbackLoop<7, 2, 3> kf_;
+ StateFeedbackLoop<7, 2, 4> kf_;
PolyDrivetrain dt_openloop_;
DrivetrainMotorsSS dt_closedloop_;
::aos::monotonic_clock::time_point last_gyro_time_ =
@@ -64,6 +64,8 @@
bool right_high_requested_;
bool has_been_enabled_ = false;
+
+ double last_accel_ = 0.0;
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 6de9883..c2c876e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -29,6 +29,11 @@
FLIPPED_SPARTAN_GYRO = 4, // Use the gyro on the spartan board.
};
+enum class IMUType : int32_t {
+ IMU_X = 0, // Use the x-axis of the IMU.
+ IMU_Y = 1, // Use the y-axis of the IMU.
+};
+
struct DrivetrainConfig {
// Shifting method we are using.
ShifterType shifter_type;
@@ -39,10 +44,13 @@
// Type of gyro to use.
GyroType gyro_type;
+ // Type of IMU to use.
+ IMUType imu_type;
+
// Polydrivetrain functions returning various controller loops with plants.
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
- ::std::function<StateFeedbackLoop<7, 2, 3>()> make_kf_drivetrain_loop;
+ ::std::function<StateFeedbackLoop<7, 2, 4>()> make_kf_drivetrain_loop;
double dt; // Control loop time step.
double robot_radius; // Robot radius, in meters.
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 5faae63..a791be2 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -39,7 +39,7 @@
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
-
+ IMUType::IMU_X,
::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 97df2cf..db9f1c5 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -17,7 +17,7 @@
namespace drivetrain {
PolyDrivetrain::PolyDrivetrain(const DrivetrainConfig &dt_config,
- StateFeedbackLoop<7, 2, 3> *kf)
+ StateFeedbackLoop<7, 2, 4> *kf)
: kf_(kf),
U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
/*[*/ -1, 0 /*]*/,
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index 070b7eb..c9b0714 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -15,7 +15,7 @@
class PolyDrivetrain {
public:
PolyDrivetrain(const DrivetrainConfig &dt_config,
- StateFeedbackLoop<7, 2, 3> *kf);
+ StateFeedbackLoop<7, 2, 4> *kf);
int controller_index() const { return loop_->index(); }
@@ -45,7 +45,7 @@
Gear UpdateSingleGear(Gear requested_gear, Gear current_gear);
private:
- StateFeedbackLoop<7, 2, 3> *kf_;
+ StateFeedbackLoop<7, 2, 4> *kf_;
const ::aos::controls::HVPolytope<2, 4, 4> U_Poly_;
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index ed99034..39c4ade 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -117,7 +117,7 @@
}
DrivetrainMotorsSS::DrivetrainMotorsSS(const DrivetrainConfig &dt_config,
- StateFeedbackLoop<7, 2, 3> *kf,
+ StateFeedbackLoop<7, 2, 4> *kf,
double *integrated_kf_heading)
: dt_config_(dt_config),
kf_(kf),
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index db255d7..9a9c0d8 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -19,7 +19,7 @@
class DrivetrainMotorsSS {
public:
DrivetrainMotorsSS(const DrivetrainConfig &dt_config,
- StateFeedbackLoop<7, 2, 3> *kf,
+ StateFeedbackLoop<7, 2, 4> *kf,
double *integrated_kf_heading);
void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
@@ -43,7 +43,7 @@
void ScaleCapU(Eigen::Matrix<double, 2, 1> *U);
const DrivetrainConfig dt_config_;
- StateFeedbackLoop<7, 2, 3> *kf_;
+ StateFeedbackLoop<7, 2, 4> *kf_;
Eigen::Matrix<double, 7, 1> unprofiled_goal_;
double last_gyro_to_wheel_offset_ = 0;
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 5665fd9..2380549 100644
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -8,409 +8,530 @@
import glog
class DrivetrainParams(object):
- def __init__(self, J, mass, robot_radius, wheel_radius, G_high, G_low,
- q_pos_low, q_pos_high, q_vel_low, q_vel_high,
- motor_type = control_loop.CIM(), num_motors = 2, dt = 0.00505,
- controller_poles=[0.90, 0.90], observer_poles=[0.02, 0.02]):
- """Defines all constants of a drivetrain.
+ def __init__(self,
+ J,
+ mass,
+ robot_radius,
+ wheel_radius,
+ G_high,
+ G_low,
+ q_pos_low,
+ q_pos_high,
+ q_vel_low,
+ q_vel_high,
+ 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]):
+ """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_high: float, Gear ratio for high gear.
- G_low: float, Gear ratio for low gear.
- dt: float, Control loop time step.
- q_pos_low: float, q position low gear.
- q_pos_high: float, q position high gear.
- q_vel_low: float, q velocity low gear.
- q_vel_high: float, q velocity high gear.
- 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. (See control_loop.py)
- observer_poles: array, An array of poles. (See control_loop.py)
- """
+ 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_high: float, Gear ratio for high gear.
+ G_low: float, Gear ratio for low gear.
+ dt: float, Control loop time step.
+ q_pos_low: float, q position low gear.
+ q_pos_high: float, q position high gear.
+ q_vel_low: float, q velocity low gear.
+ q_vel_high: float, q velocity high gear.
+ 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. (See control_loop.py)
+ observer_poles: array, An array of poles. (See control_loop.py)
+ """
- self.J = J
- self.mass = mass
- self.robot_radius = robot_radius
- 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.motor_type = motor_type
- self.num_motors = num_motors
- self.controller_poles = controller_poles
- self.observer_poles = observer_poles
+ self.J = J
+ self.mass = mass
+ self.robot_radius = robot_radius
+ 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.
+ 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)
+ 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
+ # 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
- # 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
+ # 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
+ # Control loop time step
+ self.dt = drivetrain_params.dt
- self.BuildDrivetrain(drivetrain_params.motor_type, drivetrain_params.num_motors);
+ self.efficiency = drivetrain_params.efficiency
+ self.force = drivetrain_params.force
- 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.BuildDrivetrain(drivetrain_params.motor_type,
+ drivetrain_params.num_motors)
- self.BuildDrivetrainController(q_pos, q_vel)
+ 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.InitializeState()
+ self.BuildDrivetrainController(q_pos, q_vel)
- 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 * 0.60
- # 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
+ self.InitializeState()
- # Effective motor resistance in ohms.
- self.resistance = 12.0 / self.stall_current
+ 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
- # 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
+ # Effective motor resistance in ohms.
+ self.resistance = 12.0 / 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.msp = 1.0 / self.mass + self.robot_radius * self.robot_radius / self.J
- self.msn = 1.0 / self.mass - self.robot_radius * self.robot_radius / 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)
+ # 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
- # State feedback matrices
- # X will be of the format
- # [[positionl], [velocityl], [positionr], velocityr]]
- self.A_continuous = numpy.matrix(
- [[0, 1, 0, 0],
- [0, -self.msp * self.tcl, 0, -self.msn * self.tcr],
- [0, 0, 0, 1],
- [0, -self.msn * self.tcl, 0, -self.msp * self.tcr]])
- self.B_continuous = numpy.matrix(
- [[0, 0],
- [self.msp * self.mpl, self.msn * self.mpr],
- [0, 0],
- [self.msn * self.mpl, self.msp * self.mpr]])
- self.C = numpy.matrix([[1, 0, 0, 0],
- [0, 0, 1, 0]])
- self.D = numpy.matrix([[0, 0],
- [0, 0]])
+ # These describe the way that a given side of a robot will be influenced
+ # by the other side. Units of 1 / kg.
+ self.msp = 1.0 / self.mass + self.robot_radius * self.robot_radius / self.J
+ self.msn = 1.0 / self.mass - self.robot_radius * self.robot_radius / 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)
- self.A, self.B = self.ContinuousToDiscrete(
- self.A_continuous, self.B_continuous, self.dt)
+ # State feedback matrices
+ # X will be of the format
+ # [[positionl], [velocityl], [positionr], velocityr]]
+ self.A_continuous = numpy.matrix(
+ [[0, 1, 0, 0], [0, -self.msp * self.tcl, 0, -self.msn * self.tcr],
+ [0, 0, 0, 1], [0, -self.msn * self.tcl, 0, -self.msp * self.tcr]])
+ self.B_continuous = numpy.matrix(
+ [[0, 0], [self.msp * self.mpl, self.msn * self.mpr], [0, 0],
+ [self.msn * self.mpl, self.msp * self.mpr]])
+ self.C = numpy.matrix([[1, 0, 0, 0], [0, 0, 1, 0]])
+ self.D = numpy.matrix([[0, 0], [0, 0]])
- def BuildDrivetrainController(self, q_pos, q_vel):
- # 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.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
- 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)
+ def BuildDrivetrainController(self, q_pos, q_vel):
+ # 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))]])
- glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, self._name)
- glog.debug(str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
- glog.debug('K %s', repr(self.K))
+ 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)
- self.hlp = 0.3
- self.llp = 0.4
- self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
+ glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, self._name)
+ glog.debug(str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+ glog.debug('K %s', repr(self.K))
- self.U_max = numpy.matrix([[12.0], [12.0]])
- self.U_min = numpy.matrix([[-12.0], [-12.0]])
+ 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.
+ 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)
+ 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
+ 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
- self.A_continuous[0:4,4:6] = self.unaugmented_B_continuous
- self.B_continuous[0:4,0:2] = self.unaugmented_B_continuous
- self.A_continuous[0,6] = 1
- self.A_continuous[2,6] = -1
+ # 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
- self.A, self.B = self.ContinuousToDiscrete(
- self.A_continuous, self.B_continuous, self.dt)
+ if self.force:
+ self.A_continuous[0:4, 4:6] = numpy.matrix(
+ [[0.0, 0.0], [self.msp, self.msn], [0.0, 0.0],
+ [self.msn, self.msp]])
+ 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.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.B_continuous[0:4, 0:2] = self.unaugmented_B_continuous
+ self.A_continuous[0, 6] = 1
+ self.A_continuous[2, 6] = -1
- self.D = numpy.matrix([[0, 0],
- [0, 0],
- [0, 0]])
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
- q_pos = 0.05
- q_vel = 1.00
- q_voltage = 10.0
- q_encoder_uncertainty = 2.00
+ 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.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)]])
+ 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
+ ]])
- r_pos = 0.0001
- r_gyro = 0.000001
- 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)]])
+ self.D = numpy.matrix([[0, 0], [0, 0], [0, 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)
+ q_pos = 0.05
+ q_vel = 1.00
+ q_encoder_uncertainty = 2.00
- self.L = self.A * self.KalmanGain
+ 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)]])
- unaug_K = self.K
+ 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)]])
- # 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
- self.K[0, 4] = 1.0
- self.K[1, 5] = 1.0
+ # 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)
- 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)
+ 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)))))
- self.InitializeState()
+ 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):
- # 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)
+ # 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)
+ 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)
- 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)
- 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))
+ 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)
+ 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])
+ 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)
- kf_loop_writer.Write(kf_drivetrain_files[0], kf_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)
+ kf_loop_writer.Write(kf_drivetrain_files[0], kf_drivetrain_files[1])
+
def PlotDrivetrainMotions(drivetrain_params):
- # Simulate the response of the system to a step input.
- drivetrain = Drivetrain(left_low=False, right_low=False, drivetrain_params=drivetrain_params)
- simulated_left = []
- simulated_right = []
- for _ in xrange(100):
- drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
- simulated_left.append(drivetrain.X[0, 0])
- simulated_right.append(drivetrain.X[2, 0])
+ # Simulate the response of the system to a step input.
+ drivetrain = Drivetrain(
+ left_low=False, right_low=False, drivetrain_params=drivetrain_params)
+ simulated_left = []
+ simulated_right = []
+ for _ in xrange(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()
+ 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 = Drivetrain(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]])
- for _ in xrange(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])
+ # Simulate forwards motion.
+ drivetrain = Drivetrain(
+ 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]])
+ for _ in xrange(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])
- pylab.plot(range(300), close_loop_left, label='left position')
- pylab.plot(range(300), close_loop_right, 'm--', label='right position')
- pylab.plot(range(300), left_power, label='left power')
- pylab.plot(range(300), right_power, '--', label='right power')
- pylab.suptitle('Linear Move\nLeft and Right Position going to 1')
- pylab.legend()
- pylab.show()
+ pylab.plot(range(300), close_loop_left, label='left position')
+ pylab.plot(range(300), close_loop_right, 'm--', label='right position')
+ pylab.plot(range(300), left_power, label='left power')
+ pylab.plot(range(300), 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 = Drivetrain(drivetrain_params=drivetrain_params)
- close_loop_left = []
- close_loop_right = []
- R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
- for _ in xrange(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])
+ # Try turning in place
+ drivetrain = Drivetrain(drivetrain_params=drivetrain_params)
+ close_loop_left = []
+ close_loop_right = []
+ R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
+ for _ in xrange(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()
+ 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 = Drivetrain(drivetrain_params=drivetrain_params)
- close_loop_left = []
- close_loop_right = []
- R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
- for _ in xrange(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])
+ # Try turning just one side.
+ drivetrain = Drivetrain(drivetrain_params=drivetrain_params)
+ close_loop_left = []
+ close_loop_right = []
+ R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
+ for _ in xrange(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()
+ 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()
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index 6f817f8..1e0cfad 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -22,6 +22,7 @@
::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2012/control_loops/python/drivetrain.py b/y2012/control_loops/python/drivetrain.py
index 919ce82..6ae809e 100755
--- a/y2012/control_loops/python/drivetrain.py
+++ b/y2012/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@
q_pos_high = 0.14,
q_vel_low = 1.0,
q_vel_high = 0.95,
+ has_imu = False,
dt = 0.005,
controller_poles = [0.8, 0.8])
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index b43323b..2083a24 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -18,6 +18,7 @@
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 77e8254..e8fdb56 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@
q_pos_high = 0.12,
q_vel_low = 1.0,
q_vel_high = 1.0,
+ has_imu = False,
dt = 0.005,
controller_poles = [0.7, 0.7])
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index f05af98..e7786ee 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -22,6 +22,7 @@
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2014_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
::y2014_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
index 830dcd8..93993c3 100755
--- a/y2014_bot3/control_loops/python/drivetrain.py
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@
q_pos_high = 0.14,
q_vel_low = 1.0,
q_vel_high = 0.95,
+ has_imu = False,
dt = 0.005,
controller_poles = [0.67, 0.67])
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 7013c52..41e6eec 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -23,6 +23,7 @@
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index e8b2c73..7417ffb 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@
q_pos_high = 0.14,
q_vel_low = 1.0,
q_vel_high = 0.95,
+ has_imu = False,
dt = 0.005,
controller_poles = [0.67, 0.67])
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index bb22c0f..af3ff38 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -23,6 +23,7 @@
::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
::y2017::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index b4635ee..74b114d 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -19,7 +19,8 @@
q_pos_low = 0.12,
q_pos_high = 0.14,
q_vel_low = 1.0,
- q_vel_high = 0.95)
+ q_vel_high = 0.95,
+ has_imu = False)
def main(argv):
argv = FLAGS(argv)
diff --git a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
index e450315..40e18c8 100644
--- a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -22,6 +22,7 @@
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_X,
::y2017_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
::y2017_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2017_bot3/control_loops/python/drivetrain.py b/y2017_bot3/control_loops/python/drivetrain.py
index 6b5ea65..0272232 100755
--- a/y2017_bot3/control_loops/python/drivetrain.py
+++ b/y2017_bot3/control_loops/python/drivetrain.py
@@ -20,7 +20,8 @@
q_pos_low = 0.12,
q_pos_high = 0.14,
q_vel_low = 1.0,
- q_vel_high = 0.95)
+ q_vel_high = 0.95,
+ has_imu = False)
def main(argv):
argv = FLAGS(argv)
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index d589bc1..838b5ad 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -21,7 +21,8 @@
static DrivetrainConfig kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
- ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_Y,
::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
@@ -35,7 +36,7 @@
true /* default_high_gear */, 0 /* down_offset if using constants use
constants::GetValues().down_error */,
0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
- 1.1 /* wheel_multiplier */,
+ 1.5 /* wheel_multiplier */,
};
return kDrivetrainConfig;
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index 988ac74..64217a0 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -15,16 +15,20 @@
#J needs updating
kDrivetrain = drivetrain.DrivetrainParams(
- J=2.5,
+ J=6.0,
mass=68.0,
robot_radius=0.616 / 2.0,
- wheel_radius=0.127 / 2.0,
+ wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
q_pos_low=0.12,
q_pos_high=0.14,
q_vel_low=1.0,
q_vel_high=0.95,
+ efficiency=0.70,
+ has_imu=True,
+ force=True,
+ kf_q_voltage=13.0,
controller_poles=[0.82, 0.82],
)