Creates directory and file structure for y2020
Based of the 2019 robot and modified to be a boilerplate for a
new robot.
Change-Id: I7e2861a3cfa0b7ca608d5068f731b2796a97fffe
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..d03c1b9
--- /dev/null
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -0,0 +1,83 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
+
+genrule(
+ name = "genrule_drivetrain",
+ outs = [
+ "drivetrain_dog_motor_plant.h",
+ "drivetrain_dog_motor_plant.cc",
+ "kalman_drivetrain_motor_plant.h",
+ "kalman_drivetrain_motor_plant.cc",
+ ],
+ cmd = "$(location //y2020/control_loops/python:drivetrain) $(OUTS)",
+ tools = [
+ "//y2020/control_loops/python:drivetrain",
+ ],
+)
+
+genrule(
+ name = "genrule_polydrivetrain",
+ outs = [
+ "polydrivetrain_dog_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.cc",
+ "polydrivetrain_cim_plant.h",
+ "polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
+ ],
+ cmd = "$(location //y2020/control_loops/python:polydrivetrain) $(OUTS)",
+ tools = [
+ "//y2020/control_loops/python:polydrivetrain",
+ ],
+)
+
+cc_library(
+ name = "polydrivetrain_plants",
+ srcs = [
+ "drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
+ "kalman_drivetrain_motor_plant.cc",
+ "polydrivetrain_dog_motor_plant.cc",
+ ],
+ hdrs = [
+ "drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
+ "kalman_drivetrain_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+cc_library(
+ name = "drivetrain_base",
+ srcs = [
+ "drivetrain_base.cc",
+ ],
+ hdrs = [
+ "drivetrain_base.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":polydrivetrain_plants",
+ "//frc971:shifter_hall_effect",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ ],
+)
+
+cc_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain_main.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":drivetrain_base",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ ],
+)
diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..c3597f5
--- /dev/null
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,63 @@
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+
+#include <chrono>
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2020/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2020/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2020/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace chrono = ::std::chrono;
+
+namespace y2020 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ static DrivetrainConfig<double> kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
+
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
+
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
+ 0 /* down_offset if using constants use
+ constants::GetValues().down_error */
+ ,
+ 0.7 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
+ 1.2 /* wheel_multiplier */,
+ true /*pistol_grip_shift_enables_line_follow*/,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2020
diff --git a/y2020/control_loops/drivetrain/drivetrain_base.h b/y2020/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..c220088
--- /dev/null
+++ b/y2020/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef y2020_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define y2020_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2020 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2020
+
+#endif // y2020_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..66b9cc7
--- /dev/null
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,25 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+ ::aos::InitNRT(true);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+ ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+ &event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
+ DrivetrainLoop drivetrain(
+ ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ &localizer);
+
+ event_loop.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}