Decapitate bot3 so it only has a drive base
Now that it is the third robot, and has no superstructure, let's check
in the code it is running.
Change-Id: Ief89efae4d4a75d837396e2731b8be4e69f55c4a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022_bot3/BUILD b/y2022_bot3/BUILD
index 8ccae67..e7146ce 100644
--- a/y2022_bot3/BUILD
+++ b/y2022_bot3/BUILD
@@ -8,23 +8,18 @@
],
data = [
":aos_config",
- "@ctre_phoenix_api_cpp_athena//:shared_libraries",
- "@ctre_phoenix_cci_athena//:shared_libraries",
+ "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenixpro_tools_athena//:shared_libraries",
],
dirs = [
"//y2022_bot3/actors:splines",
],
start_binaries = [
"//aos/events/logging:logger_main",
- "//aos/network:web_proxy_main",
":joystick_reader",
":wpilib_interface",
- "//aos/network:message_bridge_client",
- "//aos/network:message_bridge_server",
- "//y2022_bot3/actors:binaries",
"//y2022_bot3/control_loops/drivetrain:drivetrain",
"//y2022_bot3/control_loops/drivetrain:trajectory_generator",
- "//y2022_bot3/control_loops/superstructure:superstructure",
],
target_compatible_with = ["@platforms//os:linux"],
)
diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
index a97e0dd..8fd6d94 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -27,7 +27,7 @@
static constexpr double kImuYaw = 0.0;
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
- ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
index fda7119..810e1f3 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,10 @@
std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
&event_loop,
::y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
+
event_loop.Run();
return 0;
diff --git a/y2022_bot3/control_loops/python/drivetrain.py b/y2022_bot3/control_loops/python/drivetrain.py
index 8c5a2f8..638b3f3 100644
--- a/y2022_bot3/control_loops/python/drivetrain.py
+++ b/y2022_bot3/control_loops/python/drivetrain.py
@@ -14,7 +14,7 @@
kDrivetrain = drivetrain.DrivetrainParams(
J=6.0,
- mass=58.0,
+ mass=28.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.39,
wheel_radius=2.5 * 0.0254,
diff --git a/y2022_bot3/joystick_reader.cc b/y2022_bot3/joystick_reader.cc
index 00a28be..159123c 100644
--- a/y2022_bot3/joystick_reader.cc
+++ b/y2022_bot3/joystick_reader.cc
@@ -42,7 +42,7 @@
: ::frc971::input::ActionJoystickInput(
event_loop,
::y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig(),
- ::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
+ ::frc971::input::DrivetrainInputReader::InputType::kSteeringWheel, {}),
superstructure_goal_sender_(
event_loop->MakeSender<superstructure::Goal>("/superstructure")),
superstructure_status_fetcher_(
diff --git a/y2022_bot3/y2022_bot3_roborio.json b/y2022_bot3/y2022_bot3_roborio.json
index 6485ed8..1a0712a 100644
--- a/y2022_bot3/y2022_bot3_roborio.json
+++ b/y2022_bot3/y2022_bot3_roborio.json
@@ -407,20 +407,6 @@
]
},
{
- "name": "trajectory_generator",
- "executable_name": "trajectory_generator",
- "nodes": [
- "roborio"
- ]
- },
- {
- "name": "superstructure",
- "executable_name": "superstructure",
- "nodes": [
- "roborio"
- ]
- },
- {
"name": "joystick_reader",
"executable_name": "joystick_reader",
"nodes": [
@@ -433,45 +419,6 @@
"nodes": [
"roborio"
]
- },
- {
- "name": "autonomous_action",
- "executable_name": "autonomous_action",
- "nodes": [
- "roborio"
- ]
- },
- {
- "name": "web_proxy",
- "executable_name": "web_proxy_main",
- "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
- "nodes": [
- "roborio"
- ]
- },
- {
- "name": "roborio_message_bridge_client",
- "executable_name": "message_bridge_client.sh",
- "args": ["--rt_priority=16"],
- "nodes": [
- "roborio"
- ]
- },
- {
- "name": "message_bridge_server",
- "executable_name": "message_bridge_server",
- "args": ["--rt_priority=16"],
- "nodes": [
- "roborio"
- ]
- },
- {
- "name": "logger",
- "executable_name": "logger_main",
- "args": ["--snappy_compress"],
- "nodes": [
- "roborio"
- ]
}
],
"maps": [