Moved Drivetrain from y2016 python to frc971
Change-Id: Ib8aaea0d3e1574e8f01cba9b228a9eae55d8f852
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 9381eb2..e8b2c73 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -1,10 +1,7 @@
#!/usr/bin/python
-from frc971.control_loops.python import control_loop
-from frc971.control_loops.python import controls
-import numpy
+from frc971.control_loops.python import drivetrain
import sys
-from matplotlib import pylab
import gflags
import glog
@@ -13,344 +10,30 @@
gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
-
-class Drivetrain(control_loop.ControlLoop):
- def __init__(self, name="Drivetrain", left_low=True, right_low=True):
- super(Drivetrain, self).__init__(name)
- # Number of motors per side
- self.num_motors = 2
- # Stall Torque in N m
- self.stall_torque = 2.42 * self.num_motors * 0.60
- # Stall Current in Amps
- self.stall_current = 133.0 * self.num_motors
- # Free Speed in RPM. Used number from last year.
- self.free_speed = 5500.0
- # Free Current in Amps
- self.free_current = 4.7 * self.num_motors
- # Moment of inertia of the drivetrain in kg m^2
- self.J = 2.0
- # Mass of the robot, in kg.
- self.m = 68
- # Radius of the robot, in meters (requires tuning by hand)
- self.rb = 0.601 / 2.0
- # Radius of the wheels, in meters.
- self.r = 0.097155 * 0.9811158901447808 / 118.0 * 115.75
- # Resistance of the motor, divided by the number of motors.
- self.resistance = 12.0 / self.stall_current
- # Motor velocity constant
- self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
- (12.0 - self.resistance * self.free_current))
- # Torque constant
- self.Kt = self.stall_torque / self.stall_current
- # Gear ratios
- self.G_low = 14.0 / 48.0 * 18.0 / 60.0 * 18.0 / 36.0
- self.G_high = 14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0
- 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 = 0.005
-
- # 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.m + self.rb * self.rb / self.J
- self.msn = 1.0 / self.m - self.rb * self.rb / 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)
-
- # 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]])
-
- self.A, self.B = self.ContinuousToDiscrete(
- self.A_continuous, self.B_continuous, self.dt)
-
- if left_low or right_low:
- q_pos = 0.12
- q_vel = 1.0
- else:
- q_pos = 0.14
- q_vel = 0.95
-
- # 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.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)
-
- glog.debug('DT q_pos %f q_vel %s %s', q_pos, q_vel, name)
- glog.debug(str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
- glog.debug('K %s', repr(self.K))
-
- 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]])
-
- self.InitializeState()
-
-
-class KFDrivetrain(Drivetrain):
- def __init__(self, name="KFDrivetrain", left_low=True, right_low=True):
- super(KFDrivetrain, self).__init__(name, left_low, right_low)
-
- 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
-
- self.A, self.B = self.ContinuousToDiscrete(
- self.A_continuous, self.B_continuous, self.dt)
-
- self.C = numpy.matrix([[1, 0, 0, 0, 0, 0, 0],
- [0, 0, 1, 0, 0, 0, 0],
- [0, -0.5 / self.rb, 0, 0.5 / self.rb, 0, 0, 0]])
-
- self.D = numpy.matrix([[0, 0],
- [0, 0],
- [0, 0]])
-
- q_pos = 0.05
- q_vel = 1.00
- q_voltage = 10.0
- q_encoder_uncertainty = 2.00
-
- 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)]])
-
- 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)]])
-
- # 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.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
- 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()
-
+kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
+ mass = 68,
+ robot_radius = 0.601 / 2.0,
+ wheel_radius = 0.097155 * 0.9811158901447808 / 118.0 * 115.75,
+ G_high = 14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0,
+ G_low = 14.0 / 48.0 * 18.0 / 60.0 * 18.0 / 36.0,
+ q_pos_low = 0.12,
+ q_pos_high = 0.14,
+ q_vel_low = 1.0,
+ q_vel_high = 0.95,
+ dt = 0.005,
+ controller_poles = [0.67, 0.67])
def main(argv):
argv = FLAGS(argv)
glog.init()
- # Simulate the response of the system to a step input.
- drivetrain = Drivetrain(left_low=False, right_low=False)
- 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])
-
if FLAGS.plot:
- pylab.plot(range(100), simulated_left)
- pylab.plot(range(100), simulated_right)
- pylab.suptitle('Acceleration Test')
- pylab.show()
-
- # Simulate forwards motion.
- drivetrain = Drivetrain(left_low=False, right_low=False)
- 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])
-
- if FLAGS.plot:
- pylab.plot(range(300), close_loop_left, label='left position')
- pylab.plot(range(300), close_loop_right, 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')
- pylab.legend()
- pylab.show()
-
- # Try turning in place
- drivetrain = Drivetrain()
- close_loop_left = []
- close_loop_right = []
- R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
- for _ in xrange(100):
- 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])
-
- if FLAGS.plot:
- pylab.plot(range(100), close_loop_left)
- pylab.plot(range(100), close_loop_right)
- pylab.suptitle('Angular Move')
- pylab.show()
-
- # Try turning just one side.
- drivetrain = Drivetrain()
- close_loop_left = []
- close_loop_right = []
- R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
- for _ in xrange(100):
- 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])
-
- if FLAGS.plot:
- pylab.plot(range(100), close_loop_left)
- pylab.plot(range(100), close_loop_right)
- pylab.suptitle('Pivot')
- pylab.show()
-
- # Write the generated constants out to a file.
- drivetrain_low_low = Drivetrain(
- name="DrivetrainLowLow", left_low=True, right_low=True)
- drivetrain_low_high = Drivetrain(
- name="DrivetrainLowHigh", left_low=True, right_low=False)
- drivetrain_high_low = Drivetrain(
- name="DrivetrainHighLow", left_low=False, right_low=True)
- drivetrain_high_high = Drivetrain(
- name="DrivetrainHighHigh", left_low=False, right_low=False)
-
- kf_drivetrain_low_low = KFDrivetrain(
- name="KFDrivetrainLowLow", left_low=True, right_low=True)
- kf_drivetrain_low_high = KFDrivetrain(
- name="KFDrivetrainLowHigh", left_low=True, right_low=False)
- kf_drivetrain_high_low = KFDrivetrain(
- name="KFDrivetrainHighLow", left_low=False, right_low=True)
- kf_drivetrain_high_high = KFDrivetrain(
- name="KFDrivetrainHighHigh", left_low=False, right_low=False)
-
- if len(argv) != 5:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
- namespaces = ['y2016', '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("kFreeSpeedRPM", "%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.m))
- dog_loop_writer.AddConstant(control_loop.Constant("kRobotRadius", "%f",
- drivetrain_low_low.rb))
- 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.Write(argv[1], argv[2])
-
- 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(argv[3], argv[4])
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2016', kDrivetrain)
if __name__ == '__main__':
sys.exit(main(sys.argv))