Initialized glog in polydrivetrain.py
Change-Id: I21d53481ef01d4bfc99eccef9a0141f71006401f
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index 387fd78..83fff45 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -134,7 +134,7 @@
self.G_high = self._drivetrain.G_high
self.G_low = self._drivetrain.G_low
- self.R = self._drivetrain.R
+ self.resistance = self._drivetrain.R
self.r = self._drivetrain.r
self.Kv = self._drivetrain.Kv
self.Kt = self._drivetrain.Kt
@@ -184,6 +184,10 @@
[[0.0],
[0.0]])
+ self.U_ideal = numpy.matrix(
+ [[0.0],
+ [0.0]])
+
# ttrust is the comprimise between having full throttle negative inertia,
# and having no throttle negative inertia. A value of 0 is full throttle
# inertia. A value of 1 is no throttle negative inertia.
@@ -239,9 +243,9 @@
self.CurrentDrivetrain().r)
#print gear_name, "Motor Energy Difference.", 0.5 * 0.000140032647 * (low_omega * low_omega - high_omega * high_omega), "joules"
high_torque = ((12.0 - high_omega / self.CurrentDrivetrain().Kv) *
- self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().resistance)
low_torque = ((12.0 - low_omega / self.CurrentDrivetrain().Kv) *
- self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+ self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().resistance)
high_power = high_torque * high_omega
low_power = low_torque * low_omega
#if should_print:
@@ -407,27 +411,26 @@
def main(argv):
- argv = FLAGS(argv)
-
vdrivetrain = VelocityDrivetrain()
- if len(argv) != 5:
- glog.fatal('Expected .h file name and .cc file name')
- else:
- namespaces = ['y2014', 'control_loops', 'drivetrain']
- dog_loop_writer = control_loop.ControlLoopWriter(
- "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
- vdrivetrain.drivetrain_low_high,
- vdrivetrain.drivetrain_high_low,
- vdrivetrain.drivetrain_high_high],
- namespaces=namespaces)
+ if not FLAGS.plot:
+ if len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ namespaces = ['y2014', 'control_loops', 'drivetrain']
+ dog_loop_writer = control_loop.ControlLoopWriter(
+ "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
+ vdrivetrain.drivetrain_low_high,
+ vdrivetrain.drivetrain_high_low,
+ vdrivetrain.drivetrain_high_high],
+ namespaces=namespaces)
- dog_loop_writer.Write(argv[1], argv[2])
+ dog_loop_writer.Write(argv[1], argv[2])
- cim_writer = control_loop.ControlLoopWriter("CIM", [CIM()])
+ cim_writer = control_loop.ControlLoopWriter("CIM", [CIM()])
- cim_writer.Write(argv[3], argv[4])
- return
+ cim_writer.Write(argv[3], argv[4])
+ return
vl_plot = []
vr_plot = []
@@ -474,7 +477,6 @@
radius_plot.append(turn_velocity)
else:
radius_plot.append(turn_velocity / fwd_velocity)
-
cim_velocity_plot = []
cim_voltage_plot = []
cim_time = []
@@ -509,4 +511,6 @@
return 0
if __name__ == '__main__':
- sys.exit(main(sys.argv))
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))