Initialized glog in polydrivetrain.py
Change-Id: I21d53481ef01d4bfc99eccef9a0141f71006401f
diff --git a/y2015_bot3/control_loops/python/polydrivetrain.py b/y2015_bot3/control_loops/python/polydrivetrain.py
index e85d131..1d2a74e 100755
--- a/y2015_bot3/control_loops/python/polydrivetrain.py
+++ b/y2015_bot3/control_loops/python/polydrivetrain.py
@@ -412,8 +412,6 @@
def main(argv):
- argv = FLAGS(argv)
-
vdrivetrain = VelocityDrivetrain()
if not FLAGS.plot:
@@ -482,22 +480,6 @@
else:
radius_plot.append(turn_velocity / fwd_velocity)
- cim_velocity_plot = []
- cim_voltage_plot = []
- cim_time = []
- cim = CIM()
- R = numpy.matrix([[300]])
- for t in numpy.arange(0, 0.5, cim.dt):
- U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)
- cim.Update(U)
- cim_velocity_plot.append(cim.X[0, 0])
- cim_voltage_plot.append(U[0, 0] * 10)
- cim_time.append(t)
- pylab.plot(cim_time, cim_velocity_plot, label='cim spinup')
- pylab.plot(cim_time, cim_voltage_plot, label='cim voltage')
- pylab.legend()
- pylab.show()
-
# TODO(austin):
# Shifting compensation.
@@ -516,4 +498,6 @@
return 0
if __name__ == '__main__':
- sys.exit(main(sys.argv))
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))