commit d9eade95c0e9d85a0af90b2a2c1798119f26072f
author Austin Schuh <austin.linux@gmail.com> Sun Feb 05 18:59:03 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 05 23:05:31 2017 -0800
tree 2e2d39d219788a590c56c3c7e7e073c039faed71
parent 4ee6042fdcd46b14f39641ff4a7b8b092352c7c5

Initialized glog in polydrivetrain.py

Change-Id: I21d53481ef01d4bfc99eccef9a0141f71006401f

y2015_bot3/control_loops/python/polydrivetrain.py

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))