Merge "Add 2016 spring intake physics model documentation"
diff --git a/LICENSE.txt b/LICENSE.txt
index 52cdf71..7d0feac 100644
--- a/LICENSE.txt
+++ b/LICENSE.txt
@@ -7,4 +7,4 @@
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-Anyone who uses this software must notify the original authors through the form at <http://frc971.org/contact>.
+Anyone who uses this software must notify the original authors through the form at <http://www.frc971.org/contact>.
diff --git a/WORKSPACE b/WORKSPACE
index 4a57e1b..c74eae5 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -73,14 +73,14 @@
name = "python_repo",
build_file = "debian/python.BUILD",
sha256 = "4ff939f90cffd8c72f9992d7420481e361b6016b0ce5c6fa701be0691d4e20fa",
- url = "http://frc971.org/Build-Dependencies/python-2.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/python-2.tar.gz",
)
new_http_archive(
name = "clang_3p6_repo",
build_file = "tools/cpp/clang_3p6/clang_3p6.BUILD",
sha256 = "5ee9e04c55c2c99d0c0f83722102a49e98f485fc274f73111b33a7ac4e34e03e",
- url = "http://frc971.org/Build-Dependencies/clang_3p6.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/clang_3p6.tar.gz",
)
new_local_repository(
@@ -100,14 +100,14 @@
name = "ruby_repo",
build_file = "debian/ruby.BUILD",
sha256 = "d3e21cca0abcad933de0d4095da35344a60475d1f5828ee99283ed4250ee1320",
- url = "http://frc971.org/Build-Dependencies/ruby.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/ruby.tar.gz",
)
new_http_archive(
name = "arm_frc_linux_gnueabi_repo",
build_file = "tools/cpp/arm-frc-linux-gnueabi/arm-frc-linux-gnueabi.BUILD",
sha256 = "875b23bec5138e09e3d21cc1ff2727ea3ecbec57509c37589514ba50f92979c7",
- url = "http://frc971.org/Build-Dependencies/roborio-compiler-2018.tar.xz",
+ url = "http://www.frc971.org/Build-Dependencies/roborio-compiler-2018.tar.xz",
)
# Recompressed version of the one downloaded from Linaro at
@@ -118,7 +118,7 @@
name = "linaro_linux_gcc_4_9_repo",
build_file = "compilers/linaro_linux_gcc_4.9.BUILD",
sha256 = "25e97bcb0af4fd7cd626d5bb1b303c7d2cb13acf2474e335e3d431d1a53fbb52",
- url = "http://frc971.org/Build-Dependencies/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf.tar.gz",
)
new_git_repository(
@@ -156,7 +156,7 @@
build_file = "debian/ni-libraries-2018.BUILD",
sha256 = "05ef6701c77b83163b443aa956d151028861cc3fa29fdf2b6b77431b4a91bfb9",
strip_prefix = "ni-libraries",
- url = "http://frc971.org/Build-Dependencies/allwpilib_ni-libraries_57e9fb3.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/allwpilib_ni-libraries_57e9fb3.tar.gz",
)
# Downloaded from:
@@ -166,7 +166,7 @@
build_file = "debian/six.BUILD",
sha256 = "105f8d68616f8248e24bf0e9372ef04d3cc10104f1980f54d57b2ce73a5ad56a",
strip_prefix = "six-1.10.0",
- url = "http://frc971.org/Build-Dependencies/six-1.10.0.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/six-1.10.0.tar.gz",
)
# For protobuf. Don't use these.
@@ -189,7 +189,7 @@
http_file(
name = "libusb_1_0_windows",
sha256 = "fc2ba03992f343aabbaf9eb90559c6e00cdc6a2bd914d7cebea85857d5244015",
- url = "http://frc971.org/Build-Dependencies/libusb-1.0.21-windows.tar.xz",
+ url = "http://www.frc971.org/Build-Dependencies/libusb-1.0.21-windows.tar.xz",
)
# The data tarball of the same-named Debian package.
@@ -197,7 +197,7 @@
name = "f2c",
build_file = "debian/f2c.BUILD",
sha256 = "2c677437f8217a2e2b23e41b33995d0571644fc1bea46de858f8913a5053e3f4",
- url = "http://frc971.org/Build-Dependencies/f2c_20100827-1_amd64.xz.tar.xz",
+ url = "http://www.frc971.org/Build-Dependencies/f2c_20100827-1_amd64.xz.tar.xz",
)
# Downloaded from http://www.netlib.org/clapack/.
@@ -206,63 +206,63 @@
build_file = "debian/clapack.BUILD",
sha256 = "6dc4c382164beec8aaed8fd2acc36ad24232c406eda6db462bd4c41d5e455fac",
strip_prefix = "CLAPACK-3.2.1/",
- url = "http://frc971.org/Build-Dependencies/clapack-3.2.1.tgz",
+ url = "http://www.frc971.org/Build-Dependencies/clapack-3.2.1.tgz",
)
new_http_archive(
name = "patch",
build_file = "debian/patch.BUILD",
sha256 = "b5ce139648a2e04f5585948ddad2fdae24dd4ee7976ac5a22d6ae7bd5674631e",
- url = "http://frc971.org/Build-Dependencies/patch.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/patch.tar.gz",
)
new_http_archive(
name = "pandoc",
build_file = "debian/pandoc.BUILD",
sha256 = "9f7a7adb3974a1f14715054c349ff3edc2909e920dbe3438fca437a83845f3c4",
- url = "http://frc971.org/Build-Dependencies/pandoc.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/pandoc.tar.gz",
)
new_http_archive(
name = "libusb",
build_file = "debian/libusb.BUILD",
sha256 = "3ca5cc2d317226f6646866ff9e8c443db3b0f6c82f828e800240982727531590",
- url = "http://frc971.org/Build-Dependencies/libusb.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/libusb.tar.gz",
)
new_http_archive(
name = "mingw_compiler",
build_file = "debian/mingw_compiler.BUILD",
sha256 = "45e86a8460f2151a4f0306e7ae7b06761029d2412ee16f63d1e8d2d29354e378",
- url = "http://frc971.org/Build-Dependencies/mingw_compiler.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/mingw_compiler.tar.gz",
)
new_http_archive(
name = "matplotlib",
build_file = "debian/matplotlib.BUILD",
sha256 = "dc8e04123a93180bf89727bf6b5a5a0f6d210b6c1c5eaec148f7f8183abbce24",
- url = "http://frc971.org/Build-Dependencies/matplotlib-2.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/matplotlib-2.tar.gz",
)
new_http_archive(
name = "patchelf",
build_file = "debian/patchelf.BUILD",
sha256 = "bf8b709909d7d9e30815dd228eeded7dc282e3ce3919d0589ccbb56ac8632abc",
- url = "http://frc971.org/Build-Dependencies/patchelf.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/patchelf.tar.gz",
)
new_http_archive(
name = "arm_frc_gnueabi_deps",
build_file = "debian/arm_frc_gnueabi_deps.BUILD",
sha256 = "4b26fe45010817dc136488ee1604ade21bd7c264c29f17d864fc6eba9d7442c4",
- url = "http://frc971.org/Build-Dependencies/arm_frc_gnueabi_deps.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/arm_frc_gnueabi_deps.tar.gz",
)
new_http_archive(
name = "python_gtk",
build_file = "debian/python_gtk.BUILD",
sha256 = "850f5c1521b94c5c049c44d9107cd8ae9110696fbf054d2cb48bae9620fd4d23",
- url = "http://frc971.org/Build-Dependencies/python_gtk.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/python_gtk.tar.gz",
)
# Downloaded from
@@ -272,14 +272,14 @@
build_file = "compilers/gcc_arm_none_eabi.BUILD",
sha256 = "bb17109f0ee697254a5d4ae6e5e01440e3ea8f0277f2e8169bf95d07c7d5fe69",
strip_prefix = "gcc-arm-none-eabi-7-2018-q2-update/",
- url = "http://frc971.org/Build-Dependencies/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2",
+ url = "http://www.frc971.org/Build-Dependencies/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2",
)
new_http_archive(
name = "cgal_repo",
build_file = "debian/cgal.BUILD",
sha256 = "d564dda558570344b4caa66c5bae2cdae9ef68e07829d64f5651b25f2c6a0e9e",
- url = "http://frc971.org/Build-Dependencies/cgal-dev-4.5-2.tar.gz",
+ url = "http://www.frc971.org/Build-Dependencies/cgal-dev-4.5-2.tar.gz",
)
# Java9 JDK.
@@ -295,7 +295,7 @@
sha256 = "f27cb933de4f9e7fe9a703486cf44c84bc8e9f138be0c270c9e5716a32367e87",
strip_prefix = "zulu9.0.7.1-jdk9.0.7-linux_x64-allmodules",
urls = [
- "http://frc971.org/Build-Dependencies/zulu9.0.7.1-jdk9.0.7-linux_x64-allmodules.tar.gz",
+ "http://www.frc971.org/Build-Dependencies/zulu9.0.7.1-jdk9.0.7-linux_x64-allmodules.tar.gz",
],
)
diff --git a/aos/input/drivetrain_input.cc b/aos/input/drivetrain_input.cc
index 23bb8c1..1ba8bf8 100644
--- a/aos/input/drivetrain_input.cc
+++ b/aos/input/drivetrain_input.cc
@@ -61,7 +61,7 @@
new_drivetrain_goal->throttle_torque = throttle_torque;
new_drivetrain_goal->highgear = high_gear;
new_drivetrain_goal->quickturn = data.IsPressed(quick_turn_);
- new_drivetrain_goal->control_loop_driving = is_control_loop_driving;
+ new_drivetrain_goal->controller_type = is_control_loop_driving ? 1 : 0;
new_drivetrain_goal->left_goal = current_left_goal;
new_drivetrain_goal->right_goal = current_right_goal;
new_drivetrain_goal->left_velocity_goal = 0;
diff --git a/aos/queue_types.cc b/aos/queue_types.cc
index 654de2d..367d54a 100644
--- a/aos/queue_types.cc
+++ b/aos/queue_types.cc
@@ -175,6 +175,7 @@
if (type.super_size == 8) {
size_t start_input_bytes = *input_bytes;
+ // Default value is -633437440.3735158
if (*output_bytes < 10) return false;
memcpy(output, "sendtime: ", 10);
output += 10;
diff --git a/aos/testing/BUILD b/aos/testing/BUILD
index 33794a5..ed410b1 100644
--- a/aos/testing/BUILD
+++ b/aos/testing/BUILD
@@ -7,6 +7,7 @@
visibility = ["//visibility:public"],
deps = [
"//third_party/googletest:gtest",
+ "@com_github_gflags_gflags//:gflags",
],
)
@@ -23,8 +24,8 @@
deps = [
":googletest",
"//aos:once",
- "//aos/mutex:mutex",
"//aos/logging:implementations",
+ "//aos/mutex",
],
)
@@ -68,8 +69,8 @@
deps = [
":test_logging",
"//aos:queues",
- "//aos/logging",
"//aos/ipc_lib:shared_mem",
+ "//aos/logging",
],
)
diff --git a/aos/testing/gtest_main.cc b/aos/testing/gtest_main.cc
index e2ba564..7acfe5a 100644
--- a/aos/testing/gtest_main.cc
+++ b/aos/testing/gtest_main.cc
@@ -1,8 +1,14 @@
#include <iostream>
#include <getopt.h>
+#include "gflags/gflags.h"
#include "gtest/gtest.h"
+DEFINE_bool(print_logs, false,
+ "Print the log messages as they are being generated.");
+DEFINE_string(log_file, "",
+ "Print all log messages to FILE instead of standard output.");
+
namespace aos {
namespace testing {
@@ -14,54 +20,21 @@
} // namespace aos
GTEST_API_ int main(int argc, char **argv) {
- static const struct option long_options[] = {
- {"help", no_argument, 0, 'h'},
- {"print-logs", no_argument, 0, 'p'},
- {"log-file", required_argument, 0, 'o'},
- {0, 0, 0, 0},
- };
+ ::testing::InitGoogleTest(&argc, argv);
+ ::gflags::ParseCommandLineFlags(&argc, &argv, false);
- testing::InitGoogleTest(&argc, argv);
-
- // The gtest library modifies argc and argv to remove all of its own command
- // line switches etc. So after calling InitGoogleTest() we can parse our own
- // command line options.
- while (true) {
- int c = getopt_long(argc, argv, "pho:", long_options, nullptr);
-
- if (c == -1) {
- break;
+ if (FLAGS_print_logs) {
+ if (::aos::testing::ForcePrintLogsDuringTests) {
+ ::aos::testing::ForcePrintLogsDuringTests();
}
+ }
- switch (c) {
- case 'h':
- printf(
- "\nFRC971 options:\n"
- " -p, --print-logs\n"
- " Print the log messages as they are being generated.\n"
- " -o, --log-file=FILE\n"
- " Print all log messages to FILE instead of standard output.\n"
- " This implies -p.\n"
- );
- break;
-
- case 'p':
- if (::aos::testing::ForcePrintLogsDuringTests) {
- ::aos::testing::ForcePrintLogsDuringTests();
- }
- break;
-
- case 'o':
- if (::aos::testing::ForcePrintLogsDuringTests) {
- ::aos::testing::ForcePrintLogsDuringTests();
- }
- if (::aos::testing::SetLogFileName) {
- ::aos::testing::SetLogFileName(optarg);
- }
- break;
-
- case '?':
- abort();
+ if (!FLAGS_log_file.empty()) {
+ if (::aos::testing::ForcePrintLogsDuringTests) {
+ ::aos::testing::ForcePrintLogsDuringTests();
+ }
+ if (::aos::testing::SetLogFileName) {
+ ::aos::testing::SetLogFileName(FLAGS_log_file.c_str());
}
}
diff --git a/debian/packages.bzl b/debian/packages.bzl
index d060764..54669ef 100644
--- a/debian/packages.bzl
+++ b/debian/packages.bzl
@@ -9,7 +9,7 @@
# folder.
# 2. The "download_packages" steps prints the location of the deb packages
# after it prints the "_files" dictionary. Take the deb packages from there
-# and upload them to http://frc971.org/Build-Dependencies/.
+# and upload them to http://www.frc971.org/Build-Dependencies/.
# 3. Add the newly uploaded deb packages as WORKSPACE entries using the
# "generate_repositories_for_debs" helper. Load the "_files" dictionary
# created earlier and the "generate_repositories_for_debs" helper and call
@@ -17,7 +17,7 @@
# 4. Add a "generate_deb_tarball" target to //debian/BUILD. Pass in the
# "_files" dictionary created earlier by loading it from the .bzl file.
# 5. Invoke "bazel build" on the "generate_deb_tarball" target you just created
-# and upload the resulting tarball to http://frc971.org/Build-Dependencies.
+# and upload the resulting tarball to http://www.frc971.org/Build-Dependencies.
# 6. Add a new "new_http_archive" entry to the WORKSPACE file for the tarball
# you just uploaded.
@@ -31,7 +31,7 @@
Use "bazel run" on these targets to download the packages and generate the
list to use in a .bzl file. Once you have the packages on
- http://frc971.org/Build-Dependencies/ you can add them to a to
+ http://www.frc971.org/Build-Dependencies/ you can add them to a to
combine_packages rule.
"""
package_list = " ".join(packages)
@@ -73,7 +73,7 @@
if name not in native.existing_rules():
native.http_file(
name = name,
- url = 'http://frc971.org/Build-Dependencies/%s' % f,
+ url = 'http://www.frc971.org/Build-Dependencies/%s' % f,
sha256 = files[f],
)
diff --git a/debian/usr.BUILD b/debian/usr.BUILD
index f39f8bb..97a3e9f 100644
--- a/debian/usr.BUILD
+++ b/debian/usr.BUILD
@@ -131,18 +131,18 @@
'include/glib-2.0',
'lib/x86_64-linux-gnu/glib-2.0/include',
],
- linkopts = [
- '-lgtk-3',
- '-lgdk-3',
- '-lpangocairo-1.0',
- '-lpango-1.0',
- '-latk-1.0',
- '-lcairo-gobject',
- '-lcairo',
- '-lgdk_pixbuf-2.0',
- '-lgio-2.0',
- '-lgobject-2.0',
- '-lglib-2.0'
+ srcs = [
+ 'lib/x86_64-linux-gnu/libgtk-3.so',
+ 'lib/x86_64-linux-gnu/libgdk-3.so',
+ 'lib/x86_64-linux-gnu/libpangocairo-1.0.so',
+ 'lib/x86_64-linux-gnu/libpango-1.0.so',
+ 'lib/x86_64-linux-gnu/libatk-1.0.so',
+ 'lib/x86_64-linux-gnu/libcairo-gobject.so',
+ 'lib/x86_64-linux-gnu/libcairo.so',
+ 'lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so',
+ 'lib/x86_64-linux-gnu/libgio-2.0.so',
+ 'lib/x86_64-linux-gnu/libgobject-2.0.so',
+ 'lib/x86_64-linux-gnu/libglib-2.0.so',
],
visibility = ['//visibility:public'],
)
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index df558ab..04ee334 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -29,7 +29,7 @@
LOG(INFO, "resetting the drivetrain\n");
max_drivetrain_voltage_ = 12.0;
drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.highgear(true)
.wheel(0.0)
.throttle(0.0)
@@ -58,7 +58,7 @@
}
auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
- drivetrain_message->control_loop_driving = true;
+ drivetrain_message->controller_type = 1;
drivetrain_message->highgear = true;
drivetrain_message->wheel = 0.0;
drivetrain_message->throttle = 0.0;
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 7988e51..b6b0362 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -155,6 +155,7 @@
"hybrid_state_feedback_loop.h",
],
deps = [
+ ":c2d",
":state_feedback_loop",
"//aos:macros",
"//aos/controls:control_loop",
@@ -265,6 +266,17 @@
)
cc_library(
+ name = "c2d",
+ hdrs = [
+ "c2d.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//third_party/eigen",
+ ],
+)
+
+cc_library(
name = "dlqr",
hdrs = [
"dlqr.h",
diff --git a/frc971/control_loops/c2d.h b/frc971/control_loops/c2d.h
new file mode 100644
index 0000000..453a6a5
--- /dev/null
+++ b/frc971/control_loops/c2d.h
@@ -0,0 +1,39 @@
+#ifndef FRC971_CONTROL_LOOPS_C2D_H_
+#define FRC971_CONTROL_LOOPS_C2D_H_
+
+#include <chrono>
+
+#include <Eigen/Dense>
+
+namespace frc971 {
+namespace controls {
+
+template <typename Scalar, int num_states, int num_inputs>
+void C2D(const ::Eigen::Matrix<Scalar, num_states, num_states> &A_continuous,
+ const ::Eigen::Matrix<Scalar, num_states, num_inputs> &B_continuous,
+ ::std::chrono::nanoseconds dt,
+ ::Eigen::Matrix<Scalar, num_states, num_states> *A,
+ ::Eigen::Matrix<Scalar, num_states, num_inputs> *B) {
+ // Trick from
+ // https://en.wikipedia.org/wiki/Discretization#Discretization_of_linear_state_space_models
+ // to solve for A and B more efficiently.
+ Eigen::Matrix<Scalar, num_states + num_inputs, num_states + num_inputs>
+ M_state_continuous;
+ M_state_continuous.setZero();
+ M_state_continuous.template block<num_states, num_states>(0, 0) =
+ A_continuous *
+ ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(dt).count();
+ M_state_continuous.template block<num_states, num_inputs>(0, num_states) =
+ B_continuous *
+ ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(dt).count();
+
+ Eigen::Matrix<Scalar, num_states + num_inputs, num_states + num_inputs>
+ M_state = M_state_continuous.exp();
+ *A = M_state.template block<num_states, num_states>(0, 0);
+ *B = M_state.template block<num_states, num_inputs>(0, num_states);
+}
+
+} // namespace controls
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_C2D_H_
diff --git a/frc971/control_loops/dlqr.h b/frc971/control_loops/dlqr.h
index 98dccb2..ec70593 100644
--- a/frc971/control_loops/dlqr.h
+++ b/frc971/control_loops/dlqr.h
@@ -9,20 +9,19 @@
template <int num_states, int num_inputs>
int Controllability(const ::Eigen::Matrix<double, num_states, num_states> &A,
const ::Eigen::Matrix<double, num_states, num_inputs> &B) {
- Eigen::Matrix<double, num_states, num_states * num_inputs> controllability;
- controllability.block(0, 0, num_states, num_inputs) = B;
+ Eigen::Matrix<double, num_states, num_states * num_inputs> controllability;
+ controllability.block(0, 0, num_states, num_inputs) = B;
- for (size_t i = 1; i < num_states; i++) {
- controllability.block(0, i * num_inputs, num_states, num_inputs) =
- A *
- controllability.block(0, (i - 1) * num_inputs, num_states,
- num_inputs);
- }
+ for (size_t i = 1; i < num_states; i++) {
+ controllability.block(0, i * num_inputs, num_states, num_inputs) =
+ A *
+ controllability.block(0, (i - 1) * num_inputs, num_states, num_inputs);
+ }
- return Eigen::FullPivLU<
- Eigen::Matrix<double, num_states, num_states * num_inputs>>(
- controllability)
- .rank();
+ return Eigen::FullPivLU<
+ Eigen::Matrix<double, num_states, num_states * num_inputs>>(
+ controllability)
+ .rank();
}
extern "C" {
@@ -57,8 +56,8 @@
// Stable eigenvalues first in the sort order
char SORT = 'S';
- long N = 4;
- long M = 2;
+ long N = kN;
+ long M = kM;
// Not needed since FACT = N
long P = 0;
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index c08599b..ac6e2d3 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -2,6 +2,7 @@
load("//aos/build:queues.bzl", "queue_library")
load("//tools:environments.bzl", "mcu_cpus")
+load("//tools/build_rules:select.bzl", "cpu_select", "compiler_select")
cc_binary(
name = "replay_drivetrain",
@@ -34,6 +35,7 @@
],
deps = [
"//frc971:shifter_hall_effect",
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
@@ -172,6 +174,7 @@
"//aos/logging:matrix_logging",
"//aos/logging:queue_logging",
"//aos/util:log_interval",
+ "//frc971/control_loops:runge_kutta",
"//frc971/queues:gyro",
"//frc971/wpilib:imu_queue",
],
@@ -277,3 +280,91 @@
"@com_github_gflags_gflags//:gflags",
],
)
+
+cc_library(
+ name = "distance_spline",
+ srcs = ["distance_spline.cc"],
+ hdrs = ["distance_spline.h"],
+ deps = [
+ ":spline",
+ "//frc971/control_loops:fixed_quadrature",
+ "//third_party/eigen",
+ ],
+)
+
+cc_test(
+ name = "distance_spline_test",
+ srcs = [
+ "distance_spline_test.cc",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":distance_spline",
+ "//aos/testing:googletest",
+ "//third_party/matplotlib-cpp",
+ "@com_github_gflags_gflags//:gflags",
+ ],
+)
+
+cc_library(
+ name = "trajectory",
+ srcs = ["trajectory.cc"],
+ hdrs = ["trajectory.h"],
+ deps = [
+ ":distance_spline",
+ ":drivetrain_config",
+ "//aos/logging:matrix_logging",
+ "//frc971/control_loops:c2d",
+ "//frc971/control_loops:dlqr",
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:runge_kutta",
+ "//frc971/control_loops:state_feedback_loop",
+ "//third_party/eigen",
+ ],
+)
+
+cc_binary(
+ name = "trajectory_plot",
+ srcs = [
+ "trajectory_plot.cc",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":distance_spline",
+ ":trajectory",
+ "//aos/logging:implementations",
+ "//aos/logging:matrix_logging",
+ "//aos/network:team_number",
+ "//third_party/eigen",
+ "//third_party/matplotlib-cpp",
+ "//y2016/control_loops/drivetrain:drivetrain_base",
+ "@com_github_gflags_gflags//:gflags",
+ ],
+)
+
+cc_test(
+ name = "trajectory_test",
+ srcs = [
+ "trajectory_test.cc",
+ ],
+ defines =
+ cpu_select({
+ "amd64": [
+ "SUPPORT_PLOT=1",
+ ],
+ "arm": [],
+ }),
+ linkstatic = True,
+ deps = [
+ ":trajectory",
+ "//aos/testing:googletest",
+ "//aos/testing:test_shm",
+ "//y2016:constants",
+ "//y2016/control_loops/drivetrain:polydrivetrain_plants",
+ ] + cpu_select({
+ "amd64": [
+ "//third_party/matplotlib-cpp",
+ ],
+ "arm": [],
+ }),
+)
diff --git a/frc971/control_loops/drivetrain/distance_spline.cc b/frc971/control_loops/drivetrain/distance_spline.cc
new file mode 100644
index 0000000..2ac3e62
--- /dev/null
+++ b/frc971/control_loops/drivetrain/distance_spline.cc
@@ -0,0 +1,80 @@
+#include "frc971/control_loops/drivetrain/distance_spline.h"
+
+#include "frc971/control_loops/drivetrain/spline.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+DistanceSpline::DistanceSpline(const Spline &spline, int num_alpha)
+ : spline_(spline) {
+ distances_.push_back(0.0);
+ const double dalpha = 1.0 / static_cast<double>(num_alpha - 1);
+
+ double last_alpha = 0.0;
+ for (int i = 1; i < num_alpha; ++i) {
+ const double alpha = dalpha * i;
+ distances_.push_back(
+ distances_.back() +
+ GaussianQuadrature5(
+ [this](double alpha) { return this->spline_.DPoint(alpha).norm(); },
+ last_alpha, alpha));
+ last_alpha = alpha;
+ }
+}
+
+::Eigen::Matrix<double, 2, 1> DistanceSpline::DDXY(double distance) const {
+ const double alpha = DistanceToAlpha(distance);
+ const ::Eigen::Matrix<double, 2, 1> dspline_point = spline_.DPoint(alpha);
+ const ::Eigen::Matrix<double, 2, 1> ddspline_point = spline_.DDPoint(alpha);
+
+ const double squared_norm = dspline_point.squaredNorm();
+
+ return ddspline_point / squared_norm -
+ dspline_point * (dspline_point(0) * ddspline_point(0) +
+ dspline_point(1) * ddspline_point(1)) /
+ ::std::pow(squared_norm, 2);
+}
+
+double DistanceSpline::DDTheta(double distance) const {
+ const double alpha = DistanceToAlpha(distance);
+
+ // TODO(austin): We are re-computing DPoint here even worse
+ const ::Eigen::Matrix<double, 2, 1> dspline_point = spline_.DPoint(alpha);
+ const ::Eigen::Matrix<double, 2, 1> ddspline_point = spline_.DDPoint(alpha);
+
+ const double dtheta = spline_.DTheta(alpha);
+ const double ddtheta = spline_.DDTheta(alpha);
+
+ const double squared_norm = dspline_point.squaredNorm();
+
+ return ddtheta / squared_norm -
+ dtheta * (dspline_point(0) * ddspline_point(0) +
+ dspline_point(1) * ddspline_point(1)) /
+ ::std::pow(squared_norm, 2);
+}
+
+double DistanceSpline::DistanceToAlpha(double distance) const {
+ if (distance <= 0.0) {
+ return 0.0;
+ }
+ if (distance >= length()) {
+ return 1.0;
+ }
+
+ // Find the distance right below our number using a binary search.
+ size_t after = ::std::distance(
+ distances_.begin(),
+ ::std::lower_bound(distances_.begin(), distances_.end(), distance));
+ size_t before = after - 1;
+ const double distance_step_size =
+ (1.0 / static_cast<double>(distances_.size() - 1));
+
+ return (distance - distances_[before]) /
+ (distances_[after] - distances_[before]) * distance_step_size +
+ static_cast<double>(before) * distance_step_size;
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/distance_spline.h b/frc971/control_loops/drivetrain/distance_spline.h
new file mode 100644
index 0000000..7dea1dc
--- /dev/null
+++ b/frc971/control_loops/drivetrain/distance_spline.h
@@ -0,0 +1,70 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DISTANCE_SPLINE_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DISTANCE_SPLINE_H_
+
+#include <vector>
+
+#include "Eigen/Dense"
+#include "frc971/control_loops/drivetrain/spline.h"
+#include "frc971/control_loops/fixed_quadrature.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+// Class to hold a spline as a function of distance.
+class DistanceSpline {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ DistanceSpline(const Spline &spline, int num_alpha = 100);
+
+ // Returns a point on the spline as a function of distance.
+ ::Eigen::Matrix<double, 2, 1> XY(double distance) const {
+ return spline_.Point(DistanceToAlpha(distance));
+ }
+
+ // Returns the velocity as a function of distance.
+ ::Eigen::Matrix<double, 2, 1> DXY(double distance) const {
+ return spline_.DPoint(DistanceToAlpha(distance)).normalized();
+ }
+
+ // Returns the acceleration as a function of distance.
+ ::Eigen::Matrix<double, 2, 1> DDXY(double distance) const;
+
+ // Returns the heading as a function of distance.
+ double Theta(double distance) const {
+ return spline_.Theta(DistanceToAlpha(distance));
+ }
+
+ // Returns the angular velocity as a function of distance.
+ double DTheta(double distance) const {
+ // TODO(austin): We are re-computing DPoint here!
+ const double alpha = DistanceToAlpha(distance);
+ return spline_.DTheta(alpha) / spline_.DPoint(alpha).norm();
+ }
+
+ double DThetaDt(double distance, double velocity) const {
+ return DTheta(distance) * velocity;
+ }
+
+ // Returns the angular acceleration as a function of distance.
+ double DDTheta(double distance) const;
+
+ // Returns the length of the path in meters.
+ double length() const { return distances_.back(); }
+
+ private:
+ // Computes alpha for a distance
+ double DistanceToAlpha(double distance) const;
+
+ // The spline we are converting to a distance.
+ const Spline spline_;
+ // An interpolation table of distances evenly distributed in alpha.
+ ::std::vector<double> distances_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DISTANCE_SPLINE_H_
diff --git a/frc971/control_loops/drivetrain/distance_spline_test.cc b/frc971/control_loops/drivetrain/distance_spline_test.cc
new file mode 100644
index 0000000..dd33214
--- /dev/null
+++ b/frc971/control_loops/drivetrain/distance_spline_test.cc
@@ -0,0 +1,145 @@
+#include "frc971/control_loops/drivetrain/distance_spline.h"
+
+#include <vector>
+
+#include "gflags/gflags.h"
+#include "gtest/gtest.h"
+#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+
+DEFINE_bool(plot, false, "If true, plot");
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+namespace testing {
+
+// Test fixture with a spline from 0, 0 to 1, 1
+class DistanceSplineTest : public ::testing::Test {
+ protected:
+ DistanceSplineTest()
+ : distance_spline_(Spline((::Eigen::Matrix<double, 2, 4>() << 0.0, 0.5,
+ 0.5, 1.0, 0.0, 0.0, 1.0, 1.0)
+ .finished())) {}
+ DistanceSpline distance_spline_;
+};
+
+// Tests that the derivitives of xy integrate back up to the position.
+TEST_F(DistanceSplineTest, XYIntegral) {
+ ::std::vector<double> distances_plot;
+ ::std::vector<double> x_plot;
+ ::std::vector<double> y_plot;
+ ::std::vector<double> ix_plot;
+ ::std::vector<double> iy_plot;
+ ::std::vector<double> dx_plot;
+ ::std::vector<double> dy_plot;
+ ::std::vector<double> idx_plot;
+ ::std::vector<double> idy_plot;
+
+ const int num_points = 10000;
+ ::Eigen::Matrix<double, 2, 1> point = distance_spline_.XY(0.0);
+ ::Eigen::Matrix<double, 2, 1> dpoint = distance_spline_.DXY(0.0);
+
+ const double ddistance =
+ distance_spline_.length() / static_cast<double>(num_points - 1);
+ for (int i = 0; i < num_points; ++i) {
+ const double distance = ddistance * static_cast<double>(i);
+ const ::Eigen::Matrix<double, 2, 1> expected_point =
+ distance_spline_.XY(distance);
+ const ::Eigen::Matrix<double, 2, 1> expected_dpoint =
+ distance_spline_.DXY(distance);
+
+ distances_plot.push_back(distance);
+ x_plot.push_back(expected_point(0));
+ y_plot.push_back(expected_point(1));
+ ix_plot.push_back(point(0));
+ iy_plot.push_back(point(1));
+ dx_plot.push_back(expected_dpoint(0));
+ dy_plot.push_back(expected_dpoint(1));
+ idx_plot.push_back(dpoint(0));
+ idy_plot.push_back(dpoint(1));
+
+ EXPECT_LT((point - expected_point).norm(), 1e-2) << ": At distance "
+ << distance;
+ EXPECT_LT((dpoint - expected_dpoint).norm(), 1e-2) << ": At distance "
+ << distance;
+
+ // We need to record the starting state without integrating.
+ if (i == 0) {
+ continue;
+ }
+
+ point += dpoint * ddistance;
+ dpoint += distance_spline_.DDXY(distance) * ddistance;
+ }
+
+ // Conditionally plot the functions and their integrals to aid debugging.
+ if (FLAGS_plot) {
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(distances_plot, x_plot, {{"label", "x"}});
+ matplotlibcpp::plot(distances_plot, ix_plot, {{"label", "ix"}});
+ matplotlibcpp::plot(distances_plot, y_plot, {{"label", "y"}});
+ matplotlibcpp::plot(distances_plot, iy_plot, {{"label", "iy"}});
+ matplotlibcpp::plot(distances_plot, dx_plot, {{"label", "dx"}});
+ matplotlibcpp::plot(distances_plot, idx_plot, {{"label", "idx"}});
+ matplotlibcpp::plot(distances_plot, dy_plot, {{"label", "dy"}});
+ matplotlibcpp::plot(distances_plot, idy_plot, {{"label", "idy"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::show();
+ }
+}
+
+// Tests that the derivitives of xy integrate back up to the position.
+TEST_F(DistanceSplineTest, ThetaIntegral) {
+ ::std::vector<double> distances_plot;
+ ::std::vector<double> theta_plot;
+ ::std::vector<double> itheta_plot;
+ ::std::vector<double> dtheta_plot;
+ ::std::vector<double> idtheta_plot;
+
+ const int num_points = 10000;
+ double theta = distance_spline_.Theta(0.0);
+ double dtheta = distance_spline_.DTheta(0.0);
+
+ const double ddistance =
+ distance_spline_.length() / static_cast<double>(num_points - 1);
+ for (int i = 0; i < num_points; ++i) {
+ const double distance = ddistance * static_cast<double>(i);
+ const double expected_theta = distance_spline_.Theta(distance);
+ const double expected_dtheta = distance_spline_.DTheta(distance);
+
+ distances_plot.push_back(distance);
+ theta_plot.push_back(expected_theta);
+ itheta_plot.push_back(theta);
+ dtheta_plot.push_back(expected_dtheta);
+ idtheta_plot.push_back(dtheta);
+
+ EXPECT_NEAR(expected_theta, theta, 1e-2) << ": At distance " << distance;
+ EXPECT_NEAR(expected_dtheta, dtheta, 1e-2) << ": At distance " << distance;
+
+ // We need to record the starting state without integrating.
+ if (i == 0) {
+ continue;
+ }
+
+ theta += dtheta * ddistance;
+ dtheta += distance_spline_.DDTheta(distance) * ddistance;
+ }
+
+ // Conditionally plot the functions and their integrals to aid debugging.
+ if (FLAGS_plot) {
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(distances_plot, theta_plot, {{"label", "theta"}});
+ matplotlibcpp::plot(distances_plot, itheta_plot, {{"label", "itheta"}});
+ matplotlibcpp::plot(distances_plot, dtheta_plot, {{"label", "dtheta"}});
+ matplotlibcpp::plot(distances_plot, idtheta_plot, {{"label", "idtheta"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::show();
+ }
+}
+
+} // namespace testing
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index a4401ea..36f7c82 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -10,11 +10,12 @@
#include "aos/logging/queue_logging.h"
#include "aos/logging/matrix_logging.h"
+#include "frc971/control_loops/drivetrain/down_estimator.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/polydrivetrain.h"
#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
-#include "frc971/control_loops/drivetrain/down_estimator.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/runge_kutta.h"
#include "frc971/queues/gyro.q.h"
#include "frc971/shifter_hall_effect.h"
#include "frc971/wpilib/imu.q.h"
@@ -78,6 +79,51 @@
}
}
+::Eigen::Matrix<double, 3, 1> DrivetrainLoop::PredictState(
+ const ::Eigen::Matrix<double, 3, 1> &xytheta_state,
+ const ::Eigen::Matrix<double, 7, 1> &state,
+ const ::Eigen::Matrix<double, 7, 1> &previous_state) const {
+ const double dt =
+ ::std::chrono::duration_cast<::std::chrono::duration<double>>(
+ dt_config_.dt)
+ .count();
+
+ const double distance_traveled =
+ (state(0) + state(2)) / 2.0 -
+ (previous_state(0) + previous_state(2)) / 2.0;
+
+ const double omega0 =
+ (previous_state(3) - previous_state(1)) / (dt_config_.robot_radius * 2.0);
+ const double omega1 = (state(3) - state(1)) / (dt_config_.robot_radius * 2.0);
+ const double alpha = (omega1 - omega0) / dt;
+
+ const double velocity_start = (previous_state(3) + previous_state(1)) / 2.0;
+ const double velocity_end = (state(3) + state(1)) / 2.0;
+
+ const double acceleration = (velocity_end - velocity_start) / dt;
+ const double velocity_offset =
+ distance_traveled / dt - 0.5 * acceleration * dt - velocity_start;
+ const double velocity0 = velocity_start + velocity_offset;
+
+ // TODO(austin): Substep 10x here. This is super important! ?
+ return RungeKutta(
+ [&dt, &velocity0, &acceleration, &omega0, &alpha](
+ double t, const ::Eigen::Matrix<double, 3, 1> &X) {
+ const double velocity1 = velocity0 + acceleration * t;
+ const double omega1 = omega0 + alpha * t;
+ const double theta = X(2);
+
+ return (::Eigen::Matrix<double, 3, 1>()
+ << ::std::cos(theta) * velocity1,
+ ::std::sin(theta) * velocity1, omega1)
+ .finished();
+ },
+ xytheta_state, 0.0,
+ ::std::chrono::duration_cast<::std::chrono::duration<double>>(
+ dt_config_.dt)
+ .count());
+}
+
void DrivetrainLoop::RunIteration(
const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
const ::frc971::control_loops::DrivetrainQueue::Position *position,
@@ -163,7 +209,7 @@
LOG(DEBUG,
"New IMU value from ADIS16448, rate is %f, angle %f, fused %f, bias "
"%f\n",
- rate, angle, down_estimator_.X_hat(0, 0), down_estimator_.X_hat(1, 0));
+ rate, angle, down_estimator_.X_hat(0), down_estimator_.X_hat(1));
down_U_(0, 0) = rate;
}
down_estimator_.UpdateObserver(down_U_, ::aos::controls::kLoopFrequency);
@@ -192,6 +238,13 @@
last_gyro_time_ = monotonic_now;
}
break;
+ case GyroType::FLIPPED_IMU_Z_GYRO:
+ if (is_latest_imu_values) {
+ LOG_STRUCT(DEBUG, "using", *imu_values.get());
+ last_gyro_rate_ = -imu_values->gyro_z;
+ last_gyro_time_ = monotonic_now;
+ }
+ break;
case GyroType::SPARTAN_GYRO:
if (gyro_reading.FetchLatest()) {
LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
@@ -220,9 +273,44 @@
Y << position->left_encoder, position->right_encoder, last_gyro_rate_,
last_accel_;
kf_.Correct(Y);
- integrated_kf_heading_ += dt_config_.dt *
- (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) /
- (dt_config_.robot_radius * 2.0);
+
+ // We are going to choose to integrate velocity to get position by assuming
+ // that velocity is a linear function of time. For drivetrains with large
+ // amounts of mass, we won't get large changes in acceleration over a 5 ms
+ // timestep. Do note, the only place that this matters is when we are
+ // talking about the curvature errors introduced by integration. The
+ // velocities are scaled such that the distance traveled is correct.
+ //
+ // We want to do this after the kalman filter runs so we take into account
+ // the encoder and gyro corrections.
+ //
+ // Start by computing the beginning and ending linear and angular
+ // velocities.
+ // To handle 0 velocity well, compute the offset required to be added to
+ // both velocities to make the robot travel the correct distance.
+
+ xytheta_state_.block<3, 1>(0, 0) = PredictState(
+ xytheta_state_.block<3, 1>(0, 0), kf_.X_hat(), last_state_);
+
+ // Use trapezoidal integration for the gyro heading since it's more
+ // accurate.
+ const double average_angular_velocity =
+ ((kf_.X_hat(3) - kf_.X_hat(1)) + (last_state_(3) - last_state_(1))) /
+ 2.0 / (dt_config_.robot_radius * 2.0);
+
+ integrated_kf_heading_ +=
+ ::std::chrono::duration_cast<::std::chrono::duration<double>>(
+ dt_config_.dt)
+ .count() *
+ average_angular_velocity;
+
+ // Copy over the gyro heading.
+ xytheta_state_(2) = integrated_kf_heading_;
+ // Copy over the velocities heading.
+ xytheta_state_(3) = kf_.X_hat(1);
+ xytheta_state_(4) = kf_.X_hat(3);
+ // Copy over the voltage errors.
+ xytheta_state_.block<2, 1>(5, 0) = kf_.X_hat().block<2, 1>(4, 0);
// gyro_heading = (real_right - real_left) / width
// wheel_heading = (wheel_right - wheel_left) / width
@@ -235,9 +323,9 @@
dt_openloop_.SetPosition(position, left_gear_, right_gear_);
- bool control_loop_driving = false;
+ int controller_type = 0;
if (goal) {
- control_loop_driving = goal->control_loop_driving;
+ controller_type = goal->controller_type;
dt_closedloop_.SetGoal(*goal);
dt_openloop_.SetGoal(*goal);
@@ -245,20 +333,22 @@
dt_openloop_.Update();
- if (control_loop_driving) {
- dt_closedloop_.Update(output != NULL);
- dt_closedloop_.SetOutput(output);
- } else {
- dt_openloop_.SetOutput(output);
- // TODO(austin): Set profile to current spot.
- dt_closedloop_.Update(false);
+ dt_closedloop_.Update(output != NULL && controller_type == 1);
+
+ switch (controller_type) {
+ case 0:
+ dt_openloop_.SetOutput(output);
+ break;
+ case 1:
+ dt_closedloop_.SetOutput(output);
+ break;
}
// The output should now contain the shift request.
// set the output status of the control loop state
if (status) {
- status->robot_speed = (kf_.X_hat(1, 0) + kf_.X_hat(3, 0)) / 2.0;
+ status->robot_speed = (kf_.X_hat(1) + kf_.X_hat(3)) / 2.0;
Eigen::Matrix<double, 2, 1> linear =
dt_config_.LeftRightToLinear(kf_.X_hat());
@@ -279,11 +369,16 @@
status->uncapped_left_voltage = kf_.U_uncapped(0, 0);
status->uncapped_right_voltage = kf_.U_uncapped(1, 0);
- status->left_voltage_error = kf_.X_hat(4, 0);
- status->right_voltage_error = kf_.X_hat(5, 0);
- status->estimated_angular_velocity_error = kf_.X_hat(6, 0);
+ status->left_voltage_error = kf_.X_hat(4);
+ status->right_voltage_error = kf_.X_hat(5);
+ status->estimated_angular_velocity_error = kf_.X_hat(6);
status->estimated_heading = integrated_kf_heading_;
- status->ground_angle = down_estimator_.X_hat(0, 0) + dt_config_.down_offset;
+
+ status->x = xytheta_state_(0);
+ status->y = xytheta_state_(1);
+ status->theta = xytheta_state_(2);
+
+ status->ground_angle = down_estimator_.X_hat(0) + dt_config_.down_offset;
dt_openloop_.PopulateStatus(status);
dt_closedloop_.PopulateStatus(status);
@@ -317,7 +412,8 @@
last_left_voltage_ = left_voltage;
last_right_voltage_ = right_voltage;
- kf_.UpdateObserver(U, ::aos::controls::kLoopFrequency);
+ last_state_ = kf_.X_hat();
+ kf_.UpdateObserver(U, dt_config_.dt);
}
void DrivetrainLoop::Zero(
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 3f6c32f..9396aed 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -38,6 +38,12 @@
void Zero(::frc971::control_loops::DrivetrainQueue::Output *output) override;
+ // Computes the xy state change given the change in the lr state.
+ ::Eigen::Matrix<double, 3, 1> PredictState(
+ const ::Eigen::Matrix<double, 3, 1> &xytheta_state,
+ const ::Eigen::Matrix<double, 7, 1> &state,
+ const ::Eigen::Matrix<double, 7, 1> &previous_state) const;
+
double last_gyro_rate_ = 0.0;
const DrivetrainConfig<double> dt_config_;
@@ -66,6 +72,16 @@
bool has_been_enabled_ = false;
double last_accel_ = 0.0;
+
+ // Current xytheta state of the robot. This is essentially the kalman filter
+ // integrated up in a direction.
+ // [x, y, theta, vl, vr, left_error, right_error]
+ ::Eigen::Matrix<double, 7, 1> xytheta_state_ =
+ ::Eigen::Matrix<double, 7, 1>::Zero();
+
+ // Last kalman filter state.
+ ::Eigen::Matrix<double, 7, 1> last_state_ =
+ ::Eigen::Matrix<double, 7, 1>::Zero();
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index ed659c3..2e78e51 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -55,8 +55,11 @@
// True to activate quickturn.
bool quickturn;
- // True to have the closed-loop controller take over.
- bool control_loop_driving;
+ // Type of controller in charge of the drivetrain.
+ // 0: polydrive
+ // 1: motion profiled position drive (statespace)
+ // 2: spline follower.
+ uint8_t controller_type;
// Position goals for each drivetrain side (in meters) when the
// closed-loop controller is active.
@@ -142,8 +145,11 @@
double estimated_angular_velocity_error;
// The KF estimated heading.
double estimated_heading;
- // The KF wheel estimated heading.
- //double estimated_wheel_heading;
+
+ // xytheta of the robot.
+ double x;
+ double y;
+ double theta;
// True if the output voltage was capped last cycle.
bool output_was_capped;
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 6e546a3..c4652be 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -3,8 +3,11 @@
#include <functional>
-#include "frc971/shifter_hall_effect.h"
+#if defined(__linux__)
+#include "frc971/control_loops/hybrid_state_feedback_loop.h"
+#endif
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/shifter_hall_effect.h"
namespace frc971 {
namespace control_loops {
@@ -27,6 +30,7 @@
IMU_Y_GYRO = 2, // Use the y-axis of the gyro on the IMU.
IMU_Z_GYRO = 3, // Use the z-axis of the gyro on the IMU.
FLIPPED_SPARTAN_GYRO = 4, // Use the gyro on the spartan board.
+ FLIPPED_IMU_Z_GYRO = 5, // Use the flipped z-axis of the gyro on the IMU.
};
enum class IMUType : int32_t {
@@ -52,11 +56,17 @@
::std::function<StateFeedbackLoop<4, 2, 2, Scalar>()> make_drivetrain_loop;
::std::function<StateFeedbackLoop<2, 2, 2, Scalar>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<7, 2, 4, Scalar>()> make_kf_drivetrain_loop;
+#if defined(__linux__)
+ ::std::function<
+ StateFeedbackLoop<2, 2, 2, Scalar, StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>()>
+ make_hybrid_drivetrain_velocity_loop;
+#endif
- Scalar dt; // Control loop time step.
- Scalar robot_radius; // Robot radius, in meters.
- Scalar wheel_radius; // Wheel radius, in meters.
- Scalar v; // Motor velocity constant.
+ ::std::chrono::nanoseconds dt; // Control loop time step.
+ Scalar robot_radius; // Robot radius, in meters.
+ Scalar wheel_radius; // Wheel radius, in meters.
+ Scalar v; // Motor velocity constant.
// Gear ratios, from wheel to motor shaft.
Scalar high_gear_ratio;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 1c11ae2..49022f6 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -17,6 +17,7 @@
#include "frc971/queues/gyro.q.h"
#include "y2016/constants.h"
#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
@@ -43,8 +44,10 @@
::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeHybridVelocityDrivetrainLoop,
- ::y2016::control_loops::drivetrain::kDt,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(::y2016::control_loops::drivetrain::kDt)),
::y2016::control_loops::drivetrain::kRobotRadius,
::y2016::control_loops::drivetrain::kWheelRadius,
::y2016::control_loops::drivetrain::kV,
@@ -258,7 +261,7 @@
// Tests that the drivetrain converges on a goal.
TEST_F(DrivetrainTest, ConvergesCorrectly) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(-1.0)
.right_goal(1.0)
.Send();
@@ -270,7 +273,7 @@
// voltage offset/disturbance.
TEST_F(DrivetrainTest, ConvergesWithVoltageError) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(-1.0)
.right_goal(1.0)
.Send();
@@ -283,7 +286,7 @@
// Tests that it survives disabling.
TEST_F(DrivetrainTest, SurvivesDisabling) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(-1.0)
.right_goal(1.0)
.Send();
@@ -319,7 +322,7 @@
// This used to not work due to a U-capping bug.
TEST_F(DrivetrainTest, DriveStraightForward) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(4.0)
.right_goal(4.0)
.Send();
@@ -338,7 +341,7 @@
// This used to fail in simulation due to libcdd issues with U-capping.
TEST_F(DrivetrainTest, DriveAlmostStraightForward) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(4.0)
.right_goal(3.9)
.Send();
@@ -382,7 +385,7 @@
{
::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
goal = my_drivetrain_queue_.goal.MakeMessage();
- goal->control_loop_driving = true;
+ goal->controller_type = 1;
goal->left_goal = 4.0;
goal->right_goal = 4.0;
goal->left_velocity_goal = 0.0;
@@ -413,7 +416,7 @@
{
::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
goal = my_drivetrain_queue_.goal.MakeMessage();
- goal->control_loop_driving = true;
+ goal->controller_type = 1;
goal->left_goal = -1.0;
goal->right_goal = 1.0;
goal->left_velocity_goal = 0.0;
@@ -444,7 +447,7 @@
{
::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
goal = my_drivetrain_queue_.goal.MakeMessage();
- goal->control_loop_driving = true;
+ goal->controller_type = 1;
goal->left_goal = 5.0;
goal->right_goal = 4.0;
goal->left_velocity_goal = 0.0;
@@ -468,7 +471,7 @@
// drive profiles nicely.
TEST_F(DrivetrainTest, OpenLoopThenClosed) {
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.wheel(0.0)
.throttle(1.0)
.highgear(true)
@@ -478,7 +481,7 @@
RunForTime(chrono::seconds(1));
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.wheel(0.0)
.throttle(-0.3)
.highgear(true)
@@ -488,7 +491,7 @@
RunForTime(chrono::seconds(1));
my_drivetrain_queue_.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.wheel(0.0)
.throttle(0.0)
.highgear(true)
@@ -500,7 +503,7 @@
{
::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
goal = my_drivetrain_queue_.goal.MakeMessage();
- goal->control_loop_driving = true;
+ goal->controller_type = 1;
goal->left_goal = 5.0;
goal->right_goal = 4.0;
goal->left_velocity_goal = 0.0;
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index c09c527..64b1aff 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -372,11 +372,14 @@
current_left_velocity_ = kZero;
current_right_velocity_ = kZero;
} else {
+ const Scalar dt =
+ ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(
+ dt_config_.dt)
+ .count();
current_left_velocity_ =
- (position_.left_encoder - last_position_.left_encoder) / dt_config_.dt;
+ (position_.left_encoder - last_position_.left_encoder) / dt;
current_right_velocity_ =
- (position_.right_encoder - last_position_.right_encoder) /
- dt_config_.dt;
+ (position_.right_encoder - last_position_.right_encoder) / dt;
left_motor_speed_ =
MotorSpeed(dt_config_.left_drive, position_.left_shifter_position,
current_left_velocity_, left_gear_);
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index 925256b..0d01622 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -13,6 +13,34 @@
namespace control_loops {
namespace drivetrain {
+DrivetrainMotorsSS::DrivetrainMotorsSS(
+ const DrivetrainConfig<double> &dt_config, StateFeedbackLoop<7, 2, 4> *kf,
+ double *integrated_kf_heading)
+ : dt_config_(dt_config),
+ kf_(kf),
+ U_poly_(
+ (Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+ /*[*/ -1, 0 /*]*/,
+ /*[*/ 0, 1 /*]*/,
+ /*[*/ 0, -1 /*]]*/)
+ .finished(),
+ (Eigen::Matrix<double, 4, 1>() << /*[[*/ 1.0 /*]*/,
+ /*[*/ 1.0 /*]*/,
+ /*[*/ 1.0 /*]*/,
+ /*[*/ 1.0 /*]]*/)
+ .finished(),
+ (Eigen::Matrix<double, 2, 4>() << /*[[*/ 1.0, 1.0, -1.0, -1.0 /*]*/,
+ /*[*/ -1.0, 1.0, 1.0, -1.0 /*]*/)
+ .finished()),
+ linear_profile_(::aos::controls::kLoopFrequency),
+ angular_profile_(::aos::controls::kLoopFrequency),
+ integrated_kf_heading_(integrated_kf_heading) {
+ ::aos::controls::HPolytope<0>::Init();
+ T_ << 1, 1, 1, -1;
+ T_inverse_ = T_.inverse();
+ unprofiled_goal_.setZero();
+}
+
void DrivetrainMotorsSS::ScaleCapU(Eigen::Matrix<double, 2, 1> *U) {
output_was_capped_ = ::std::abs((*U)(0, 0)) > max_voltage_ ||
::std::abs((*U)(1, 0)) > max_voltage_;
@@ -116,34 +144,6 @@
}
}
-DrivetrainMotorsSS::DrivetrainMotorsSS(
- const DrivetrainConfig<double> &dt_config, StateFeedbackLoop<7, 2, 4> *kf,
- double *integrated_kf_heading)
- : dt_config_(dt_config),
- kf_(kf),
- U_poly_(
- (Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
- /*[*/ -1, 0 /*]*/,
- /*[*/ 0, 1 /*]*/,
- /*[*/ 0, -1 /*]]*/)
- .finished(),
- (Eigen::Matrix<double, 4, 1>() << /*[[*/ 1.0 /*]*/,
- /*[*/ 1.0 /*]*/,
- /*[*/ 1.0 /*]*/,
- /*[*/ 1.0 /*]]*/)
- .finished(),
- (Eigen::Matrix<double, 2, 4>() << /*[[*/ 1.0, 1.0, -1.0, -1.0 /*]*/,
- /*[*/ -1.0, 1.0, 1.0, -1.0 /*]*/)
- .finished()),
- linear_profile_(::aos::controls::kLoopFrequency),
- angular_profile_(::aos::controls::kLoopFrequency),
- integrated_kf_heading_(integrated_kf_heading) {
- ::aos::controls::HPolytope<0>::Init();
- T_ << 1, 1, 1, -1;
- T_inverse_ = T_.inverse();
- unprofiled_goal_.setZero();
-}
-
void DrivetrainMotorsSS::SetGoal(
const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
unprofiled_goal_ << goal.left_goal, goal.left_velocity_goal, goal.right_goal,
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
new file mode 100644
index 0000000..64b4612
--- /dev/null
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -0,0 +1,426 @@
+#include "frc971/control_loops/drivetrain/trajectory.h"
+
+#include <chrono>
+
+#include "Eigen/Dense"
+#include "aos/logging/matrix_logging.h"
+#include "frc971/control_loops/dlqr.h"
+#include "frc971/control_loops/c2d.h"
+#include "frc971/control_loops/drivetrain/distance_spline.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/hybrid_state_feedback_loop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+Trajectory::Trajectory(const DistanceSpline *spline,
+ const DrivetrainConfig<double> &config, double vmax,
+ int num_distance)
+ : spline_(spline),
+ velocity_drivetrain_(
+ ::std::unique_ptr<StateFeedbackLoop<2, 2, 2, double,
+ StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>>(
+ new StateFeedbackLoop<2, 2, 2, double,
+ StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>(
+ config.make_hybrid_drivetrain_velocity_loop()))),
+ robot_radius_l_(config.robot_radius),
+ robot_radius_r_(config.robot_radius),
+ longitudal_acceleration_(3.0),
+ lateral_acceleration_(2.0),
+ Tlr_to_la_((::Eigen::Matrix<double, 2, 2>() << 0.5, 0.5,
+ -1.0 / (robot_radius_l_ + robot_radius_r_),
+ 1.0 / (robot_radius_l_ + robot_radius_r_))
+ .finished()),
+ Tla_to_lr_(Tlr_to_la_.inverse()),
+ plan_(num_distance == 0
+ ? ::std::max(100, static_cast<int>(spline_->length() / 0.0025))
+ : num_distance,
+ vmax),
+ plan_segment_type_(plan_.size() - 1, SegmentType::VELOCITY_LIMITED) {}
+
+void Trajectory::LateralAccelPass() {
+ for (size_t i = 0; i < plan_.size(); ++i) {
+ const double distance = Distance(i);
+ plan_[i] = ::std::min(plan_[i], LateralVelocityCurvature(distance));
+ }
+}
+
+// TODO(austin): Deduplicate this potentially with the backward accel function.
+// Need to sort out how the max velocity limit is going to work since the
+// velocity and acceleration need to match at all points.
+// TODO(austin): Accel check the wheels instead of the center of mass.
+double Trajectory::ForwardAcceleration(const double x, const double v) {
+ ::Eigen::Matrix<double, 2, 1> K3;
+ ::Eigen::Matrix<double, 2, 1> K4;
+ ::Eigen::Matrix<double, 2, 1> K5;
+ K345(x, &K3, &K4, &K5);
+
+ const ::Eigen::Matrix<double, 2, 1> C = K3 * v * v + K4 * v;
+ // Now, solve for all a's and find the best one which meets our criteria.
+ double maxa = -::std::numeric_limits<double>::infinity();
+ for (const double a : {(voltage_limit_ - C(0, 0)) / K5(0, 0),
+ (voltage_limit_ - C(1, 0)) / K5(1, 0),
+ (-voltage_limit_ - C(0, 0)) / K5(0, 0),
+ (-voltage_limit_ - C(1, 0)) / K5(1, 0)}) {
+ const ::Eigen::Matrix<double, 2, 1> U = K5 * a + K3 * v * v + K4 * v;
+ if ((U.array().abs() < voltage_limit_ + 1e-6).all()) {
+ maxa = ::std::max(maxa, a);
+ }
+ }
+
+ // Then, assume an acceleration oval and stay inside it.
+ const double lateral_acceleration = v * v * spline_->DDXY(x).norm();
+ const double ellipse_down_shift = longitudal_acceleration_ * 1.0;
+ const double ellipse_width_stretch = ::std::sqrt(
+ 1.0 / (1.0 - ::std::pow(ellipse_down_shift / (longitudal_acceleration_ +
+ ellipse_down_shift),
+ 2.0)));
+ const double squared =
+ 1.0 - ::std::pow(lateral_acceleration / lateral_acceleration_ /
+ ellipse_width_stretch,
+ 2.0);
+ // If we would end up with an imaginary number, cap us at 0 acceleration.
+ // TODO(austin): Investigate when this happens, why, and fix it.
+ if (squared < 0.0) {
+ LOG(ERROR, "Imaginary %f, maxa: %f, fa(%f, %f) -> 0.0\n", squared, maxa, x,
+ v);
+ return 0.0;
+ }
+ const double longitudal_acceleration =
+ ::std::sqrt(::std::abs(squared)) *
+ (longitudal_acceleration_ + ellipse_down_shift) -
+ ellipse_down_shift;
+ return ::std::min(longitudal_acceleration, maxa);
+}
+
+void Trajectory::ForwardPass() {
+ plan_[0] = 0.0;
+ const double delta_distance = Distance(1) - Distance(0);
+ for (size_t i = 0; i < plan_.size() - 1; ++i) {
+ const double distance = Distance(i);
+
+ // Integrate our acceleration forward one step.
+ const double new_plan_velocity = IntegrateAccelForDistance(
+ [this](double x, double v) { return ForwardAcceleration(x, v); },
+ plan_[i], distance, delta_distance);
+
+ if (new_plan_velocity < plan_[i + 1]) {
+ plan_[i + 1] = new_plan_velocity;
+ plan_segment_type_[i] = SegmentType::ACCELERATION_LIMITED;
+ }
+ }
+}
+
+double Trajectory::BackwardAcceleration(double x, double v) {
+ ::Eigen::Matrix<double, 2, 1> K3;
+ ::Eigen::Matrix<double, 2, 1> K4;
+ ::Eigen::Matrix<double, 2, 1> K5;
+ K345(x, &K3, &K4, &K5);
+
+ // Now, solve for all a's and find the best one which meets our criteria.
+ const ::Eigen::Matrix<double, 2, 1> C = K3 * v * v + K4 * v;
+ double mina = ::std::numeric_limits<double>::infinity();
+ for (const double a : {(voltage_limit_ - C(0, 0)) / K5(0, 0),
+ (voltage_limit_ - C(1, 0)) / K5(1, 0),
+ (-voltage_limit_ - C(0, 0)) / K5(0, 0),
+ (-voltage_limit_ - C(1, 0)) / K5(1, 0)}) {
+ const ::Eigen::Matrix<double, 2, 1> U = K5 * a + K3 * v * v + K4 * v;
+ if ((U.array().abs() < voltage_limit_ + 1e-6).all()) {
+ mina = ::std::min(mina, a);
+ }
+ }
+
+ // Then, assume an acceleration oval and stay inside it.
+ const double lateral_acceleration = v * v * spline_->DDXY(x).norm();
+ const double ellipse_down_shift = longitudal_acceleration_ * 1.0;
+ const double ellipse_width_stretch = ::std::sqrt(
+ 1.0 / (1.0 - ::std::pow(ellipse_down_shift / (longitudal_acceleration_ +
+ ellipse_down_shift),
+ 2.0)));
+ const double squared =
+ 1.0 - ::std::pow(lateral_acceleration / lateral_acceleration_ /
+ ellipse_width_stretch,
+ 2.0);
+ // If we would end up with an imaginary number, cap us at 0 acceleration.
+ // TODO(austin): Investigate when this happens, why, and fix it.
+ if (squared < 0.0) {
+ LOG(ERROR, "Imaginary %f, mina: %f, fa(%f, %f) -> 0.0\n", squared, mina, x,
+ v);
+ return 0.0;
+ }
+ const double longitudal_acceleration =
+ -::std::sqrt(::std::abs(squared)) *
+ (longitudal_acceleration_ + ellipse_down_shift) +
+ ellipse_down_shift;
+ return ::std::max(longitudal_acceleration, mina);
+}
+
+void Trajectory::BackwardPass() {
+ const double delta_distance = Distance(0) - Distance(1);
+ plan_.back() = 0.0;
+ for (size_t i = plan_.size() - 1; i > 0; --i) {
+ const double distance = Distance(i);
+
+ // Integrate our deceleration back one step.
+ const double new_plan_velocity = IntegrateAccelForDistance(
+ [this](double x, double v) { return BackwardAcceleration(x, v); },
+ plan_[i], distance, delta_distance);
+
+ if (new_plan_velocity < plan_[i - 1]) {
+ plan_[i - 1] = new_plan_velocity;
+ plan_segment_type_[i - 1] = SegmentType::DECELERATION_LIMITED;
+ }
+ }
+}
+
+::Eigen::Matrix<double, 3, 1> Trajectory::FFAcceleration(double distance) {
+ if (distance < 0.0) {
+ // Make sure we don't end up off the beginning of the curve.
+ distance = 0.0;
+ } else if (distance > length()) {
+ // Make sure we don't end up off the end of the curve.
+ distance = length();
+ }
+ const size_t before_index = DistanceToSegment(distance);
+ const size_t after_index = before_index + 1;
+
+ const double before_distance = Distance(before_index);
+ const double after_distance = Distance(after_index);
+
+ // And then also make sure we aren't curvature limited.
+ const double vcurvature = LateralVelocityCurvature(distance);
+
+ double acceleration;
+ double velocity;
+ switch (plan_segment_type_[DistanceToSegment(distance)]) {
+ case SegmentType::VELOCITY_LIMITED:
+ acceleration = 0.0;
+ velocity = (plan_[before_index] + plan_[after_index]) / 2.0;
+ // TODO(austin): Accelerate or decelerate until we hit the limit in the
+ // time slice. Otherwise our acceleration will be lying for this slice.
+ // Do note, we've got small slices so the effect will be small.
+ break;
+ case SegmentType::CURVATURE_LIMITED:
+ velocity = vcurvature;
+ acceleration = 0.0;
+ break;
+ case SegmentType::ACCELERATION_LIMITED:
+ velocity = IntegrateAccelForDistance(
+ [this](double x, double v) { return ForwardAcceleration(x, v); },
+ plan_[before_index], before_distance, distance - before_distance);
+ acceleration = ForwardAcceleration(distance, velocity);
+ break;
+ case SegmentType::DECELERATION_LIMITED:
+ velocity = IntegrateAccelForDistance(
+ [this](double x, double v) { return BackwardAcceleration(x, v); },
+ plan_[after_index], after_distance, distance - after_distance);
+ acceleration = BackwardAcceleration(distance, velocity);
+ break;
+ default:
+ LOG(FATAL, "Unknown segment type %d\n",
+ static_cast<int>(plan_segment_type_[DistanceToSegment(distance)]));
+ break;
+ }
+
+ if (vcurvature < velocity) {
+ velocity = vcurvature;
+ acceleration = 0.0;
+ LOG(ERROR, "Curvature won\n");
+ }
+ return (::Eigen::Matrix<double, 3, 1>() << distance, velocity, acceleration)
+ .finished();
+}
+
+::Eigen::Matrix<double, 2, 1> Trajectory::FFVoltage(double distance) {
+ const Eigen::Matrix<double, 3, 1> xva = FFAcceleration(distance);
+ const double velocity = xva(1);
+ const double acceleration = xva(2);
+
+ ::Eigen::Matrix<double, 2, 1> K3;
+ ::Eigen::Matrix<double, 2, 1> K4;
+ ::Eigen::Matrix<double, 2, 1> K5;
+ K345(distance, &K3, &K4, &K5);
+
+ return K5 * acceleration + K3 * velocity * velocity + K4 * velocity;
+}
+
+const ::std::vector<double> Trajectory::Distances() const {
+ ::std::vector<double> d;
+ d.reserve(plan_.size());
+ for (size_t i = 0; i < plan_.size(); ++i) {
+ d.push_back(Distance(i));
+ }
+ return d;
+}
+
+::Eigen::Matrix<double, 5, 5> Trajectory::ALinearizedContinuous(
+ const ::Eigen::Matrix<double, 5, 1> &state) const {
+
+ const double sintheta = ::std::sin(state(2));
+ const double costheta = ::std::cos(state(2));
+ const ::Eigen::Matrix<double, 2, 1> linear_angular =
+ Tlr_to_la_ * state.block<2, 1>(3, 0);
+
+ // When stopped, just roll with a min velocity.
+ double linear_velocity = 0.0;
+ constexpr double kMinVelocity = 0.1;
+ if (::std::abs(linear_angular(0)) < kMinVelocity / 100.0) {
+ linear_velocity = 0.1;
+ } else if (::std::abs(linear_angular(0)) > kMinVelocity) {
+ linear_velocity = linear_angular(0);
+ } else if (linear_angular(0) > 0) {
+ linear_velocity = kMinVelocity;
+ } else if (linear_angular(0) < 0) {
+ linear_velocity = -kMinVelocity;
+ }
+
+ ::Eigen::Matrix<double, 5, 5> result = ::Eigen::Matrix<double, 5, 5>::Zero();
+ result(0, 2) = -sintheta * linear_velocity;
+ result(0, 3) = 0.5 * costheta;
+ result(0, 4) = 0.5 * costheta;
+
+ result(1, 2) = costheta * linear_velocity;
+ result(1, 3) = 0.5 * sintheta;
+ result(1, 4) = 0.5 * sintheta;
+
+ result(2, 3) = Tlr_to_la_(1, 0);
+ result(2, 4) = Tlr_to_la_(1, 1);
+
+ result.block<2, 2>(3, 3) =
+ velocity_drivetrain_->plant().coefficients().A_continuous;
+ return result;
+}
+
+::Eigen::Matrix<double, 5, 2> Trajectory::BLinearizedContinuous() const {
+ ::Eigen::Matrix<double, 5, 2> result = ::Eigen::Matrix<double, 5, 2>::Zero();
+ result.block<2, 2>(3, 0) =
+ velocity_drivetrain_->plant().coefficients().B_continuous;
+ return result;
+}
+
+void Trajectory::AB(const ::Eigen::Matrix<double, 5, 1> &state,
+ ::std::chrono::nanoseconds dt,
+ ::Eigen::Matrix<double, 5, 5> *A,
+ ::Eigen::Matrix<double, 5, 2> *B) const {
+ ::Eigen::Matrix<double, 5, 5> A_linearized_continuous =
+ ALinearizedContinuous(state);
+ ::Eigen::Matrix<double, 5, 2> B_linearized_continuous =
+ BLinearizedContinuous();
+
+ // Now, convert it to discrete.
+ controls::C2D(A_linearized_continuous, B_linearized_continuous,
+ dt, A, B);
+}
+
+::Eigen::Matrix<double, 2, 5> Trajectory::KForState(
+ const ::Eigen::Matrix<double, 5, 1> &state, ::std::chrono::nanoseconds dt,
+ const ::Eigen::DiagonalMatrix<double, 5> &Q,
+ const ::Eigen::DiagonalMatrix<double, 2> &R) const {
+ ::Eigen::Matrix<double, 5, 5> A;
+ ::Eigen::Matrix<double, 5, 2> B;
+ AB(state, dt, &A, &B);
+
+ ::Eigen::Matrix<double, 5, 5> S = ::Eigen::Matrix<double, 5, 5>::Zero();
+ ::Eigen::Matrix<double, 2, 5> K = ::Eigen::Matrix<double, 2, 5>::Zero();
+
+ int info = ::frc971::controls::dlqr<5, 2>(A, B, Q, R, &K, &S);
+ if (info == 0) {
+ LOG_MATRIX(INFO, "K", K);
+ } else {
+ LOG(ERROR, "Failed to solve %d, controllability: %d\n", info,
+ controls::Controllability(A, B));
+ // TODO(austin): Can we be more clever here? Use the last one? We should
+ // collect more info about when this breaks down from logs.
+ K = ::Eigen::Matrix<double, 2, 5>::Zero();
+ }
+ ::Eigen::EigenSolver<::Eigen::Matrix<double, 5, 5>> eigensolver(A - B * K);
+ const auto eigenvalues = eigensolver.eigenvalues();
+ LOG(DEBUG,
+ "Eigenvalues: (%f + %fj), (%f + %fj), (%f + %fj), (%f + %fj), (%f + "
+ "%fj)\n",
+ eigenvalues(0).real(), eigenvalues(0).imag(), eigenvalues(1).real(),
+ eigenvalues(1).imag(), eigenvalues(2).real(), eigenvalues(2).imag(),
+ eigenvalues(3).real(), eigenvalues(3).imag(), eigenvalues(4).real(),
+ eigenvalues(4).imag());
+ return K;
+}
+
+const ::Eigen::Matrix<double, 5, 1> Trajectory::GoalState(double distance,
+ double velocity) {
+ ::Eigen::Matrix<double, 5, 1> result;
+ result.block<2, 1>(0, 0) = spline_->XY(distance);
+ result(2, 0) = spline_->Theta(distance);
+
+ result.block<2, 1>(3, 0) = Tla_to_lr_ *
+ (::Eigen::Matrix<double, 2, 1>() << velocity,
+ spline_->DThetaDt(distance, velocity))
+ .finished();
+ return result;
+}
+
+::std::vector<::Eigen::Matrix<double, 3, 1>> Trajectory::PlanXVA(
+ ::std::chrono::nanoseconds dt) {
+ double dt_float =
+ ::std::chrono::duration_cast<::std::chrono::duration<double>>(dt).count();
+ double t = 0.0;
+ ::Eigen::Matrix<double, 2, 1> state = ::Eigen::Matrix<double, 2, 1>::Zero();
+
+ ::std::vector<::Eigen::Matrix<double, 3, 1>> result;
+ result.emplace_back(FFAcceleration(0));
+ result.back()(1) = 0.0;
+
+ while (state(0) < length() - 1e-4) {
+ t += dt_float;
+
+ // TODO(austin): This feels like something that should be pulled out into
+ // a library for re-use.
+ state = RungeKutta(
+ [this](const ::Eigen::Matrix<double, 2, 1> x) {
+ ::Eigen::Matrix<double, 3, 1> xva = FFAcceleration(x(0));
+ return (::Eigen::Matrix<double, 2, 1>() << x(1), xva(2)).finished();
+ },
+ state, dt_float);
+
+ result.emplace_back(FFAcceleration(state(0)));
+ state(1) = result.back()(1);
+ }
+ return result;
+}
+
+void Trajectory::LimitVelocity(double starting_distance, double ending_distance,
+ const double max_velocity) {
+ const double segment_length = ending_distance - starting_distance;
+
+ const double min_length = length() / static_cast<double>(plan_.size() - 1);
+ if (starting_distance > ending_distance) {
+ LOG(FATAL, "End before start: %f > %f\n", starting_distance,
+ ending_distance);
+ }
+ starting_distance = ::std::min(length(), ::std::max(0.0, starting_distance));
+ ending_distance = ::std::min(length(), ::std::max(0.0, ending_distance));
+ if (segment_length < min_length) {
+ const size_t plan_index = static_cast<size_t>(
+ ::std::round((starting_distance + ending_distance) / 2.0 / min_length));
+ if (max_velocity < plan_[plan_index]) {
+ plan_[plan_index] = max_velocity;
+ }
+ } else {
+ for (size_t i = DistanceToSegment(starting_distance) + 1;
+ i < DistanceToSegment(ending_distance) + 1; ++i) {
+ if (max_velocity < plan_[i]) {
+ plan_[i] = max_velocity;
+ if (i < DistanceToSegment(ending_distance)) {
+ plan_segment_type_[i] = SegmentType::VELOCITY_LIMITED;
+ }
+ }
+ }
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/trajectory.h b/frc971/control_loops/drivetrain/trajectory.h
new file mode 100644
index 0000000..d3468b3
--- /dev/null
+++ b/frc971/control_loops/drivetrain/trajectory.h
@@ -0,0 +1,261 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_TRAJECTORY_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_TRAJECTORY_H_
+
+#include <chrono>
+
+#include "Eigen/Dense"
+#include "frc971/control_loops/drivetrain/distance_spline.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/hybrid_state_feedback_loop.h"
+#include "frc971/control_loops/runge_kutta.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+template <typename F>
+double IntegrateAccelForDistance(const F &fn, double v, double x, double dx) {
+ // Use a trick from
+ // https://www.johndcook.com/blog/2012/02/21/care-and-treatment-of-singularities/
+ const double a0 = fn(x, v);
+
+ return (RungeKutta(
+ [&fn, &a0](double t, double y) {
+ // Since we know that a0 == a(0) and that they are asymtotically
+ // the same at 0, we know that the limit is 0 at 0. This is
+ // true because when starting from a stop, under sane
+ // accelerations, we can assume that we will start with a
+ // constant acceleration. So, hard-code it.
+ if (::std::abs(y) < 1e-6) {
+ return 0.0;
+ }
+ return (fn(t, y) - a0) / y;
+ },
+ v, x, dx) -
+ v) +
+ ::std::sqrt(2.0 * a0 * dx + v * v);
+}
+
+// Class to plan and hold the velocity plan for a spline.
+class Trajectory {
+ public:
+ Trajectory(const DistanceSpline *spline,
+ const DrivetrainConfig<double> &config, double vmax = 10.0,
+ int num_distance = 0);
+ // Sets the plan longitudal acceleration limit
+ void set_longitudal_acceleration(double longitudal_acceleration) {
+ longitudal_acceleration_ = longitudal_acceleration;
+ }
+ // Sets the plan lateral acceleration limit
+ void set_lateral_acceleration(double lateral_acceleration) {
+ lateral_acceleration_ = lateral_acceleration;
+ }
+ // Sets the voltage limit
+ void set_voltage_limit(double voltage_limit) {
+ voltage_limit_ = voltage_limit;
+ }
+
+ // Returns the velocity limit for a defined distance.
+ double LateralVelocityCurvature(double distance) const {
+ return ::std::sqrt(lateral_acceleration_ / spline_->DDXY(distance).norm());
+ }
+
+ // Limits the velocity in the specified segment to the max velocity.
+ void LimitVelocity(double starting_distance, double ending_distance,
+ double max_velocity);
+
+ // Runs the lateral acceleration (curvature) pass on the plan.
+ void LateralAccelPass();
+
+ // Returns the forward acceleration for a distance along the spline taking
+ // into account the lateral acceleration, longitudinal acceleration, and
+ // voltage limits.
+ double ForwardAcceleration(const double x, const double v);
+
+ // Runs the forwards pass, setting the starting velocity to 0 m/s
+ void ForwardPass();
+
+ // Returns the backwards acceleration for a distance along the spline taking
+ // into account the lateral acceleration, longitudinal acceleration, and
+ // voltage limits.
+ double BackwardAcceleration(double x, double v);
+
+ // Runs the forwards pass, setting the ending velocity to 0 m/s
+ void BackwardPass();
+
+ // Runs all the planning passes.
+ void Plan() {
+ LateralAccelPass();
+ ForwardPass();
+ BackwardPass();
+ }
+
+ // Returns the feed forwards position, velocity, acceleration for an explicit
+ // distance.
+ ::Eigen::Matrix<double, 3, 1> FFAcceleration(double distance);
+
+ // Returns the feed forwards voltage for an explicit distance.
+ ::Eigen::Matrix<double, 2, 1> FFVoltage(double distance);
+
+ // Returns the length of the path in meters.
+ double length() const { return spline_->length(); }
+
+ // Returns a list of the distances. Mostly useful for plotting.
+ const ::std::vector<double> Distances() const;
+ // Returns the distance for an index in the plan.
+ double Distance(int index) const {
+ return static_cast<double>(index) * length() /
+ static_cast<double>(plan_.size() - 1);
+ }
+
+ // Returns the plan. This is the pathwise velocity as a function of distance.
+ // To get the distance for an index, use the Distance(index) function provided
+ // with the index.
+ const ::std::vector<double> plan() const { return plan_; }
+
+ // Returns the left, right to linear, angular transformation matrix.
+ const ::Eigen::Matrix<double, 2, 2> &Tlr_to_la() const { return Tlr_to_la_; }
+ // Returns the linear, angular to left, right transformation matrix.
+ const ::Eigen::Matrix<double, 2, 2> &Tla_to_lr() const { return Tla_to_lr_; }
+
+ // Returns the goal state as a function of path distance, velocity.
+ const ::Eigen::Matrix<double, 5, 1> GoalState(double distance,
+ double velocity);
+
+ // Returns the velocity drivetrain in use.
+ const StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>
+ &velocity_drivetrain() const {
+ return *velocity_drivetrain_;
+ }
+
+ // Returns the continuous statespace A and B matricies for [x, y, theta, vl,
+ // vr] for the linearized system (around the provided state).
+ ::Eigen::Matrix<double, 5, 5> ALinearizedContinuous(
+ const ::Eigen::Matrix<double, 5, 1> &state) const;
+ ::Eigen::Matrix<double, 5, 2> BLinearizedContinuous() const;
+
+ // Returns the discrete time A and B matricies for the provided state,
+ // assuming the provided timestep.
+ void AB(const ::Eigen::Matrix<double, 5, 1> &state,
+ ::std::chrono::nanoseconds dt, ::Eigen::Matrix<double, 5, 5> *A,
+ ::Eigen::Matrix<double, 5, 2> *B) const;
+
+ // Returns the lqr controller for the current state, timestep, and Q and R
+ // gains.
+ // TODO(austin): This feels like it should live somewhere else, but I'm not
+ // sure where. So, throw it here...
+ ::Eigen::Matrix<double, 2, 5> KForState(
+ const ::Eigen::Matrix<double, 5, 1> &state, ::std::chrono::nanoseconds dt,
+ const ::Eigen::DiagonalMatrix<double, 5> &Q,
+ const ::Eigen::DiagonalMatrix<double, 2> &R) const;
+
+ ::std::vector<::Eigen::Matrix<double, 3, 1>> PlanXVA(
+ ::std::chrono::nanoseconds dt);
+
+ enum SegmentType : uint8_t {
+ VELOCITY_LIMITED,
+ CURVATURE_LIMITED,
+ ACCELERATION_LIMITED,
+ DECELERATION_LIMITED
+ };
+
+ const ::std::vector<SegmentType> &plan_segment_type() const {
+ return plan_segment_type_;
+ }
+
+ private:
+ // Computes alpha for a distance.
+ size_t DistanceToSegment(double distance) const {
+ return ::std::max(
+ static_cast<size_t>(0),
+ ::std::min(plan_segment_type_.size() - 1,
+ static_cast<size_t>(::std::floor(distance / length() *
+ (plan_.size() - 1)))));
+ }
+
+ // Returns K1 and K2.
+ // K2 * d^x/dt^2 + K1 (dx/dt)^2 = A * K2 * dx/dt + B * U
+ const ::Eigen::Matrix<double, 2, 1> K1(double current_ddtheta) const {
+ return (::Eigen::Matrix<double, 2, 1>()
+ << -robot_radius_l_ * current_ddtheta,
+ robot_radius_r_ * current_ddtheta)
+ .finished();
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> K2(double current_dtheta) const {
+ return (::Eigen::Matrix<double, 2, 1>()
+ << 1.0 - robot_radius_l_ * current_dtheta,
+ 1.0 + robot_radius_r_ * current_dtheta)
+ .finished();
+ }
+
+ // Computes K3, K4, and K5 for the provided distance.
+ // K5 a + K3 v^2 + K4 v = U
+ void K345(const double x, ::Eigen::Matrix<double, 2, 1> *K3,
+ ::Eigen::Matrix<double, 2, 1> *K4,
+ ::Eigen::Matrix<double, 2, 1> *K5) {
+ const double current_ddtheta = spline_->DDTheta(x);
+ const double current_dtheta = spline_->DTheta(x);
+ // We've now got the equation:
+ // K2 * d^x/dt^2 + K1 (dx/dt)^2 = A * K2 * dx/dt + B * U
+ const ::Eigen::Matrix<double, 2, 1> my_K2 = K2(current_dtheta);
+
+ const ::Eigen::Matrix<double, 2, 2> B_inverse =
+ velocity_drivetrain_->plant().coefficients().B_continuous.inverse();
+
+ // Now, rephrase it as K5 a + K3 v^2 + K4 v = U
+ *K3 = B_inverse * K1(current_ddtheta);
+ *K4 = -B_inverse *
+ velocity_drivetrain_->plant().coefficients().A_continuous * my_K2;
+ *K5 = B_inverse * my_K2;
+ }
+
+ // The spline we are planning for.
+ const DistanceSpline *spline_;
+ // The drivetrain we are controlling.
+ ::std::unique_ptr<
+ StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
+ HybridKalman<2, 2, 2>>>
+ velocity_drivetrain_;
+
+ // Left and right robot radiuses.
+ const double robot_radius_l_;
+ const double robot_radius_r_;
+ // Acceleration limits.
+ double longitudal_acceleration_;
+ double lateral_acceleration_;
+ // Transformation matrix from left, right to linear, angular
+ const ::Eigen::Matrix<double, 2, 2> Tlr_to_la_;
+ // Transformation matrix from linear, angular to left, right
+ const ::Eigen::Matrix<double, 2, 2> Tla_to_lr_;
+ // Velocities in the plan (distance for each index is defined by distance())
+ ::std::vector<double> plan_;
+ ::std::vector<SegmentType> plan_segment_type_;
+ // Plan voltage limit.
+ double voltage_limit_ = 12.0;
+};
+
+// Returns the continuous time dynamics given the [x, y, theta, vl, vr] state
+// and the [vl, vr] input voltage.
+inline ::Eigen::Matrix<double, 5, 1> ContinuousDynamics(
+ const StateFeedbackHybridPlant<2, 2, 2> &velocity_drivetrain,
+ const ::Eigen::Matrix<double, 2, 2> &Tlr_to_la,
+ const ::Eigen::Matrix<double, 5, 1> X,
+ const ::Eigen::Matrix<double, 2, 1> U) {
+ const auto &velocity = X.block<2, 1>(3, 0);
+ const double theta = X(2);
+ ::Eigen::Matrix<double, 2, 1> la = Tlr_to_la * velocity;
+ return (::Eigen::Matrix<double, 5, 1>() << ::std::cos(theta) * la(0),
+ ::std::sin(theta) * la(0), la(1),
+ (velocity_drivetrain.coefficients().A_continuous * velocity +
+ velocity_drivetrain.coefficients().B_continuous * U))
+ .finished();
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_TRAJECTORY_H_
diff --git a/frc971/control_loops/drivetrain/trajectory_plot.cc b/frc971/control_loops/drivetrain/trajectory_plot.cc
new file mode 100644
index 0000000..4e082ee
--- /dev/null
+++ b/frc971/control_loops/drivetrain/trajectory_plot.cc
@@ -0,0 +1,254 @@
+#include "frc971/control_loops/drivetrain/trajectory.h"
+
+#include <chrono>
+
+#include "aos/logging/implementations.h"
+#include "aos/logging/matrix_logging.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/dlqr.h"
+#include "gflags/gflags.h"
+#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
+
+// Notes:
+// Basic ideas from spline following are from Jared Russell and
+// http://msc.fe.uni-lj.si/Papers/Chapter10_MobileRobotsNewResearch_Lepetic2005.pdf
+//
+// For the future, I'd like to use the following to measure distance to the path.
+// http://home.eps.hw.ac.uk/~ab226/papers/dist.pdf
+//
+// LQR controller was inspired by
+// https://calhoun.nps.edu/bitstream/handle/10945/40159/kanayama_a_stable.pdf
+//
+// I ended up just taking the jacobian of the dynamics. That gives me a tangent
+// plane to design a LQR controller around. That works because we have a good
+// feed forwards and a good idea where the robot will be next time so we only
+// need to handle disturbances.
+//
+// https://photos.google.com/share/AF1QipPl34MOTPem2QmmTC3B21dL7GV2_HjxnseRrqxgR60TUasyIPliIuWmnH3yxuSNZw?key=cVhZLUYycXBIZlNTRy10cjZlWm0tcmlqQl9MTE13
+
+DEFINE_bool(plot, true, "If true, plot");
+DEFINE_double(qx, 0.05, "Q_xpos");
+DEFINE_double(qy, 0.05, "Q_ypos");
+DEFINE_double(qt, 0.2, "Q_thetapos");
+DEFINE_double(qv, 0.5, "Q_vel");
+
+DEFINE_double(dx, 0.0, "Amount to disturb x at the start");
+DEFINE_double(dy, 0.0, "Amount to disturb y at the start");
+DEFINE_double(dt, 0.0, "Amount to disturb theta at the start");
+DEFINE_double(dvl, 0.0, "Amount to disturb vl at the start");
+DEFINE_double(dvr, 0.0, "Amount to disturb vr at the start");
+
+DEFINE_double(forward, 1.0, "Amount to drive forwards");
+
+namespace chrono = ::std::chrono;
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+void Main() {
+ DistanceSpline distance_spline(
+ Spline((::Eigen::Matrix<double, 2, 4>() << 0.0, 1.2 * FLAGS_forward,
+ -0.2 * FLAGS_forward, FLAGS_forward, 0.0, 0.0, 1.0, 1.0)
+ .finished()));
+ Trajectory trajectory(
+ &distance_spline,
+ ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
+ trajectory.set_lateral_acceleration(2.0);
+ trajectory.set_longitudal_acceleration(1.0);
+
+ // Grab the spline.
+ ::std::vector<double> distances = trajectory.Distances();
+ ::std::vector<double> spline_x;
+ ::std::vector<double> spline_y;
+ ::std::vector<double> spline_theta;
+
+ for (const double distance : distances) {
+ const ::Eigen::Matrix<double, 2, 1> point = distance_spline.XY(distance);
+ const double theta = distance_spline.Theta(distance);
+ spline_x.push_back(point(0));
+ spline_y.push_back(point(1));
+ spline_theta.push_back(theta);
+ }
+
+ // Compute the velocity plan.
+ ::aos::monotonic_clock::time_point start_time = ::aos::monotonic_clock::now();
+ ::std::vector<double> initial_plan = trajectory.plan();
+ trajectory.LateralAccelPass();
+ ::std::vector<double> curvature_plan = trajectory.plan();
+ trajectory.ForwardPass();
+ ::std::vector<double> forward_plan = trajectory.plan();
+ trajectory.BackwardPass();
+
+ ::aos::monotonic_clock::time_point end_time = ::aos::monotonic_clock::now();
+
+ ::std::vector<double> plan_segment_center_distance;
+ ::std::vector<double> plan_type;
+ for (Trajectory::SegmentType segment_type : trajectory.plan_segment_type()) {
+ plan_type.push_back(static_cast<int>(segment_type));
+ }
+ for (size_t i = 0; i < distances.size() - 1; ++i) {
+ plan_segment_center_distance.push_back((distances[i] + distances[i + 1]) /
+ 2.0);
+ }
+
+ ::std::vector<double> backward_plan = trajectory.plan();
+
+ LOG(INFO, "Took %fms to plan\n",
+ chrono::duration_cast<chrono::duration<double, ::std::milli>>(end_time -
+ start_time)
+ .count());
+
+ // Now, compute the xva as a function of time.
+ ::std::vector<double> length_plan_t;
+ ::std::vector<double> length_plan_x;
+ ::std::vector<double> length_plan_v;
+ ::std::vector<double> length_plan_a;
+ ::std::vector<double> length_plan_vl;
+ ::std::vector<double> length_plan_vr;
+ const chrono::nanoseconds kDt = chrono::microseconds(5050);
+ const double kDtDouble =
+ ::std::chrono::duration_cast<::std::chrono::duration<double>>(kDt)
+ .count();
+ {
+ ::std::vector<::Eigen::Matrix<double, 3, 1>> length_plan_xva =
+ trajectory.PlanXVA(kDt);
+ for (size_t i = 0; i < length_plan_xva.size(); ++i) {
+ length_plan_t.push_back(i * kDtDouble);
+ length_plan_x.push_back(length_plan_xva[i](0));
+ length_plan_v.push_back(length_plan_xva[i](1));
+ length_plan_a.push_back(length_plan_xva[i](2));
+
+ ::Eigen::Matrix<double, 2, 1> U =
+ trajectory.FFVoltage(length_plan_xva[i](0));
+ length_plan_vl.push_back(U(0));
+ length_plan_vr.push_back(U(1));
+ }
+ }
+
+ const double kXPos = FLAGS_qx;
+ const double kYPos = FLAGS_qy;
+ const double kThetaPos = FLAGS_qt;
+ const double kVel = FLAGS_qv;
+ const ::Eigen::DiagonalMatrix<double, 5> Q =
+ (::Eigen::DiagonalMatrix<double, 5>().diagonal()
+ << 1.0 / ::std::pow(kXPos, 2),
+ 1.0 / ::std::pow(kYPos, 2), 1.0 / ::std::pow(kThetaPos, 2),
+ 1.0 / ::std::pow(kVel, 2), 1.0 / ::std::pow(kVel, 2))
+ .finished()
+ .asDiagonal();
+
+ const ::Eigen::DiagonalMatrix<double, 2> R =
+ (::Eigen::DiagonalMatrix<double, 2>().diagonal()
+ << 1.0 / ::std::pow(12.0, 2),
+ 1.0 / ::std::pow(12.0, 2))
+ .finished()
+ .asDiagonal();
+
+ ::Eigen::Matrix<double, 5, 1> state = ::Eigen::Matrix<double, 5, 1>::Zero();
+ state(0, 0) = FLAGS_dx;
+ state(1, 0) = FLAGS_dy;
+ state(2, 0) = FLAGS_dt;
+ state(3, 0) = FLAGS_dvl;
+ state(4, 0) = FLAGS_dvr;
+ ::std::vector<double> simulation_t = length_plan_t;
+ ::std::vector<double> simulation_x;
+ ::std::vector<double> error_x;
+ ::std::vector<double> simulation_y;
+ ::std::vector<double> error_y;
+ ::std::vector<double> simulation_theta;
+ ::std::vector<double> error_theta;
+ ::std::vector<double> simulation_velocity_l;
+ ::std::vector<double> error_velocity_l;
+ ::std::vector<double> simulation_velocity_r;
+ ::std::vector<double> error_velocity_r;
+ ::std::vector<double> simulation_ul;
+ ::std::vector<double> simulation_ur;
+ for (size_t i = 0; i < length_plan_t.size(); ++i) {
+ const double distance = length_plan_x[i];
+ const double velocity = length_plan_v[i];
+ const ::Eigen::Matrix<double, 5, 1> goal_state =
+ trajectory.GoalState(distance, velocity);
+
+ const ::Eigen::Matrix<double, 5, 1> state_error = goal_state - state;
+
+ simulation_x.push_back(state(0));
+ simulation_y.push_back(state(1));
+ simulation_theta.push_back(state(2));
+ simulation_velocity_l.push_back(state(3));
+ simulation_velocity_r.push_back(state(4));
+
+ error_x.push_back(state_error(0));
+ error_y.push_back(state_error(1));
+ error_theta.push_back(state_error(2));
+ error_velocity_l.push_back(state_error(3));
+ error_velocity_r.push_back(state_error(4));
+
+ ::Eigen::Matrix<double, 2, 5> K =
+ trajectory.KForState(state, chrono::microseconds(5050), Q, R);
+
+ const ::Eigen::Matrix<double, 2, 1> U_ff = trajectory.FFVoltage(distance);
+ const ::Eigen::Matrix<double, 2, 1> U_fb = K * state_error;
+ const ::Eigen::Matrix<double, 2, 1> U = U_ff + U_fb;
+ state = RungeKuttaU(
+ [&trajectory](const ::Eigen::Matrix<double, 5, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) {
+ return ContinuousDynamics(trajectory.velocity_drivetrain().plant(),
+ trajectory.Tlr_to_la(), X, U);
+ },
+ state, U, kDtDouble);
+
+ simulation_ul.push_back(U(0));
+ simulation_ur.push_back(U(1));
+ }
+
+ if (FLAGS_plot) {
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(plan_segment_center_distance, plan_type,
+ {{"label", "plan_type"}});
+ matplotlibcpp::plot(distances, backward_plan, {{"label", "backward"}});
+ matplotlibcpp::plot(distances, forward_plan, {{"label", "forward"}});
+ matplotlibcpp::plot(distances, curvature_plan, {{"label", "lateral"}});
+ matplotlibcpp::plot(distances, initial_plan, {{"label", "initial"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(length_plan_t, length_plan_x, {{"label", "x"}});
+ matplotlibcpp::plot(length_plan_t, length_plan_v, {{"label", "v"}});
+ matplotlibcpp::plot(length_plan_t, length_plan_a, {{"label", "a"}});
+ matplotlibcpp::plot(length_plan_t, length_plan_vl, {{"label", "Vl"}});
+ matplotlibcpp::plot(length_plan_t, length_plan_vr, {{"label", "Vr"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(length_plan_t, error_x, {{"label", "x error"}});
+ matplotlibcpp::plot(length_plan_t, error_y, {{"label", "y error"}});
+ matplotlibcpp::plot(length_plan_t, error_theta, {{"label", "theta error"}});
+ matplotlibcpp::plot(length_plan_t, error_velocity_l,
+ {{"label", "velocityl error"}});
+ matplotlibcpp::plot(length_plan_t, error_velocity_r,
+ {{"label", "velocityr error"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(spline_x, spline_y, {{"label", "spline"}});
+ matplotlibcpp::plot(simulation_x, simulation_y, {{"label", "robot"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::show();
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ ::gflags::ParseCommandLineFlags(&argc, &argv, false);
+ ::aos::logging::Init();
+ ::aos::network::OverrideTeamNumber(971);
+ ::frc971::control_loops::drivetrain::Main();
+ return 0;
+}
diff --git a/frc971/control_loops/drivetrain/trajectory_test.cc b/frc971/control_loops/drivetrain/trajectory_test.cc
new file mode 100644
index 0000000..58f0a22
--- /dev/null
+++ b/frc971/control_loops/drivetrain/trajectory_test.cc
@@ -0,0 +1,338 @@
+#include "frc971/control_loops/drivetrain/trajectory.h"
+
+#include <chrono>
+#include <vector>
+
+#include "aos/testing/test_shm.h"
+#include "gflags/gflags.h"
+#include "gtest/gtest.h"
+#if defined(SUPPORT_PLOT)
+#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+#endif
+#include "y2016/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+DEFINE_bool(plot, false, "If true, plot");
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+namespace testing {
+
+namespace chrono = ::std::chrono;
+
+double a(double /*v*/, double /*x*/) { return 2.0; }
+
+// Tests that the derivitives of xy integrate back up to the position.
+TEST(IntegrateAccelForDistanceTest, IntegrateAccelForDistance) {
+ double v = 0.0;
+ const size_t count = 10;
+ const double dx = 4.0 / static_cast<double>(count);
+ for (size_t i = 0; i < count; ++i) {
+ v = IntegrateAccelForDistance(a, v, 0.0, dx);
+ }
+ EXPECT_NEAR(4.0, v, 1e-8);
+}
+
+const constants::ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25,
+ 0.75};
+
+// TODO(austin): factor this out of drivetrain_lib_test.cc
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ static DrivetrainConfig<double> kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+ IMUType::IMU_X,
+ ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ ::y2016::control_loops::drivetrain::MakeHybridVelocityDrivetrainLoop,
+
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(::y2016::control_loops::drivetrain::kDt)),
+ ::y2016::control_loops::drivetrain::kRobotRadius,
+ ::y2016::control_loops::drivetrain::kWheelRadius,
+ ::y2016::control_loops::drivetrain::kV,
+
+ ::y2016::control_loops::drivetrain::kHighGearRatio,
+ ::y2016::control_loops::drivetrain::kLowGearRatio,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ false,
+ 0,
+
+ 0.25,
+ 1.00,
+ 1.00};
+
+ return kDrivetrainConfig;
+};
+
+struct SplineTestParams {
+ ::Eigen::Matrix<double, 2, 4> control_points;
+ double lateral_acceleration;
+ double longitudal_acceleration;
+ double velocity_limit;
+ double voltage_limit;
+ ::std::function<void(Trajectory *)> trajectory_modification_fn;
+};
+
+void NullTrajectoryModificationFunction(Trajectory *) {}
+
+class ParameterizedSplineTest
+ : public ::testing::TestWithParam<SplineTestParams> {
+ public:
+ ::aos::testing::TestSharedMemory shm_;
+ static constexpr chrono::nanoseconds kDt =
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(::y2016::control_loops::drivetrain::kDt));
+
+ ::std::unique_ptr<DistanceSpline> distance_spline_;
+ ::std::unique_ptr<Trajectory> trajectory_;
+ ::std::vector<::Eigen::Matrix<double, 3, 1>> length_plan_xva_;
+
+ ParameterizedSplineTest() {}
+
+ void SetUp() {
+ distance_spline_ = ::std::unique_ptr<DistanceSpline>(
+ new DistanceSpline(Spline(GetParam().control_points)));
+ trajectory_ = ::std::unique_ptr<Trajectory>(
+ new Trajectory(distance_spline_.get(), GetDrivetrainConfig(),
+ GetParam().velocity_limit));
+ trajectory_->set_lateral_acceleration(GetParam().lateral_acceleration);
+ trajectory_->set_longitudal_acceleration(GetParam().longitudal_acceleration);
+ trajectory_->set_longitudal_acceleration(GetParam().longitudal_acceleration);
+ trajectory_->set_voltage_limit(GetParam().voltage_limit);
+
+ GetParam().trajectory_modification_fn(trajectory_.get());
+
+ initial_plan_ = trajectory_->plan();
+ trajectory_->LateralAccelPass();
+ curvature_plan_ = trajectory_->plan();
+ trajectory_->ForwardPass();
+ forward_plan_ = trajectory_->plan();
+ trajectory_->BackwardPass();
+ backward_plan_ = trajectory_->plan();
+
+ length_plan_xva_ = trajectory_->PlanXVA(kDt);
+ }
+
+ void TearDown() {
+ printf(" Spline takes %f seconds to follow\n",
+ length_plan_xva_.size() * ::y2016::control_loops::drivetrain::kDt);
+#if defined(SUPPORT_PLOT)
+ if (FLAGS_plot) {
+ ::std::vector<double> distances = trajectory_->Distances();
+
+ for (size_t i = 0; i < length_plan_xva_.size(); ++i) {
+ length_plan_t_.push_back(i * ::y2016::control_loops::drivetrain::kDt);
+ length_plan_x_.push_back(length_plan_xva_[i](0));
+ length_plan_v_.push_back(length_plan_xva_[i](1));
+ length_plan_a_.push_back(length_plan_xva_[i](2));
+ }
+
+ ::std::vector<double> plan_segment_center_distance;
+ ::std::vector<double> plan_type;
+ for (Trajectory::SegmentType segment_type :
+ trajectory_->plan_segment_type()) {
+ plan_type.push_back(static_cast<int>(segment_type));
+ }
+ for (size_t i = 0; i < distances.size() - 1; ++i) {
+ plan_segment_center_distance.push_back(
+ (distances[i] + distances[i + 1]) / 2.0);
+ }
+
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(plan_segment_center_distance, plan_type,
+ {{"label", "plan_type"}});
+ matplotlibcpp::plot(distances, backward_plan_, {{"label", "backward"}});
+ matplotlibcpp::plot(distances, forward_plan_, {{"label", "forward"}});
+ matplotlibcpp::plot(distances, curvature_plan_, {{"label", "lateral"}});
+ matplotlibcpp::plot(distances, initial_plan_, {{"label", "initial"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::figure();
+ matplotlibcpp::plot(length_plan_t_, length_plan_x_, {{"label", "x"}});
+ matplotlibcpp::plot(length_plan_t_, length_plan_v_, {{"label", "v"}});
+ matplotlibcpp::plot(length_plan_t_, length_plan_a_, {{"label", "a"}});
+ matplotlibcpp::plot(length_plan_t_, length_plan_vl_, {{"label", "Vl"}});
+ matplotlibcpp::plot(length_plan_t_, length_plan_vr_, {{"label", "Vr"}});
+ matplotlibcpp::legend();
+
+ matplotlibcpp::show();
+ }
+#endif
+ }
+
+ static constexpr double kXPos = 0.05;
+ static constexpr double kYPos = 0.05;
+ static constexpr double kThetaPos = 0.2;
+ static constexpr double kVel = 0.5;
+ const ::Eigen::DiagonalMatrix<double, 5> Q =
+ (::Eigen::DiagonalMatrix<double, 5>().diagonal()
+ << 1.0 / ::std::pow(kXPos, 2),
+ 1.0 / ::std::pow(kYPos, 2), 1.0 / ::std::pow(kThetaPos, 2),
+ 1.0 / ::std::pow(kVel, 2), 1.0 / ::std::pow(kVel, 2))
+ .finished()
+ .asDiagonal();
+
+ const ::Eigen::DiagonalMatrix<double, 2> R =
+ (::Eigen::DiagonalMatrix<double, 2>().diagonal()
+ << 1.0 / ::std::pow(12.0, 2),
+ 1.0 / ::std::pow(12.0, 2))
+ .finished()
+ .asDiagonal();
+
+ ::std::vector<double> initial_plan_;
+ ::std::vector<double> curvature_plan_;
+ ::std::vector<double> forward_plan_;
+ ::std::vector<double> backward_plan_;
+
+ ::std::vector<double> length_plan_t_;
+ ::std::vector<double> length_plan_x_;
+ ::std::vector<double> length_plan_v_;
+ ::std::vector<double> length_plan_a_;
+ ::std::vector<double> length_plan_vl_;
+ ::std::vector<double> length_plan_vr_;
+
+};
+
+constexpr chrono::nanoseconds ParameterizedSplineTest::kDt;
+
+// Tests that following a spline with feed forwards only gets pretty darn close
+// to the right point.
+TEST_P(ParameterizedSplineTest, FFSpline) {
+ ::Eigen::Matrix<double, 5, 1> state = ::Eigen::Matrix<double, 5, 1>::Zero();
+
+ for (size_t i = 0; i < length_plan_xva_.size(); ++i) {
+ const double distance = length_plan_xva_[i](0);
+
+ const ::Eigen::Matrix<double, 2, 1> U_ff = trajectory_->FFVoltage(distance);
+ const ::Eigen::Matrix<double, 2, 1> U = U_ff;
+
+ length_plan_vl_.push_back(U(0));
+ length_plan_vr_.push_back(U(1));
+ state = RungeKuttaU(
+ [this](const ::Eigen::Matrix<double, 5, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) {
+ return ContinuousDynamics(trajectory_->velocity_drivetrain().plant(),
+ trajectory_->Tlr_to_la(), X, U);
+ },
+ state, U, ::y2016::control_loops::drivetrain::kDt);
+ }
+
+ EXPECT_LT((state - trajectory_->GoalState(trajectory_->length(), 0.0)).norm(),
+ 2e-2);
+}
+
+// Tests that following a spline with both feed forwards and feed back gets
+// pretty darn close to the right point.
+TEST_P(ParameterizedSplineTest, FBSpline) {
+ ::Eigen::Matrix<double, 5, 1> state = ::Eigen::Matrix<double, 5, 1>::Zero();
+
+ for (size_t i = 0; i < length_plan_xva_.size(); ++i) {
+ const double distance = length_plan_xva_[i](0);
+ const double velocity = length_plan_xva_[i](1);
+ const ::Eigen::Matrix<double, 5, 1> goal_state =
+ trajectory_->GoalState(distance, velocity);
+
+ const ::Eigen::Matrix<double, 5, 1> state_error = goal_state - state;
+
+ const ::Eigen::Matrix<double, 2, 5> K =
+ trajectory_->KForState(state, ParameterizedSplineTest::kDt, Q, R);
+
+ const ::Eigen::Matrix<double, 2, 1> U_ff = trajectory_->FFVoltage(distance);
+ const ::Eigen::Matrix<double, 2, 1> U_fb = K * state_error;
+ const ::Eigen::Matrix<double, 2, 1> U = U_ff + U_fb;
+
+ length_plan_vl_.push_back(U(0));
+ length_plan_vr_.push_back(U(1));
+ state = RungeKuttaU(
+ [this](const ::Eigen::Matrix<double, 5, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) {
+ return ContinuousDynamics(trajectory_->velocity_drivetrain().plant(),
+ trajectory_->Tlr_to_la(), X, U);
+ },
+ state, U, ::y2016::control_loops::drivetrain::kDt);
+ }
+
+ EXPECT_LT((state - trajectory_->GoalState(trajectory_->length(), 0.0)).norm(),
+ 1.2e-2);
+}
+
+SplineTestParams MakeSplineTestParams(struct SplineTestParams params) {
+ return params;
+}
+
+void LimitMiddleOfPathTrajectoryModificationFunction(Trajectory *trajectory) {
+ trajectory->LimitVelocity(1.0, 2.0, 0.5);
+}
+
+void ShortLimitMiddleOfPathTrajectoryModificationFunction(Trajectory *trajectory) {
+ trajectory->LimitVelocity(1.5, 1.5, 0.5);
+}
+
+INSTANTIATE_TEST_CASE_P(
+ SplineTest, ParameterizedSplineTest,
+ ::testing::Values(
+ // Normal spline.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 1.2,
+ -0.2, 1.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 2.0 /*lateral acceleration*/,
+ 1.0 /*longitudinal acceleration*/,
+ 10.0 /* velocity limit */, 12.0 /* volts */,
+ NullTrajectoryModificationFunction}),
+ // Be velocity limited.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 6.0,
+ -1.0, 5.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 2.0 /*lateral acceleration*/,
+ 1.0 /*longitudinal acceleration*/,
+ 0.5 /* velocity limit */, 12.0 /* volts */,
+ NullTrajectoryModificationFunction}),
+ // Hit the voltage limit.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 6.0,
+ -1.0, 5.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 2.0 /*lateral acceleration*/,
+ 3.0 /*longitudinal acceleration*/,
+ 10.0 /* velocity limit */, 5.0 /* volts */,
+ NullTrajectoryModificationFunction}),
+ // Hit the curvature limit.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 1.2,
+ -0.2, 1.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 1.0 /*lateral acceleration*/,
+ 3.0 /*longitudinal acceleration*/,
+ 10.0 /* velocity limit */, 12.0 /* volts */,
+ NullTrajectoryModificationFunction}),
+ // Add an artifical velocity limit in the middle.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 6.0,
+ -1.0, 5.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 2.0 /*lateral acceleration*/,
+ 3.0 /*longitudinal acceleration*/,
+ 10.0 /* velocity limit */, 12.0 /* volts */,
+ LimitMiddleOfPathTrajectoryModificationFunction}),
+ // Add a really short artifical velocity limit in the middle.
+ MakeSplineTestParams({(::Eigen::Matrix<double, 2, 4>() << 0.0, 6.0,
+ -1.0, 5.0, 0.0, 0.0, 1.0, 1.0)
+ .finished(),
+ 2.0 /*lateral acceleration*/,
+ 3.0 /*longitudinal acceleration*/,
+ 10.0 /* velocity limit */, 12.0 /* volts */,
+ ShortLimitMiddleOfPathTrajectoryModificationFunction})));
+
+// TODO(austin): Handle saturation. 254 does this by just not going that
+// fast... We want to maybe replan when we get behind, or something. Maybe
+// stop moving the setpoint like our 2018 arm?
+
+} // namespace testing
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/hybrid_state_feedback_loop.h b/frc971/control_loops/hybrid_state_feedback_loop.h
index 0fb803f..0af0144 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop.h
+++ b/frc971/control_loops/hybrid_state_feedback_loop.h
@@ -3,7 +3,6 @@
#include <assert.h>
-#include <iostream>
#include <memory>
#include <utility>
#include <vector>
@@ -15,6 +14,7 @@
#include "aos/controls/control_loop.h"
#include "aos/logging/logging.h"
#include "aos/macros.h"
+#include "frc971/control_loops/c2d.h"
#include "frc971/control_loops/state_feedback_loop.h"
template <int number_of_states, int number_of_inputs, int number_of_outputs,
@@ -188,27 +188,8 @@
private:
void UpdateAB(::std::chrono::nanoseconds dt) {
- Eigen::Matrix<Scalar, number_of_states + number_of_inputs,
- number_of_states + number_of_inputs>
- M_state_continuous;
- M_state_continuous.setZero();
- M_state_continuous.template block<number_of_states, number_of_states>(0,
- 0) =
- coefficients().A_continuous *
- ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(dt)
- .count();
- M_state_continuous.template block<number_of_states, number_of_inputs>(
- 0, number_of_states) =
- coefficients().B_continuous *
- ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(dt)
- .count();
-
- Eigen::Matrix<Scalar, number_of_states + number_of_inputs,
- number_of_states + number_of_inputs>
- M_state = M_state_continuous.exp();
- A_ = M_state.template block<number_of_states, number_of_states>(0, 0);
- B_ = M_state.template block<number_of_states, number_of_inputs>(
- 0, number_of_states);
+ ::frc971::controls::C2D(coefficients().A_continuous,
+ coefficients().B_continuous, dt, &A_, &B_);
}
Eigen::Matrix<Scalar, number_of_states, 1> X_;
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index c87c1e6..91dba3c 100644
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -120,7 +120,19 @@
self.FF = self.B.I * (numpy.eye(2) - self.A)
self.PlaceControllerPoles(drivetrain_params.controller_poles)
+ # Build a kalman filter for the velocity. We don't care what the gains
+ # are, but the hybrid kalman filter that we want to write to disk to get
+ # access to A_continuous and B_continuous needs this for completeness.
+ self.Q_continuous = numpy.matrix([[(0.5 ** 2.0), 0.0], [0.0, (0.5 ** 2.0)]])
+ self.R_continuous = numpy.matrix([[(0.1 ** 2.0), 0.0], [0.0, (0.1 ** 2.0)]])
self.PlaceObserverPoles(drivetrain_params.observer_poles)
+ _, _, self.Q, self.R = controls.kalmd(
+ A_continuous=self.A_continuous, B_continuous=self.B_continuous,
+ Q_continuous=self.Q_continuous, R_continuous=self.R_continuous,
+ dt=self.dt)
+
+ self.KalmanGain, self.P_steady_state = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
self.G_high = self._drivetrain.G_high
self.G_low = self._drivetrain.G_low
@@ -145,18 +157,18 @@
SHIFTING_UP = 'up'
SHIFTING_DOWN = 'down'
- def __init__(self, drivetrain_params):
+ def __init__(self, drivetrain_params, name='VelocityDrivetrain'):
self.drivetrain_low_low = VelocityDrivetrainModel(
- left_low=True, right_low=True, name='VelocityDrivetrainLowLow',
+ left_low=True, right_low=True, name=name + 'LowLow',
drivetrain_params=drivetrain_params)
self.drivetrain_low_high = VelocityDrivetrainModel(
- left_low=True, right_low=False, name='VelocityDrivetrainLowHigh',
+ left_low=True, right_low=False, name=name + 'LowHigh',
drivetrain_params=drivetrain_params)
self.drivetrain_high_low = VelocityDrivetrainModel(
- left_low=False, right_low=True, name = 'VelocityDrivetrainHighLow',
+ left_low=False, right_low=True, name = name + 'HighLow',
drivetrain_params=drivetrain_params)
self.drivetrain_high_high = VelocityDrivetrainModel(
- left_low=False, right_low=False, name = 'VelocityDrivetrainHighHigh',
+ left_low=False, right_low=False, name = name + 'HighHigh',
drivetrain_params=drivetrain_params)
# X is [lvel, rvel]
@@ -412,9 +424,12 @@
self.left_gear, self.left_shifter_position,
self.right_gear, self.right_shifter_position)
-def WritePolyDrivetrain(drivetrain_files, motor_files, year_namespace,
- drivetrain_params, scalar_type='double'):
+def WritePolyDrivetrain(drivetrain_files, motor_files, hybrid_files,
+ year_namespace, drivetrain_params,
+ scalar_type='double'):
vdrivetrain = VelocityDrivetrain(drivetrain_params)
+ hybrid_vdrivetrain = VelocityDrivetrain(drivetrain_params,
+ name="HybridVelocityDrivetrain")
if isinstance(year_namespace, list):
namespaces = year_namespace
else:
@@ -429,6 +444,18 @@
dog_loop_writer.Write(drivetrain_files[0], drivetrain_files[1])
+ hybrid_loop_writer = control_loop.ControlLoopWriter(
+ "HybridVelocityDrivetrain", [hybrid_vdrivetrain.drivetrain_low_low,
+ hybrid_vdrivetrain.drivetrain_low_high,
+ hybrid_vdrivetrain.drivetrain_high_low,
+ hybrid_vdrivetrain.drivetrain_high_high],
+ namespaces=namespaces,
+ scalar_type=scalar_type,
+ plant_type='StateFeedbackHybridPlant',
+ observer_type='HybridKalman')
+
+ hybrid_loop_writer.Write(hybrid_files[0], hybrid_files[1])
+
cim_writer = control_loop.ControlLoopWriter("CIM", [CIM()], scalar_type=scalar_type)
cim_writer.Write(motor_files[0], motor_files[1])
diff --git a/frc971/control_loops/python/spline.py b/frc971/control_loops/python/spline.py
index 585d6b8..d045f45 100644
--- a/frc971/control_loops/python/spline.py
+++ b/frc971/control_loops/python/spline.py
@@ -491,11 +491,8 @@
accelerations = [(12.0 - C[0, 0]) / K5[0, 0], (12.0 - C[1, 0]) /
K5[1, 0], (-12.0 - C[0, 0]) / K5[0, 0],
(-12.0 - C[1, 0]) / K5[1, 0]]
- maxa = 0.0
+ maxa = -float('inf')
for a in accelerations:
- if a < 0.0:
- continue
-
U = K5 * a + K3 * v * v + K4 * v
if not (numpy.abs(U) > 12.0 + 1e-6).any():
maxa = max(maxa, a)
@@ -537,11 +534,8 @@
accelerations = [(12.0 - C[0, 0]) / K5[0, 0], (12.0 - C[1, 0]) /
K5[1, 0], (-12.0 - C[0, 0]) / K5[0, 0],
(-12.0 - C[1, 0]) / K5[1, 0]]
- mina = 0.0
+ mina = float('inf')
for a in accelerations:
- if a > 0.0:
- continue
-
U = K5 * a + K3 * v * v + K4 * v
if not (numpy.abs(U) > 12.0 + 1e-6).any():
mina = min(mina, a)
diff --git a/frc971/control_loops/runge_kutta.h b/frc971/control_loops/runge_kutta.h
index 020a25d..61d674e 100644
--- a/frc971/control_loops/runge_kutta.h
+++ b/frc971/control_loops/runge_kutta.h
@@ -19,11 +19,25 @@
return X + dt / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
}
+// Implements Runge Kutta integration (4th order). This integrates dy/dt = fn(t,
+// y). It must have the call signature of fn(double t, T y). The
+// integration starts at an initial value y, and integrates for dt.
+template <typename F, typename T>
+T RungeKutta(const F &fn, T y, double t, double dt) {
+ const double half_dt = dt * 0.5;
+ T k1 = dt * fn(t, y);
+ T k2 = dt * fn(t + half_dt, y + k1 / 2.0);
+ T k3 = dt * fn(t + half_dt, y + k2 / 2.0);
+ T k4 = dt * fn(t + dt, y + k3);
+
+ return y + (k1 + 2.0 * k2 + 2.0 * k3 + k4) / 6.0;
+}
+
// Implements Runge Kutta integration (4th order). fn is the function to
// integrate. It must take 1 argument of type T. The integration starts at an
// initial value X, and integrates for dt.
template <typename F, typename T, typename Tu>
-T RungeKutta(const F &fn, T X, Tu U, double dt) {
+T RungeKuttaU(const F &fn, T X, Tu U, double dt) {
const double half_dt = dt * 0.5;
T k1 = fn(X, U);
T k2 = fn(X + half_dt * k1, U);
diff --git a/frc971/control_loops/runge_kutta_test.cc b/frc971/control_loops/runge_kutta_test.cc
index aa64638..615f82c 100644
--- a/frc971/control_loops/runge_kutta_test.cc
+++ b/frc971/control_loops/runge_kutta_test.cc
@@ -26,7 +26,7 @@
::Eigen::Matrix<double, 1, 1> y0;
y0(0, 0) = 0.0;
- ::Eigen::Matrix<double, 1, 1> y1 = RungeKutta(
+ ::Eigen::Matrix<double, 1, 1> y1 = RungeKuttaU(
[](::Eigen::Matrix<double, 1, 1> x, ::Eigen::Matrix<double, 1, 1> u) {
::Eigen::Matrix<double, 1, 1> y;
y(0, 0) = ::std::exp(u(0, 0) * x(0, 0));
@@ -36,6 +36,33 @@
EXPECT_NEAR(y1(0, 0), ::std::exp(0.1) - ::std::exp(0), 1e-3);
}
+::Eigen::Matrix<double, 1, 1> RungeKuttaTimeVaryingSolution(double t) {
+ return (::Eigen::Matrix<double, 1, 1>()
+ << 12.0 * ::std::exp(t) / (::std::pow(::std::exp(t) + 1.0, 2.0)))
+ .finished();
+}
+
+// Tests RungeKutta with a time varying solution.
+// Now, lets test RK4 with a time varying solution. From
+// http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
+// x' = x (2 / (e^t + 1) - 1)
+//
+// The true (analytical) solution is:
+//
+// x(t) = 12 * e^t / ((e^t + 1)^2)
+TEST(RungeKuttaTest, RungeKuttaTimeVarying) {
+ ::Eigen::Matrix<double, 1, 1> y0 = RungeKuttaTimeVaryingSolution(5.0);
+
+ ::Eigen::Matrix<double, 1, 1> y1 = RungeKutta(
+ [](double t, ::Eigen::Matrix<double, 1, 1> x) {
+ return (::Eigen::Matrix<double, 1, 1>()
+ << x(0, 0) * (2.0 / (::std::exp(t) + 1.0) - 1.0))
+ .finished();
+ },
+ y0, 5.0, 1.0);
+ EXPECT_NEAR(y1(0, 0), RungeKuttaTimeVaryingSolution(6.0)(0, 0), 1e-3);
+}
+
} // namespace testing
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index dd581bf..2511d98 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -3,7 +3,6 @@
#include <assert.h>
-#include <iostream>
#include <memory>
#include <utility>
#include <vector>
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 48caae0..07cc43a 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -19,8 +19,12 @@
namespace frc971 {
namespace zeroing {
+template <typename TPosition, typename TZeroingConstants, typename TState>
class ZeroingEstimator {
public:
+ using Position = TPosition;
+ using ZeroingConstants = TZeroingConstants;
+ using State = TState;
virtual ~ZeroingEstimator(){}
// Returns true if the logic considers the corresponding mechanism to be
@@ -32,28 +36,42 @@
// Returns true if there has been an error.
virtual bool error() const = 0;
+
+ // Returns true if an offset is ready.
+ virtual bool offset_ready() const = 0;
+
+ // Triggers an internal error. This is used for testing the error
+ // logic.
+ virtual void TriggerError() = 0;
+
+ // Resets the estimator, clearing error and zeroing states.
+ virtual void Reset() = 0;
+
+ // Updates the internal logic with new sensor values
+ virtual void UpdateEstimate(const Position &) = 0;
+
+ // Returns the state of the estimator
+ virtual State GetEstimatorState() const = 0;
};
// Estimates the position with an incremental encoder with an index pulse and a
// potentiometer.
-class PotAndIndexPulseZeroingEstimator : public ZeroingEstimator {
+class PotAndIndexPulseZeroingEstimator : public ZeroingEstimator<PotAndIndexPosition,
+ constants::PotAndIndexPulseZeroingConstants,
+ EstimatorState> {
public:
- using Position = PotAndIndexPosition;
- using ZeroingConstants = constants::PotAndIndexPulseZeroingConstants;
- using State = EstimatorState;
-
explicit PotAndIndexPulseZeroingEstimator(
const constants::PotAndIndexPulseZeroingConstants &constants);
// Update the internal logic with the next sensor values.
- void UpdateEstimate(const PotAndIndexPosition &info);
+ void UpdateEstimate(const PotAndIndexPosition &info) override;
// Reset the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Manually trigger an internal error. This is used for testing the error
// logic.
- void TriggerError();
+ void TriggerError() override;
bool error() const override { return error_; }
@@ -73,12 +91,12 @@
}
// Returns true if the sample buffer is full.
- bool offset_ready() const {
+ bool offset_ready() const override {
return start_pos_samples_.size() == constants_.average_filter_size;
}
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// This function calculates the start position given the internal state and
@@ -122,23 +140,22 @@
};
// Estimates the position with an incremental encoder and a hall effect sensor.
-class HallEffectAndPositionZeroingEstimator : public ZeroingEstimator {
+class HallEffectAndPositionZeroingEstimator
+ : public ZeroingEstimator<HallEffectAndPosition,
+ constants::HallEffectZeroingConstants,
+ HallEffectAndPositionEstimatorState> {
public:
- using Position = HallEffectAndPosition;
- using ZeroingConstants = constants::HallEffectZeroingConstants;
- using State = HallEffectAndPositionEstimatorState;
-
explicit HallEffectAndPositionZeroingEstimator(const ZeroingConstants &constants);
// Update the internal logic with the next sensor values.
- void UpdateEstimate(const Position &info);
+ void UpdateEstimate(const Position &info) override;
// Reset the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Manually trigger an internal error. This is used for testing the error
// logic.
- void TriggerError();
+ void TriggerError() override;
bool error() const override { return error_; }
@@ -146,8 +163,10 @@
double offset() const override { return offset_; }
+ bool offset_ready() const override { return zeroed_; }
+
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// Sets the minimum and maximum posedge position values.
@@ -196,20 +215,21 @@
// Estimates the position with an absolute encoder which also reports
// incremental counts, and a potentiometer.
-class PotAndAbsEncoderZeroingEstimator : public ZeroingEstimator {
+class PotAndAbsEncoderZeroingEstimator
+ : public ZeroingEstimator<PotAndAbsolutePosition,
+ constants::PotAndAbsoluteEncoderZeroingConstants,
+ AbsoluteEstimatorState> {
public:
- using Position = PotAndAbsolutePosition;
- using ZeroingConstants = constants::PotAndAbsoluteEncoderZeroingConstants;
- using State = AbsoluteEstimatorState;
-
explicit PotAndAbsEncoderZeroingEstimator(
const constants::PotAndAbsoluteEncoderZeroingConstants &constants);
// Resets the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
// Updates the sensor values for the zeroing logic.
- void UpdateEstimate(const PotAndAbsolutePosition &info);
+ void UpdateEstimate(const PotAndAbsolutePosition &info) override;
+
+ void TriggerError() override { error_ = true; }
bool zeroed() const override { return zeroed_; }
@@ -218,14 +238,14 @@
bool error() const override { return error_; }
// Returns true if the sample buffer is full.
- bool offset_ready() const {
+ bool offset_ready() const override {
return relative_to_absolute_offset_samples_.size() ==
constants_.average_filter_size &&
offset_samples_.size() == constants_.average_filter_size;
}
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
private:
// The zeroing constants used to describe the configuration of the system.
@@ -268,39 +288,36 @@
double position_ = 0.0;
};
-
// Zeros by seeing all the index pulses in the range of motion of the mechanism
// and using that to figure out which index pulse is which.
-class PulseIndexZeroingEstimator : public ZeroingEstimator {
+class PulseIndexZeroingEstimator : public ZeroingEstimator<IndexPosition,
+ constants::EncoderPlusIndexZeroingConstants,
+ IndexEstimatorState> {
public:
- using Position = IndexPosition;
- using ZeroingConstants = constants::EncoderPlusIndexZeroingConstants;
- using State = IndexEstimatorState;
-
explicit PulseIndexZeroingEstimator(const ZeroingConstants &constants)
: constants_(constants) {
Reset();
}
// Resets the internal logic so it needs to be re-zeroed.
- void Reset();
+ void Reset() override;
bool zeroed() const override { return zeroed_; }
// It's as ready as it'll ever be...
- bool offset_ready() const { return true; }
+ bool offset_ready() const override { return true; }
double offset() const override { return offset_; }
bool error() const override { return error_; }
// Updates the internal logic with the next sensor values.
- void UpdateEstimate(const IndexPosition &info);
+ void UpdateEstimate(const IndexPosition &info) override;
// Returns information about our current state.
- State GetEstimatorState() const;
+ State GetEstimatorState() const override;
- void TriggerError() { error_ = true; }
+ void TriggerError() override { error_ = true; }
private:
// Returns the current real position using the relative encoder offset.
diff --git a/motors/packages/1885670000.fp b/motors/packages/1885670000.fp
new file mode 100644
index 0000000..919e663
--- /dev/null
+++ b/motors/packages/1885670000.fp
@@ -0,0 +1,18 @@
+# This is the footprint for a Weidmuller 1885670000
+# (4 position 45 degree push in terminal block).
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pin[-5.25mm 0 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-5.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-1.75mm 0 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+ Pin[-1.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+ Pin[1.75mm 0 1.95mm 30mil 2.15mm 1.15mm "3" "3" ""]
+ Pin[1.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "3" "3" ""]
+ Pin[5.25mm 0 1.95mm 30mil 2.15mm 1.15mm "4" "4" ""]
+ Pin[5.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "4" "4" ""]
+
+ ElementLine[-7.35mm -3.1mm 7.35mm -3.1mm 800]
+ ElementLine[7.35mm -3.1mm 7.35mm 9.6mm 800]
+ ElementLine[7.35mm 9.6mm -7.35mm 9.6mm 800]
+ ElementLine[-7.35mm -3.1mm -7.35mm 9.6mm 800]
+)
diff --git a/motors/packages/1885710000.fp b/motors/packages/1885710000.fp
new file mode 100644
index 0000000..c5bef7f
--- /dev/null
+++ b/motors/packages/1885710000.fp
@@ -0,0 +1,26 @@
+# This is the footprint for a Weidmuller 1885710000
+# (8 position 45 degree push in terminal block).
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pin[-12.25mm 0 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-12.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-8.75mm 0 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+ Pin[-8.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+ Pin[-5.25mm 0 1.95mm 30mil 2.15mm 1.15mm "3" "3" ""]
+ Pin[-5.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "3" "3" ""]
+ Pin[-1.75mm 0 1.95mm 30mil 2.15mm 1.15mm "4" "4" ""]
+ Pin[-1.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "4" "4" ""]
+ Pin[1.75mm 0 1.95mm 30mil 2.15mm 1.15mm "5" "5" ""]
+ Pin[1.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "5" "5" ""]
+ Pin[5.25mm 0 1.95mm 30mil 2.15mm 1.15mm "6" "6" ""]
+ Pin[5.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "6" "6" ""]
+ Pin[8.75mm 0 1.95mm 30mil 2.15mm 1.15mm "7" "7" ""]
+ Pin[8.75mm 5mm 1.95mm 30mil 2.15mm 1.15mm "7" "7" ""]
+ Pin[12.25mm 0 1.95mm 30mil 2.15mm 1.15mm "8" "8" ""]
+ Pin[12.25mm 5mm 1.95mm 30mil 2.15mm 1.15mm "8" "8" ""]
+
+ ElementLine[-14.35mm -3.1mm 14.35mm -3.1mm 800]
+ ElementLine[14.35mm -3.1mm 14.35mm 9.6mm 800]
+ ElementLine[14.35mm 9.6mm -14.35mm 9.6mm 800]
+ ElementLine[-14.35mm -3.1mm -14.35mm 9.6mm 800]
+)
diff --git a/motors/packages/alligator_clip_pad.fp b/motors/packages/alligator_clip_pad.fp
new file mode 100644
index 0000000..65f7a31
--- /dev/null
+++ b/motors/packages/alligator_clip_pad.fp
@@ -0,0 +1,5 @@
+# This is a footprint for an alligator clip to attach.
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pad[0 70mil 0 -70mil 125mil 20mil 135mil "1" "1" "square"]
+)
diff --git a/motors/packages/commutation_wire.fp b/motors/packages/commutation_wire.fp
new file mode 100644
index 0000000..98cab14
--- /dev/null
+++ b/motors/packages/commutation_wire.fp
@@ -0,0 +1,5 @@
+# This is a footprint for a wire soldered to a pad.
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pad[0 75mil 0 -75mil 100mil 20mil 120mil "1" "1" "square"]
+)
diff --git a/motors/packages/jumper-aren.fp b/motors/packages/jumper-aren.fp
new file mode 100644
index 0000000..f3d6c2d
--- /dev/null
+++ b/motors/packages/jumper-aren.fp
@@ -0,0 +1,6 @@
+# This is a solderable jumper sized like Aren says.
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pad[0.09375in 0 0.09375in 0 0.125in 25mil 0.14in "1" "1" "square"]
+ Pad[-0.09375in 0 -0.09375in 0 0.125in 25mil 0.14in "2" "2" "square"]
+)
diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple-20181128.zip b/motors/receiver_schematic/shipped_files/simple-20181128/simple-20181128.zip
new file mode 100644
index 0000000..29ed432
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple-20181128.zip
Binary files differ
diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottom.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottom.gbr
new file mode 100644
index 0000000..6cfb73a
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottom.gbr
@@ -0,0 +1,10241 @@
+G04 start of page 3 for group 1 idx 1 *
+G04 Title: simple, bottom *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottommask.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottommask.gbr
new file mode 100644
index 0000000..6cb1b4c
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottommask.gbr
@@ -0,0 +1,165 @@
+G04 start of page 7 for group -4062 idx -4062 *
+G04 Title: simple, soldermask *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
+%FSLAX25Y25*%
+%LNBOTTOMMASK*%
+%ADD58R,0.1350X0.1350*%
+%ADD57C,0.0520*%
+%ADD56C,0.0001*%
+%ADD55C,0.0660*%
+%ADD54C,0.0600*%
+%ADD53C,0.0846*%
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottompaste.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottompaste.gbr
new file mode 100644
index 0000000..02ef5a1
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottompaste.gbr
@@ -0,0 +1,39 @@
+G04 start of page 11 for group -4014 idx -4014 *
+G04 Title: simple, bottompaste *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottomsilk.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottomsilk.gbr
new file mode 100644
index 0000000..8e5b011
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.bottomsilk.gbr
@@ -0,0 +1,1154 @@
+G04 start of page 9 for group -4078 idx -4078 *
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+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.fab.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.fab.gbr
new file mode 100644
index 0000000..c47201d
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.fab.gbr
@@ -0,0 +1,2647 @@
+G04 start of page 12 for group -3984 idx -3984 *
+G04 Title: simple, fab *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.outline.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.outline.gbr
new file mode 100644
index 0000000..b4a3efe
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.outline.gbr
@@ -0,0 +1,21 @@
+G04 start of page 4 for group 2 idx 2 *
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+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.plated-drill.cnc b/motors/receiver_schematic/shipped_files/simple-20181128/simple.plated-drill.cnc
new file mode 100644
index 0000000..93d521f
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.plated-drill.cnc
@@ -0,0 +1,157 @@
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.top.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.top.gbr
new file mode 100644
index 0000000..086398a
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.top.gbr
@@ -0,0 +1,656 @@
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.topmask.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.topmask.gbr
new file mode 100644
index 0000000..7e74d53
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.topmask.gbr
@@ -0,0 +1,141 @@
+G04 start of page 6 for group -4063 idx -4063 *
+G04 Title: simple, componentmask *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.toppaste.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.toppaste.gbr
new file mode 100644
index 0000000..d3ce6cf
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.toppaste.gbr
@@ -0,0 +1,14 @@
+G04 start of page 10 for group -4015 idx -4015 *
+G04 Title: simple, toppaste *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/receiver_schematic/shipped_files/simple-20181128/simple.topsilk.gbr b/motors/receiver_schematic/shipped_files/simple-20181128/simple.topsilk.gbr
new file mode 100644
index 0000000..480b1da
--- /dev/null
+++ b/motors/receiver_schematic/shipped_files/simple-20181128/simple.topsilk.gbr
@@ -0,0 +1,887 @@
+G04 start of page 8 for group -4079 idx -4079 *
+G04 Title: simple, topsilk *
+G04 Creator: pcb 20140316 *
+G04 CreationDate: Fri 07 Dec 2018 12:57:29 AM GMT UTC *
+G04 For: brian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 6000.00 5000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/receiver_schematic/simple-main.sch b/motors/receiver_schematic/simple-main.sch
index 59496f3..6b63f51 100644
--- a/motors/receiver_schematic/simple-main.sch
+++ b/motors/receiver_schematic/simple-main.sch
@@ -8,328 +8,290 @@
T 52500 53000 5 10 1 1 0 0 1
refdes=U1
}
-C 37400 45700 1 0 0 connector2-1.sym
+C 57900 47400 1 0 1 connector8-1.sym
{
-T 37600 46700 5 10 0 0 0 0 1
-device=CONNECTOR_2
-T 37400 46500 5 10 1 1 0 0 1
-refdes=CONN1
-T 37400 45700 5 10 0 0 0 0 1
-footprint=B02B-PASK-1
-T 37400 45700 5 10 0 0 0 0 1
-pn=B02B-PASK-1(LF)(SN)
-}
-C 49900 57400 1 180 0 connector2-1.sym
-{
-T 49700 56400 5 10 0 0 180 0 1
-device=CONNECTOR_2
-T 49900 56600 5 10 1 1 180 0 1
-refdes=CONN2
-T 49900 57400 5 10 0 0 180 0 1
-footprint=B02B-PASK-1
-T 49900 57400 5 10 0 0 0 0 1
-pn=B02B-PASK-1(LF)(SN)
-}
-C 50800 57300 1 270 0 connector8-1.sym
-{
-T 54000 57200 5 10 0 0 270 0 1
+T 57800 50600 5 10 0 0 0 6 1
device=CONNECTOR_8
-T 53400 57200 5 10 1 1 270 0 1
+T 57800 50000 5 10 1 1 0 6 1
refdes=CONN3
-T 50800 57300 5 10 0 0 270 0 1
-footprint=HEADER8x1
+T 57900 47400 5 10 0 0 0 6 1
+footprint=1885710000
+T 57900 47400 5 10 0 0 0 0 1
+pn=1885710000
}
-C 46900 41700 1 0 0 connector4-1.sym
+C 57900 45600 1 0 1 connector4-1.sym
{
-T 48700 42600 5 10 0 0 0 0 1
+T 56100 46500 5 10 0 0 0 6 1
device=CONNECTOR_4
-T 46900 43100 5 10 1 1 0 0 1
+T 57900 47000 5 10 1 1 0 6 1
refdes=CONN4
-T 46900 41700 5 10 0 0 0 0 1
-footprint=B04B-PASK-1
-T 46900 41700 5 10 0 0 0 0 1
-pn=B04B-PASK-1(LF)(SN)
+T 57900 45600 5 10 0 0 0 6 1
+footprint=1885670000
+T 57900 45600 5 10 0 0 0 6 1
+pn=1885670000
}
-C 46200 57800 1 0 0 resistor-1.sym
+C 46200 52700 1 0 0 resistor-1.sym
{
-T 46500 58200 5 10 0 0 0 0 1
+T 46500 53100 5 10 0 0 0 0 1
device=RESISTOR
-T 46400 58100 5 10 1 1 0 0 1
+T 46400 53000 5 10 1 1 0 0 1
refdes=R1
-T 46400 57600 5 10 1 1 0 0 1
+T 46400 52500 5 10 1 1 0 0 1
value=120
-T 46200 57800 5 10 0 0 0 0 1
+T 46200 52700 5 10 0 0 0 0 1
power=.25 W
-T 46200 57800 5 10 0 0 0 0 1
+T 46200 52700 5 10 0 0 0 0 1
pn=CFM14JT120R
-T 46200 57800 5 10 0 0 0 0 1
+T 46200 52700 5 10 0 0 0 0 1
footprint=CFM14
}
-C 43500 54900 1 270 0 capacitor-1.sym
+C 47600 57800 1 270 0 capacitor-1.sym
{
-T 44200 54700 5 10 0 0 270 0 1
+T 48300 57600 5 10 0 0 270 0 1
device=CAPACITOR
-T 44400 54700 5 10 0 0 270 0 1
+T 48500 57600 5 10 0 0 270 0 1
symversion=0.1
-T 44000 54700 5 10 1 1 270 0 1
+T 48100 57600 5 10 1 1 270 0 1
refdes=C2
-T 43300 54700 5 10 1 1 270 0 1
+T 47400 57600 5 10 1 1 270 0 1
value=1 uF
-T 43500 54900 5 10 0 0 0 0 1
+T 47600 57800 5 10 0 0 0 0 1
pn=FG18X5R1H105KRT06
-T 43500 54900 5 10 0 0 0 0 1
+T 47600 57800 5 10 0 0 0 0 1
footprint=FG18
}
C 53300 52900 1 270 0 5V-plus-1.sym
C 50500 52800 1 270 0 gnd-1.sym
C 50800 48300 1 90 0 3.3V-plus-1.sym
-C 53600 48400 1 90 0 gnd-1.sym
-C 39400 46100 1 270 0 5V-plus-1.sym
-C 39700 46100 1 90 0 gnd-1.sym
-N 39100 45900 39400 45900 4
-N 39400 46200 39100 46200 4
+C 53500 48400 1 90 0 gnd-1.sym
+C 51600 44100 1 0 0 5V-plus-1.sym
+C 51600 44400 1 180 0 gnd-1.sym
N 50800 52700 51100 52700 4
N 53300 52700 53000 52700 4
N 50800 48500 51100 48500 4
-N 53300 48500 53000 48500 4
-C 44700 48800 1 0 0 H3LIS331DL-breakout.sym
+N 53200 48500 53000 48500 4
+C 43200 51000 1 0 0 TJF1051.sym
{
-T 44800 50200 5 10 1 1 0 0 1
-device=H3LIS331DL
-T 46000 50200 5 10 1 1 0 0 1
-refdes=U2
-T 46300 50100 5 10 0 1 0 0 1
-footprint=H3LIS331DL-breakout
-T 44700 48800 5 10 0 0 0 0 1
-pn=SEN-14480
-}
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-N 47200 49000 46500 49000 4
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-N 47600 49600 46500 49600 4
-N 51100 47300 47800 47300 4
-N 47800 47300 47800 49900 4
-N 47800 49900 46500 49900 4
-C 44100 49700 1 270 0 gnd-1.sym
-N 44400 49600 44700 49600 4
-C 44400 49700 1 90 0 3.3V-plus-1.sym
-N 44400 49900 44700 49900 4
-C 59200 47900 1 0 0 ITG-3200-breakout.sym
-{
-T 59500 49300 5 10 1 1 0 0 1
-device=ITG-3200
-T 60500 49300 5 10 1 1 0 0 1
-refdes=U3
-T 60600 49900 5 10 0 1 0 0 1
-footprint=ITG-3200-breakout
-T 59200 47900 5 10 0 0 0 0 1
-pn=SEN-11977
-}
-N 56700 49700 57300 49700 4
-N 57900 48900 59200 48900 4
-N 59000 48900 59000 48600 4
-N 59000 48600 59200 48600 4
-N 57900 48900 57900 49200 4
-C 58600 48400 1 270 0 gnd-1.sym
-N 59200 48300 58900 48300 4
-C 61600 48600 1 90 0 gnd-1.sym
-N 61300 48700 61000 48700 4
-N 53000 50300 55600 50300 4
-N 55600 50300 55600 51300 4
-N 55600 51300 62100 51300 4
-N 62100 48400 62100 51300 4
-N 62100 48400 61000 48400 4
-N 53000 50600 55400 50600 4
-N 55400 50600 55400 51800 4
-N 55400 51500 62300 51500 4
-N 62300 48100 62300 51500 4
-N 62300 48100 61000 48100 4
-C 43200 56100 1 0 0 TJF1051.sym
-{
-T 43400 57500 5 10 1 1 0 0 1
+T 43400 52400 5 10 1 1 0 0 1
device=TJF1051T/3
-T 45900 57300 5 10 0 1 0 0 1
+T 45900 52200 5 10 0 1 0 0 1
footprint=DIP8
-T 44600 57500 5 10 1 1 0 0 1
+T 44600 52400 5 10 1 1 0 0 1
refdes=U4
-T 43200 56100 5 10 0 0 0 0 1
+T 43200 51000 5 10 0 0 0 0 1
pn=MCP2562-E/P
}
-C 42600 56400 1 270 0 gnd-1.sym
-C 42900 56700 1 90 0 5V-plus-1.sym
-C 42200 56400 1 90 0 3.3V-plus-1.sym
-C 41900 57300 1 270 0 gnd-1.sym
-N 45200 57200 48200 57200 4
-N 48200 56900 45200 56900 4
-N 42900 56300 43200 56300 4
-N 43200 56600 42200 56600 4
-N 42900 56900 43200 56900 4
-N 43200 57200 42200 57200 4
-C 45700 42900 1 270 0 capacitor-1.sym
+C 42600 51300 1 270 0 gnd-1.sym
+C 42900 51600 1 90 0 5V-plus-1.sym
+C 42200 51300 1 90 0 3.3V-plus-1.sym
+C 41900 52200 1 270 0 gnd-1.sym
+N 45200 52100 48200 52100 4
+N 45200 51800 48400 51800 4
+N 42900 51200 43200 51200 4
+N 43200 51500 42200 51500 4
+N 42900 51800 43200 51800 4
+N 43200 52100 42200 52100 4
+C 55400 43000 1 270 0 capacitor-1.sym
{
-T 46400 42700 5 10 0 0 270 0 1
+T 56100 42800 5 10 0 0 270 0 1
device=CAPACITOR
-T 46600 42700 5 10 0 0 270 0 1
+T 56300 42800 5 10 0 0 270 0 1
symversion=0.1
-T 46200 42700 5 10 1 1 270 0 1
+T 55900 42800 5 10 1 1 270 0 1
refdes=C3
-T 45500 42700 5 10 1 1 270 0 1
+T 55200 42800 5 10 1 1 270 0 1
value=1 uF
-T 45700 42900 5 10 0 0 0 0 1
+T 55400 43000 5 10 0 0 0 0 1
pn=FG18X5R1H105KRT06
-T 45700 42900 5 10 0 0 0 0 1
+T 55400 43000 5 10 0 0 0 0 1
footprint=FG18
}
-C 44700 54900 1 270 0 capacitor-1.sym
+C 48800 57800 1 270 0 capacitor-1.sym
{
-T 45400 54700 5 10 0 0 270 0 1
+T 49500 57600 5 10 0 0 270 0 1
device=CAPACITOR
-T 45600 54700 5 10 0 0 270 0 1
+T 49700 57600 5 10 0 0 270 0 1
symversion=0.1
-T 45200 54700 5 10 1 1 270 0 1
+T 49300 57600 5 10 1 1 270 0 1
refdes=C4
-T 44500 54700 5 10 1 1 270 0 1
+T 48600 57600 5 10 1 1 270 0 1
value=1 uF
-T 44700 54900 5 10 0 0 0 0 1
+T 48800 57800 5 10 0 0 0 0 1
pn=FG18X5R1H105KRT06
-T 44700 54900 5 10 0 0 0 0 1
+T 48800 57800 5 10 0 0 0 0 1
footprint=FG18
}
-N 47100 57900 47300 57900 4
-N 47300 57900 47300 57200 4
-N 46200 57900 46000 57900 4
-N 46000 57900 46000 56900 4
-C 43600 53400 1 0 0 gnd-1.sym
-N 43700 53700 43700 54000 4
-C 44800 53400 1 0 0 gnd-1.sym
-N 44900 53700 44900 54000 4
-C 43500 55100 1 0 0 5V-plus-1.sym
-C 44700 55100 1 0 0 3.3V-plus-1.sym
-N 44900 54900 44900 55100 4
-N 43700 55100 43700 54900 4
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-N 48700 51500 51100 51500 4
-N 51100 51200 48500 51200 4
-N 48500 51200 48500 56300 4
-N 48500 56300 45200 56300 4
-C 57300 50200 1 180 1 pnp-3.sym
-{
-T 58200 49700 5 10 0 0 180 6 1
-device=PNP_TRANSISTOR
-T 58200 49700 5 10 1 1 180 6 1
-refdes=Q1
-T 57300 50200 5 10 0 0 180 6 1
-pn=FJN4309RTA
-T 57300 50200 5 10 0 0 0 0 1
-footprint=TO92
-T 57300 50200 5 10 0 0 0 0 1
-slot=1
-T 57300 50200 5 10 0 0 0 0 1
-slotdef=1:1,3,2
-}
-C 57700 50400 1 0 0 3.3V-plus-1.sym
-N 57900 50400 57900 50200 4
-N 61000 49000 61400 49000 4
-N 61400 49000 61400 51100 4
-N 55800 51100 61400 51100 4
-N 55800 50000 55800 51100 4
-N 53000 50000 55800 50000 4
-C 55300 52700 1 270 0 resistor-1.sym
-{
-T 55700 52400 5 10 0 0 270 0 1
-device=RESISTOR
-T 55600 52500 5 10 1 1 270 0 1
-refdes=R2
-T 55100 52500 5 10 1 1 270 0 1
-value=4.7 k
-T 55300 52700 5 10 0 0 0 0 1
-footprint=CFM14
-T 55300 52700 5 10 0 0 0 0 1
-pn=CFM14JT4K70
-}
-C 56500 52700 1 270 0 resistor-1.sym
-{
-T 56900 52400 5 10 0 0 270 0 1
-device=RESISTOR
-T 56800 52500 5 10 1 1 270 0 1
-refdes=R3
-T 56300 52500 5 10 1 1 270 0 1
-value=4.7 k
-T 56500 52700 5 10 0 0 0 0 1
-footprint=CFM14
-T 56500 52700 5 10 0 0 0 0 1
-pn=CFM14JT4K70
-}
-N 56600 51800 56600 51300 4
-C 55200 52900 1 0 0 3.3V-plus-1.sym
-N 55400 52900 55400 52700 4
-C 56400 52900 1 0 0 3.3V-plus-1.sym
-N 56600 52900 56600 52700 4
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-C 48800 42700 1 270 0 3.3V-plus-1.sym
-C 45800 41500 1 0 0 gnd-1.sym
-C 45700 43100 1 0 0 3.3V-plus-1.sym
-N 45900 43100 45900 42900 4
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C 53300 52300 1 270 0 3.3V-plus-1.sym
N 53300 52100 53000 52100 4
-N 53000 48200 53800 48200 4
-N 53000 47900 53600 47900 4
-N 53600 41900 53600 47900 4
-N 53600 41900 48600 41900 4
-C 51800 55000 1 0 0 gnd-1.sym
-N 51900 55300 51900 55600 4
+C 57900 50400 1 0 1 connector8-1.sym
+{
+T 57800 53600 5 10 0 0 0 6 1
+device=CONNECTOR_8
+T 57800 53000 5 10 1 1 0 6 1
+refdes=CONN1
+T 57900 50400 5 10 0 0 0 6 1
+footprint=1885710000
+T 57900 50400 5 10 0 0 0 0 1
+pn=1885710000
+}
+C 51300 42200 1 270 1 connector4-1.sym
+{
+T 52200 44000 5 10 0 0 270 6 1
+device=CONNECTOR_4
+T 52700 42200 5 10 1 1 270 6 1
+refdes=CONN2
+T 51300 42200 5 10 0 0 270 6 1
+footprint=1885670000
+T 51300 42200 5 10 0 0 270 6 1
+pn=1885670000
+}
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+{
+T 56300 44100 5 8 0 0 0 0 1
+device=JUMPER
+T 56300 44100 5 10 1 1 0 0 1
+refdes=J1
+T 56000 43600 5 10 0 0 0 0 1
+footprint=jumper-aren
+}
+C 56800 43600 1 0 0 jumper-1.sym
+{
+T 57100 44100 5 8 0 0 0 0 1
+device=JUMPER
+T 57100 44100 5 10 1 1 0 0 1
+refdes=J2
+T 56800 43600 5 10 0 0 0 0 1
+footprint=jumper-aren
+}
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+N 51100 45800 50800 45800 4
+C 51400 57500 1 90 0 connector1-2.sym
+{
+T 50500 58200 5 10 1 1 90 6 1
+refdes=CONN5
+T 50550 57800 5 10 0 0 90 0 1
+device=CONNECTOR_1
+T 50350 57800 5 10 0 0 90 0 1
+footprint=alligator_clip_pad
+}
+C 50900 56900 1 0 0 gnd-1.sym
+N 51000 57200 51000 57500 4
+C 53000 57500 1 90 0 connector1-2.sym
+{
+T 52150 57800 5 10 0 0 90 0 1
+device=CONNECTOR_1
+T 51950 57800 5 10 0 0 90 0 1
+footprint=alligator_clip_pad
+T 52100 58200 5 10 1 1 90 6 1
+refdes=CONN6
+}
+C 52500 56900 1 0 0 gnd-1.sym
+N 52600 57200 52600 57500 4
diff --git a/motors/receiver_schematic/simple.pcb b/motors/receiver_schematic/simple.pcb
index 8a5a6c3..ed7582b 100644
--- a/motors/receiver_schematic/simple.pcb
+++ b/motors/receiver_schematic/simple.pcb
@@ -787,32 +787,179 @@
)
Attribute("PCB::grid::unit" "mil")
Attribute("PCB::grid::size" "5.00mil")
-Via[2240.00mil 1440.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2245.00mil 1120.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2880.00mil 1100.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[3005.00mil 1220.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[3125.00mil 1225.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[3115.00mil 1455.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[3045.00mil 1455.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1790.00mil 1045.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2200.00mil 1060.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2320.00mil 1060.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1920.00mil 1200.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2225.00mil 1260.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2335.00mil 1260.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2445.00mil 1300.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2495.00mil 1350.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2555.00mil 1290.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[2505.00mil 1240.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1410.00mil 1045.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1700.00mil 1040.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1440.00mil 965.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
-Via[1545.00mil 955.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1385.00mil 1005.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
-Via[1775.00mil 1150.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
-Via[1785.00mil 1240.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
-Via[1930.00mil 1350.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
-Via[1930.00mil 1275.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1625.00mil 1095.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1625.00mil 1315.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2265.00mil 1110.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1930.00mil 780.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1850.00mil 780.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1640.00mil 990.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[1630.00mil 845.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[3630.00mil 965.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[3245.00mil 1225.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[3270.00mil 1045.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2615.00mil 1330.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2660.00mil 1375.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2670.00mil 1265.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2625.00mil 1220.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2665.00mil 1155.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2620.00mil 1110.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2000.00mil 810.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2880.00mil 745.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2950.00mil 755.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2950.00mil 850.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2930.00mil 970.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2930.00mil 1040.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[3030.00mil 1190.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2985.00mil 1145.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2905.00mil 1110.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[2860.00mil 1065.00mil 36.00mil 16.00mil 0.0000 20.00mil "" ""]
+Via[3825.00mil 1265.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
+Via[3735.00mil 1425.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
+Via[3920.00mil 1425.00mil 36.00mil 16.00mil 0.0000 20.00mil "" "thermal(1S)"]
+
+Element["" "1885710000" "CONN1" "unknown" 1895.00mil 470.00mil -80.00mil 70.00mil 0 100 ""]
+(
+ Pin[-12.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-12.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-8.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[-8.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[-5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[-5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[-1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2"]
+ Pin[-1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2"]
+ Pin[1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "5" "5" "edge2"]
+ Pin[1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "5" "5" "edge2"]
+ Pin[5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "6" "6" "edge2"]
+ Pin[5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "6" "6" "edge2"]
+ Pin[8.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "7" "7" "edge2"]
+ Pin[8.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "7" "7" "edge2"]
+ Pin[12.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "8" "8" "edge2,thermal(1X)"]
+ Pin[12.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "8" "8" "edge2,thermal(1X)"]
+ ElementLine [-14.3500mm -3.1000mm 14.3500mm -3.1000mm 8.00mil]
+ ElementLine [14.3500mm -3.1000mm 14.3500mm 9.6000mm 8.00mil]
+ ElementLine [14.3500mm 9.6000mm -14.3500mm 9.6000mm 8.00mil]
+ ElementLine [-14.3500mm -3.1000mm -14.3500mm 9.6000mm 8.00mil]
+
+ )
+
+Element["onsolder" "FG18" "C4" "1_uF" 2105.00mil 1000.00mil 115.00mil 20.00mil 0 76 "auto"]
+(
+ Pin[1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "1" "1" "edge2"]
+ Pin[-1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "2" "2" "edge2,thermal(1X)"]
+ ElementLine [-2.4000mm 1.2500mm 2.4000mm 1.2500mm 12.00mil]
+ ElementLine [-2.4000mm -1.2500mm -2.4000mm 1.2500mm 12.00mil]
+ ElementLine [-2.4000mm -1.2500mm 2.4000mm -1.2500mm 12.00mil]
+ ElementLine [2.4000mm -1.2500mm 2.4000mm 1.2500mm 12.00mil]
+
+ )
+
+Element["onsolder" "FG18" "C2" "1_uF" 1900.00mil 1000.00mil -155.00mil 25.00mil 0 76 "auto"]
+(
+ Pin[-1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "1" "1" "edge2"]
+ Pin[1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "2" "2" "edge2,thermal(1X)"]
+ ElementLine [-2.4000mm -1.2500mm 2.4000mm -1.2500mm 12.00mil]
+ ElementLine [2.4000mm -1.2500mm 2.4000mm 1.2500mm 12.00mil]
+ ElementLine [2.4000mm 1.2500mm -2.4000mm 1.2500mm 12.00mil]
+ ElementLine [-2.4000mm 1.2500mm -2.4000mm -1.2500mm 12.00mil]
+
+ )
+
+Element["onsolder" "DIP8" "U4" "unknown" 1860.00mil 1410.00mil 370.00mil 30.00mil 0 77 "auto"]
+(
+ Pin[0.0000 0.0000 60.00mil 30.00mil 66.00mil 28.00mil "TXD" "1" "square"]
+ Pin[0.0000 -100.00mil 60.00mil 30.00mil 66.00mil 28.00mil "GND" "2" "thermal(1X)"]
+ Pin[0.0000 -200.00mil 60.00mil 30.00mil 66.00mil 28.00mil "VCC" "3" ""]
+ Pin[0.0000 -300.00mil 60.00mil 30.00mil 66.00mil 28.00mil "RXD" "4" ""]
+ Pin[300.00mil -300.00mil 60.00mil 30.00mil 66.00mil 28.00mil "VIO" "5" ""]
+ Pin[300.00mil -200.00mil 60.00mil 30.00mil 66.00mil 28.00mil "CANL" "6" ""]
+ Pin[300.00mil -100.00mil 60.00mil 30.00mil 66.00mil 28.00mil "CANH" "7" ""]
+ Pin[300.00mil 0.0000 60.00mil 30.00mil 66.00mil 28.00mil "SLP" "8" "thermal(1X)"]
+ ElementLine [-50.00mil 50.00mil -50.00mil -350.00mil 10.00mil]
+ ElementLine [-50.00mil -350.00mil 350.00mil -350.00mil 10.00mil]
+ ElementLine [350.00mil -350.00mil 350.00mil 50.00mil 10.00mil]
+ ElementLine [-50.00mil 50.00mil 100.00mil 50.00mil 10.00mil]
+ ElementLine [200.00mil 50.00mil 350.00mil 50.00mil 10.00mil]
+ ElementArc [150.00mil 50.00mil 50.00mil 50.00mil 180 180 10.00mil]
+
+ )
+
+Element["onsolder" "CFM14" "R1" "120" 1730.00mil 1310.00mil -90.00mil -15.00mil 0 77 "auto"]
+(
+ Pin[0.0000 -2.8000mm 1.1000mm 30.00mil 52.00mil 0.6800mm "1" "1" ""]
+ Pin[0.0000 2.8000mm 1.1000mm 30.00mil 52.00mil 0.6800mm "2" "2" ""]
+ ElementLine [0.8500mm -1.6500mm 0.8500mm 1.6500mm 12.00mil]
+ ElementLine [-0.8500mm 1.6500mm 0.8500mm 1.6500mm 12.00mil]
+ ElementLine [-0.8500mm -1.6500mm -0.8500mm 1.6500mm 12.00mil]
+ ElementLine [-0.8500mm -1.6500mm 0.8500mm -1.6500mm 12.00mil]
+
+ )
+
+Element["onsolder" "jumper-aren" "J2" "unknown" 3460.00mil 1225.00mil 180.00mil 25.00mil 0 100 "auto"]
+(
+ Pad[93.75mil 0.0000 93.75mil 0.0000 125.00mil 25.00mil 140.00mil "1" "1" "onsolder,square,edge2"]
+ Pad[-93.75mil 0.0000 -93.75mil 0.0000 125.00mil 25.00mil 140.00mil "2" "2" "onsolder,square"]
+
+ )
+
+Element["onsolder" "jumper-aren" "J1" "unknown" 3460.00mil 1055.00mil 180.00mil 30.00mil 0 100 "auto"]
+(
+ Pad[93.75mil 0.0000 93.75mil 0.0000 125.00mil 25.00mil 140.00mil "1" "1" "onsolder,square,edge2"]
+ Pad[-93.75mil 0.0000 -93.75mil 0.0000 125.00mil 25.00mil 140.00mil "2" "2" "onsolder,square"]
+
+ )
+
+Element["" "1885710000" "CONN3" "unknown" 3180.00mil 470.00mil -85.00mil 70.00mil 0 100 ""]
+(
+ Pin[-12.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-12.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-8.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[-8.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[-5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[-5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[-1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2"]
+ Pin[-1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2"]
+ Pin[1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "5" "5" "edge2"]
+ Pin[1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "5" "5" "edge2"]
+ Pin[5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "6" "6" "edge2"]
+ Pin[5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "6" "6" "edge2"]
+ Pin[8.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "7" "7" "edge2"]
+ Pin[8.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "7" "7" "edge2"]
+ Pin[12.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "8" "8" "edge2,thermal(1X)"]
+ Pin[12.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "8" "8" "edge2,thermal(1X)"]
+ ElementLine [-14.3500mm -3.1000mm 14.3500mm -3.1000mm 8.00mil]
+ ElementLine [14.3500mm -3.1000mm 14.3500mm 9.6000mm 8.00mil]
+ ElementLine [14.3500mm 9.6000mm -14.3500mm 9.6000mm 8.00mil]
+ ElementLine [-14.3500mm -3.1000mm -14.3500mm 9.6000mm 8.00mil]
+
+ )
+
+Element["onsolder" "FG18" "C3" "1_uF" 4330.00mil 775.00mil -150.00mil 55.00mil 0 77 "auto"]
+(
+ Pin[-1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "1" "1" "edge2"]
+ Pin[1.2500mm 0.0000 54.00mil 30.00mil 60.00mil 35.00mil "2" "2" "edge2,thermal(1X)"]
+ ElementLine [-2.4000mm -1.2500mm 2.4000mm -1.2500mm 12.00mil]
+ ElementLine [2.4000mm -1.2500mm 2.4000mm 1.2500mm 12.00mil]
+ ElementLine [-2.4000mm 1.2500mm 2.4000mm 1.2500mm 12.00mil]
+ ElementLine [-2.4000mm -1.2500mm -2.4000mm 1.2500mm 12.00mil]
+
+ )
+
+Element["" "1885670000" "CONN4" "unknown" 4190.00mil 470.00mil -90.00mil 70.00mil 0 100 ""]
+(
+ Pin[-5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" "edge2"]
+ Pin[-1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[-1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" "edge2"]
+ Pin[1.7500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[1.7500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" "edge2"]
+ Pin[5.2500mm 0.0000 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2,thermal(1X)"]
+ Pin[5.2500mm 5.0000mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "edge2,thermal(1X)"]
+ ElementLine [-7.3500mm -3.1000mm 7.3500mm -3.1000mm 8.00mil]
+ ElementLine [7.3500mm -3.1000mm 7.3500mm 9.6000mm 8.00mil]
+ ElementLine [7.3500mm 9.6000mm -7.3500mm 9.6000mm 8.00mil]
+ ElementLine [-7.3500mm -3.1000mm -7.3500mm 9.6000mm 8.00mil]
+
+ )
Element["hidename" "teensy3.5" "U1" "unknown" 2530.00mil 910.00mil -840.00mil -50.00mil 3 100 ""]
(
@@ -921,541 +1068,411 @@
)
-Element["hidename" "HEADER8x1" "CONN3" "unknown" 1775.00mil 1755.00mil -400.00mil -50.00mil 3 100 ""]
+Element["" "1885670000" "CONN2" "unknown" 4295.00mil 1270.00mil -55.00mil -75.00mil 3 100 ""]
(
- Pin[-350.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "1" "1" "square,edge2"]
- Pin[-250.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "2" "2" "edge2"]
- Pin[-150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "3" "3" "edge2"]
- Pin[-50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "4" "4" "edge2"]
- Pin[50.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "5" "5" "edge2,thermal(1X)"]
- Pin[150.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "6" "6" "edge2"]
- Pin[250.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "7" "7" "edge2"]
- Pin[350.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "8" "8" "edge2"]
- ElementLine [-400.00mil -50.00mil -400.00mil 50.00mil 10.00mil]
- ElementLine [-400.00mil 50.00mil 400.00mil 50.00mil 10.00mil]
- ElementLine [400.00mil 50.00mil 400.00mil -50.00mil 10.00mil]
- ElementLine [300.00mil 50.00mil 300.00mil -50.00mil 10.00mil]
- ElementLine [200.00mil 50.00mil 200.00mil -50.00mil 10.00mil]
- ElementLine [100.00mil 50.00mil 100.00mil -50.00mil 10.00mil]
- ElementLine [0.0000 50.00mil 0.0000 -50.00mil 10.00mil]
- ElementLine [-100.00mil 50.00mil -100.00mil -50.00mil 10.00mil]
- ElementLine [-200.00mil 50.00mil -200.00mil -50.00mil 10.00mil]
- ElementLine [400.00mil -50.00mil -400.00mil -50.00mil 10.00mil]
- ElementLine [-400.00mil 50.00mil -300.00mil 50.00mil 10.00mil]
- ElementLine [-300.00mil 50.00mil -300.00mil -50.00mil 10.00mil]
+ Pin[0.0000 -5.2500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" ""]
+ Pin[-5.0000mm -5.2500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "1" "1" ""]
+ Pin[0.0000 -1.7500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" ""]
+ Pin[-5.0000mm -1.7500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "2" "2" ""]
+ Pin[0.0000 1.7500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" ""]
+ Pin[-5.0000mm 1.7500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "3" "3" ""]
+ Pin[0.0000 5.2500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "thermal(1X)"]
+ Pin[-5.0000mm 5.2500mm 1.9500mm 30.00mil 2.1500mm 1.1500mm "4" "4" "thermal(1X)"]
+ ElementLine [3.1000mm -7.3500mm 3.1000mm 7.3500mm 8.00mil]
+ ElementLine [-9.6000mm 7.3500mm 3.1000mm 7.3500mm 8.00mil]
+ ElementLine [-9.6000mm -7.3500mm -9.6000mm 7.3500mm 8.00mil]
+ ElementLine [-9.6000mm -7.3500mm 3.1000mm -7.3500mm 8.00mil]
)
-Element["onsolder" "B04B-PASK-1" "CONN4" "unknown" 1450.00mil 1255.00mil -45.00mil 65.00mil 3 100 "auto"]
+Element["hidename,onsolder" "alligator_clip_pad" "CONN6" "unknown" 3825.00mil 1425.00mil 0.0000 0.0000 0 100 "auto"]
(
- Pin[0.0000 118.11mil 47.95mil 20.00mil 63.95mil 27.95mil "4" "4" ""]
- Pin[0.0000 39.37mil 47.95mil 20.00mil 63.95mil 27.95mil "3" "3" ""]
- Pin[0.0000 -39.37mil 47.95mil 20.00mil 63.95mil 27.95mil "2" "2" ""]
- Pin[0.0000 -118.11mil 47.95mil 20.00mil 63.95mil 27.95mil "1" "1" "thermal(1X)"]
- Pin[66.93mil -177.17mil 59.70mil 16.00mil 75.70mil 43.70mil "" "" ""]
- ElementLine [95.78mil -136.85mil 95.78mil 206.85mil 8.00mil]
- ElementLine [-139.57mil -206.85mil 25.78mil -206.85mil 8.00mil]
- ElementLine [-139.57mil 206.85mil 95.78mil 206.85mil 8.00mil]
- ElementLine [-139.57mil -206.85mil -139.57mil 206.85mil 8.00mil]
- ElementLine [-119.57mil -46.22mil -119.57mil 46.22mil 8.00mil]
+ Pad[0.0000 -70.00mil 0.0000 70.00mil 125.00mil 20.00mil 135.00mil "1" "1" "onsolder,square"]
)
-Element["onsolder" "B02B-PASK-1" "CONN2" "unknown" 1650.00mil 1085.00mil 110.00mil 70.00mil 3 100 "auto"]
+Element["hidename" "alligator_clip_pad" "CONN5" "unknown" 3825.00mil 1425.00mil 0.0000 0.0000 0 100 ""]
(
- Pin[0.0000 -39.37mil 47.95mil 20.00mil 63.95mil 27.95mil "2" "2" ""]
- Pin[0.0000 39.37mil 47.95mil 20.00mil 63.95mil 27.95mil "1" "1" ""]
- Pin[-66.93mil 98.43mil 59.70mil 16.00mil 75.70mil 43.70mil "" "" ""]
- ElementLine [-95.78mil -128.11mil -95.78mil 58.11mil 8.00mil]
- ElementLine [-25.78mil 128.11mil 139.57mil 128.11mil 8.00mil]
- ElementLine [-95.78mil -128.11mil 139.57mil -128.11mil 8.00mil]
- ElementLine [139.57mil -128.11mil 139.57mil 128.11mil 8.00mil]
- ElementLine [119.57mil -46.22mil 119.57mil 46.22mil 8.00mil]
-
- )
-
-Element["" "B02B-PASK-1" "CONN1" "unknown" 2570.00mil 1670.00mil -65.00mil 45.00mil 0 100 ""]
-(
- Pin[-39.37mil 0.0000 47.95mil 20.00mil 63.95mil 27.95mil "2" "2" "edge2"]
- Pin[39.37mil 0.0000 47.95mil 20.00mil 63.95mil 27.95mil "1" "1" "edge2,thermal(1X)"]
- Pin[98.43mil -66.93mil 59.70mil 16.00mil 75.70mil 43.70mil "" "" "edge2"]
- ElementLine [-128.11mil -95.78mil 58.11mil -95.78mil 8.00mil]
- ElementLine [128.11mil -25.78mil 128.11mil 139.57mil 8.00mil]
- ElementLine [-128.11mil -95.78mil -128.11mil 139.57mil 8.00mil]
- ElementLine [-128.11mil 139.57mil 128.11mil 139.57mil 8.00mil]
- ElementLine [-46.22mil 119.57mil 46.22mil 119.57mil 8.00mil]
-
- )
-
-Element["onsolder" "ITG-3200-breakout" "U3" "unknown" 2570.00mil 1000.00mil -40.00mil 770.00mil 0 100 "auto"]
-(
- Pin[-300.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "SCL" "7" ""]
- Pin[-200.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "SDA" "6" ""]
- Pin[-100.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "CLK" "5" "thermal(1X)"]
- Pin[0.0000 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "INT" "4" ""]
- Pin[100.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "GND" "3" "thermal(1X)"]
- Pin[200.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "VIO" "2" ""]
- Pin[300.00mil 0.0000 60.00mil 30.00mil 66.00mil 38.00mil "VCC" "1" ""]
- Pin[-250.00mil 700.00mil 183.00mil 30.00mil 190.00mil 127.00mil "" "" ""]
- Pin[250.00mil 700.00mil 183.00mil 30.00mil 190.00mil 127.00mil "" "" ""]
- ElementLine [-350.00mil -50.00mil 350.00mil -50.00mil 12.00mil]
- ElementLine [350.00mil -50.00mil 350.00mil 800.00mil 12.00mil]
- ElementLine [-350.00mil 800.00mil 350.00mil 800.00mil 12.00mil]
- ElementLine [-350.00mil -50.00mil -350.00mil 800.00mil 12.00mil]
-
- )
-
-Element["onsolder" "DIP8" "U4" "unknown" 1860.00mil 1410.00mil 125.00mil 60.00mil 0 77 "auto"]
-(
- Pin[0.0000 0.0000 60.00mil 30.00mil 66.00mil 28.00mil "TXD" "1" "square"]
- Pin[0.0000 -100.00mil 60.00mil 30.00mil 66.00mil 28.00mil "GND" "2" "thermal(1X)"]
- Pin[0.0000 -200.00mil 60.00mil 30.00mil 66.00mil 28.00mil "VCC" "3" ""]
- Pin[0.0000 -300.00mil 60.00mil 30.00mil 66.00mil 28.00mil "RXD" "4" ""]
- Pin[300.00mil -300.00mil 60.00mil 30.00mil 66.00mil 28.00mil "VIO" "5" ""]
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-(
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- )
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-Element["onsolder" "CFM14" "R1" "120" 1730.00mil 1355.00mil -20.00mil 30.00mil 0 77 "auto"]
-(
- Pin[0.0000 -2.8000mm 1.1000mm 30.00mil 52.00mil 0.6800mm "1" "1" ""]
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-(
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-Element["onsolder" "FG18" "C4" "1_uF" 2105.00mil 1000.00mil -15.00mil -10.00mil 0 54 "auto"]
-(
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-Element["onsolder" "FG18" "C3" "1_uF" 1620.00mil 1340.00mil -10.00mil 145.00mil 0 77 "auto"]
-(
- Pin[0.0000 1.2500mm 54.00mil 30.00mil 60.00mil 35.00mil "1" "1" ""]
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-Element["onsolder" "CFM14" "R3" "4.7_k" 2060.00mil 1590.00mil -35.00mil 30.00mil 0 100 "auto"]
-(
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-
- )
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-Element["onsolder" "CFM14" "R2" "4.7_k" 1780.00mil 1590.00mil -35.00mil 30.00mil 0 100 "auto"]
-(
- Pin[-2.8000mm 0.0000 1.1000mm 30.00mil 52.00mil 0.6800mm "1" "1" "edge2"]
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-Element["onsolder" "H3LIS331DL-breakout" "U2" "unknown" 3325.00mil 1050.00mil -15.00mil 245.00mil 0 100 "auto"]
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- Text[1490.00mil 1265.00mil 0 98 "COS" "clearline"]
- Text[1490.00mil 1200.00mil 0 75 "3V3" "clearline"]
- Text[1490.00mil 1110.00mil 0 75 "GND" "clearline"]
- Text[1640.00mil 1155.00mil 0 98 "CANL" "clearline"]
- Text[1490.00mil 980.00mil 0 98 "CANH" "clearline"]
+ Text[1365.00mil 300.00mil 0 74 "CANH" "clearline"]
+ Text[1505.00mil 300.00mil 0 75 "CANL" "clearline"]
+ Text[1645.00mil 300.00mil 0 75 "OUT0" "clearline"]
+ Text[1780.00mil 300.00mil 0 75 "OUT1" "clearline"]
+ Text[1915.00mil 300.00mil 0 75 "OUT2" "clearline"]
+ Text[2060.00mil 300.00mil 0 75 "OUT3" "clearline"]
+ Text[2340.00mil 300.00mil 0 75 "GND" "clearline"]
+ Text[2200.00mil 300.00mil 0 75 "DIO1" "clearline"]
+ Text[3625.00mil 300.00mil 0 75 "GND" "clearline"]
+ Text[3505.00mil 300.00mil 0 75 "5V" "clearline"]
+ Text[3355.00mil 300.00mil 0 75 "IN5" "clearline"]
+ Text[3215.00mil 300.00mil 0 75 "IN4" "clearline"]
+ Text[3080.00mil 300.00mil 0 75 "IN3" "clearline"]
+ Text[2940.00mil 300.00mil 0 75 "IN2" "clearline"]
+ Text[2810.00mil 300.00mil 0 75 "IN1" "clearline"]
+ Text[2665.00mil 300.00mil 0 75 "IN0" "clearline"]
+ Text[4365.00mil 305.00mil 0 75 "GND" "clearline"]
+ Text[4220.00mil 305.00mil 0 75 "PWR" "clearline"]
+ Text[4110.00mil 305.00mil 0 75 "B" "clearline"]
+ Text[3975.00mil 305.00mil 0 75 "A" "clearline"]
+ Text[4465.00mil 1160.00mil 3 75 "ABS" "clearline"]
+ Text[4465.00mil 1025.00mil 3 75 "DIO0" "clearline"]
+ Text[4465.00mil 1320.00mil 3 75 "5V" "clearline"]
+ Text[4465.00mil 1440.00mil 3 74 "GND" "clearline"]
+ Text[3775.00mil 1185.00mil 0 98 "GND" "clearline"]
+ Text[3645.00mil 1320.00mil 0 98 "GND" "clearline"]
+ Text[3755.00mil 900.00mil 1 98 "Seems Reasonable" "clearline"]
+ Text[3820.00mil 985.00mil 1 98 "simple receiver 20181128" "clearline"]
)
NetList()
(
Net("+3.3V" "(unknown)")
(
- Connect("C3-1")
Connect("C4-1")
- Connect("CONN4-2")
- Connect("Q1-2")
- Connect("R2-1")
- Connect("R3-1")
+ Connect("J2-2")
Connect("U1-15")
Connect("U1-46")
- Connect("U2-6")
Connect("U4-5")
)
Net("+5V" "(unknown)")
(
Connect("C2-1")
- Connect("CONN1-2")
+ Connect("C3-1")
+ Connect("CONN2-3")
+ Connect("CONN3-7")
+ Connect("CONN4-3")
+ Connect("J1-1")
+ Connect("J1-2")
+ Connect("J2-1")
Connect("U1-48")
Connect("U4-3")
)
@@ -1464,26 +1481,26 @@
Connect("C2-2")
Connect("C3-2")
Connect("C4-2")
- Connect("CONN1-1")
- Connect("CONN3-5")
- Connect("CONN4-1")
+ Connect("CONN1-8")
+ Connect("CONN2-4")
+ Connect("CONN3-8")
+ Connect("CONN4-4")
+ Connect("CONN5-1")
+ Connect("CONN6-1")
Connect("U1-1")
Connect("U1-34")
- Connect("U2-5")
- Connect("U3-3")
- Connect("U3-5")
Connect("U4-2")
Connect("U4-8")
)
Net("unnamed_net1" "(unknown)")
(
- Connect("U1-27")
- Connect("U2-1")
+ Connect("CONN2-1")
+ Connect("U1-25")
)
Net("unnamed_net2" "(unknown)")
(
- Connect("U1-31")
- Connect("U2-3")
+ Connect("CONN1-3")
+ Connect("U1-4")
)
Net("unnamed_net3" "(unknown)")
(
@@ -1497,107 +1514,81 @@
)
Net("unnamed_net5" "(unknown)")
(
- Connect("U1-28")
- Connect("U2-2")
+ Connect("CONN3-4")
+ Connect("U1-8")
)
Net("unnamed_net6" "(unknown)")
(
- Connect("CONN3-7")
- Connect("U1-29")
+ Connect("CONN1-4")
+ Connect("U1-9")
)
Net("unnamed_net7" "(unknown)")
(
- Connect("CONN3-6")
- Connect("U1-30")
+ Connect("CONN1-5")
+ Connect("U1-10")
)
Net("unnamed_net8" "(unknown)")
(
- Connect("CONN3-3")
- Connect("U1-8")
+ Connect("CONN3-5")
+ Connect("U1-11")
)
Net("unnamed_net9" "(unknown)")
(
- Connect("CONN3-4")
- Connect("U1-9")
+ Connect("CONN3-6")
+ Connect("U1-12")
)
Net("unnamed_net10" "(unknown)")
(
- Connect("CONN3-8")
- Connect("U1-11")
+ Connect("CONN1-7")
+ Connect("U1-21")
+ Connect("U1-23")
)
Net("unnamed_net11" "(unknown)")
(
- Connect("U1-18")
- Connect("U2-4")
+ Connect("CONN2-2")
+ Connect("U1-22")
+ Connect("U1-24")
)
Net("unnamed_net12" "(unknown)")
(
- Connect("U1-19")
- Connect("U2-8")
+ Connect("CONN1-6")
+ Connect("U1-36")
)
Net("unnamed_net13" "(unknown)")
(
- Connect("U1-20")
- Connect("U2-7")
+ Connect("CONN4-1")
+ Connect("U1-38")
)
Net("unnamed_net14" "(unknown)")
(
- Connect("Q1-3")
- Connect("U1-21")
+ Connect("CONN4-2")
+ Connect("U1-39")
)
Net("unnamed_net15" "(unknown)")
(
- Connect("CONN4-4")
- Connect("U1-32")
+ Connect("CONN3-3")
+ Connect("U1-42")
)
Net("unnamed_net16" "(unknown)")
(
- Connect("CONN4-3")
- Connect("U1-33")
+ Connect("CONN3-2")
+ Connect("U1-44")
)
Net("unnamed_net17" "(unknown)")
(
- Connect("U1-39")
- Connect("U3-4")
+ Connect("CONN3-1")
+ Connect("U1-45")
)
Net("unnamed_net18" "(unknown)")
(
- Connect("R3-2")
- Connect("U1-40")
- Connect("U3-6")
- )
- Net("unnamed_net19" "(unknown)")
- (
- Connect("R2-2")
- Connect("U1-41")
- Connect("U3-7")
- )
- Net("unnamed_net20" "(unknown)")
- (
- Connect("CONN3-2")
- Connect("U1-43")
- )
- Net("unnamed_net21" "(unknown)")
- (
- Connect("CONN3-1")
- Connect("U1-44")
- )
- Net("unnamed_net22" "(unknown)")
- (
- Connect("CONN2-2")
+ Connect("CONN1-1")
Connect("R1-2")
Connect("U4-7")
)
- Net("unnamed_net23" "(unknown)")
+ Net("unnamed_net19" "(unknown)")
(
- Connect("CONN2-1")
+ Connect("CONN1-2")
Connect("R1-1")
Connect("U4-6")
)
- Net("unnamed_net24" "(unknown)")
- (
- Connect("Q1-1")
- Connect("U3-1")
- Connect("U3-2")
- )
)
diff --git a/motors/seems_reasonable/BUILD b/motors/seems_reasonable/BUILD
index 4b2919e..ccd4c36 100644
--- a/motors/seems_reasonable/BUILD
+++ b/motors/seems_reasonable/BUILD
@@ -53,6 +53,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location :polydrivetrain) $(OUTS)",
restricted_to = mcu_cpus,
@@ -66,6 +68,7 @@
srcs = [
"drivetrain_dog_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
+ # Note: skip the hybrid filter since we don't need it down here.
],
hdrs = [
"drivetrain_dog_motor_plant.h",
diff --git a/motors/seems_reasonable/polydrivetrain.py b/motors/seems_reasonable/polydrivetrain.py
index 4d3720e..a006c67 100644
--- a/motors/seems_reasonable/polydrivetrain.py
+++ b/motors/seems_reasonable/polydrivetrain.py
@@ -19,12 +19,14 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
polydrivetrain.WritePolyDrivetrain(
argv[1:3],
- argv[3:5], ['motors', 'seems_reasonable'],
+ argv[3:5],
+ argv[5:7],
+ ['motors', 'seems_reasonable'],
drivetrain.kDrivetrain,
scalar_type='float')
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 36d489f..91e2229 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -3,6 +3,7 @@
#include <inttypes.h>
#include <stdio.h>
#include <atomic>
+#include <chrono>
#include <cmath>
#include "frc971/control_loops/drivetrain/polydrivetrain.h"
@@ -28,6 +29,8 @@
using ::frc971::control_loops::DrivetrainQueue_Output;
using ::motors::seems_reasonable::Spring;
+namespace chrono = ::std::chrono;
+
struct SimpleAdcReadings {
uint16_t sin, cos;
};
@@ -67,7 +70,9 @@
::motors::seems_reasonable::MakeVelocityDrivetrainLoop,
::std::function<StateFeedbackLoop<7, 2, 4, float>()>(),
- ::motors::seems_reasonable::kDt, ::motors::seems_reasonable::kRobotRadius,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<float>(::motors::seems_reasonable::kDt)),
+ ::motors::seems_reasonable::kRobotRadius,
::motors::seems_reasonable::kWheelRadius, ::motors::seems_reasonable::kV,
::motors::seems_reasonable::kHighGearRatio,
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index d5a742e..3798a29 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -87,7 +87,7 @@
"-DSTDC_HEADERS=1",
"-DSTL_NAMESPACE=std",
"-DPACKAGE_STRING=\\\"gperftools\ 2.4\\\"",
- "-DPACKAGE_BUGREPORT=\\\"http://frc971.org/contact\\\"",
+ "-DPACKAGE_BUGREPORT=\\\"http://www.frc971.org/contact\\\"",
"-DPACKAGE_VERSION=\\\"2.4\\\"",
] + cpu_select({
"amd64": [
diff --git a/tools/bazel b/tools/bazel
index 6f5230c..dd5d9a5 100755
--- a/tools/bazel
+++ b/tools/bazel
@@ -41,7 +41,7 @@
fi
readonly INSTALLER_NAME="bazel_${VERSION}.xz"
-readonly DOWNLOAD_URL="http://frc971.org/Build-Dependencies/${INSTALLER_NAME}"
+readonly DOWNLOAD_URL="http://www.frc971.org/Build-Dependencies/${INSTALLER_NAME}"
if [[ ! -d "${VERSION_DIR}" ]]; then
echo "Downloading Bazel version ${VERSION} from ${DOWNLOAD_URL}..." >&2
@@ -100,7 +100,6 @@
ENVIRONMENT_VARIABLES+=(USER="${USER}")
ENVIRONMENT_VARIABLES+=(PATH="/usr/bin:/bin")
ENVIRONMENT_VARIABLES+=(HOME="${HOME}")
-ENVIRONMENT_VARIABLES+=(LOGNAME="${LOGNAME}")
ENVIRONMENT_VARIABLES+=(TERM="${TERM}")
ENVIRONMENT_VARIABLES+=(LANG="${LANG:-C}")
@@ -108,6 +107,10 @@
ENVIRONMENT_VARIABLES+=(DISPLAY="${DISPLAY}")
fi
+if [[ ! -z "${LOGNAME+x}" ]]; then
+ ENVIRONMENT_VARIABLES+=(LOGNAME="${LOGNAME}")
+fi
+
if [[ -x "${VERSION_BAZEL}-real" ]]; then
exec -a "${VERSION_BAZEL}" env -i \
"${ENVIRONMENT_VARIABLES[@]}" \
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
index 24fde84..a0aa4cc 100644
--- a/y2012/control_loops/drivetrain/BUILD
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -24,6 +24,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2012/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -36,15 +38,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index b94c4f0..4e5a87f 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,18 @@
#include "y2012/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2012 {
namespace control_loops {
namespace drivetrain {
@@ -24,11 +28,13 @@
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
drivetrain::kRobotRadius,
drivetrain::kWheelRadius,
drivetrain::kV,
diff --git a/y2012/control_loops/python/polydrivetrain.py b/y2012/control_loops/python/polydrivetrain.py
index a6b3b18..efe4511 100755
--- a/y2012/control_loops/python/polydrivetrain.py
+++ b/y2012/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2012',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2012',
drivetrain.kDrivetrain)
if __name__ == '__main__':
diff --git a/y2014/actors/drivetrain_actor.cc b/y2014/actors/drivetrain_actor.cc
index 6aec414..9bf98a2 100644
--- a/y2014/actors/drivetrain_actor.cc
+++ b/y2014/actors/drivetrain_actor.cc
@@ -125,7 +125,7 @@
left_goal_state(0, 0) + params.left_initial_position,
right_goal_state(0, 0) + params.right_initial_position);
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_goal_state(0, 0) + params.left_initial_position)
.right_goal(right_goal_state(0, 0) + params.right_initial_position)
diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index e5bd9bc..3ed2cd1 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -52,7 +52,7 @@
void StopDrivetrain() {
LOG(INFO, "Stopping the drivetrain\n");
frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_initial_position)
.left_velocity_goal(0)
@@ -65,7 +65,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.highgear(true)
.wheel(0.0)
.throttle(0.0)
@@ -99,7 +99,7 @@
double right_goal = (right_initial_position + distance +
theta * control_loops::drivetrain::kRobotRadius);
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_goal)
.right_goal(right_goal)
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 062fa5b..bed5cd9 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -24,6 +24,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -36,15 +38,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index c3357aa..8859f16 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,18 @@
#include "y2014/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "y2014/constants.h"
+#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2014/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2014 {
namespace control_loops {
@@ -20,11 +24,13 @@
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
drivetrain::kRobotRadius,
drivetrain::kWheelRadius,
drivetrain::kV,
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index b2c8d18..98910a1 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2014',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2014',
drivetrain.kDrivetrain)
if __name__ == '__main__':
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index bc13be2..72c76ef 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -229,7 +229,7 @@
.throttle(throttle)
.highgear(is_high_gear_)
.quickturn(data.IsPressed(kQuickTurn))
- .control_loop_driving(is_control_loop_driving)
+ .controller_type(is_control_loop_driving ? 1 : 0)
.left_goal(left_goal)
.right_goal(right_goal)
.left_velocity_goal(0)
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index ea79dac..f5c5979 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -6,15 +6,18 @@
"joystick_reader.cc",
],
deps = [
- "//aos/time:time",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
- "//aos/input:joystick_input",
"//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/input:drivetrain_input",
+ "//aos/input:joystick_input",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
+ "//frc971/autonomous:auto_queue",
+ "//frc971/autonomous:base_autonomous_actor",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/queues:gyro",
- "//y2014_bot3/autonomous:auto_queue",
+ "//y2014_bot3/control_loops/drivetrain:drivetrain_base",
"//y2014_bot3/control_loops/rollers:rollers_queue",
],
)
@@ -23,7 +26,7 @@
start_binaries = [
":joystick_reader",
":wpilib_interface",
- "//y2014_bot3/autonomous:auto",
+ "//y2014_bot3/actors:autonomous_action",
"//y2014_bot3/control_loops/drivetrain:drivetrain",
"//y2014_bot3/control_loops/rollers:rollers",
],
@@ -36,16 +39,16 @@
],
restricted_to = ["//tools:roborio"],
deps = [
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
+ "//aos:init",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/wpilib:buffered_pcm",
@@ -58,7 +61,6 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:wpilib",
- "//y2014_bot3/autonomous:auto_queue",
"//y2014_bot3/control_loops/drivetrain:drivetrain_base",
"//y2014_bot3/control_loops/rollers:rollers_lib",
],
diff --git a/y2014_bot3/actors/BUILD b/y2014_bot3/actors/BUILD
new file mode 100644
index 0000000..57f6d08
--- /dev/null
+++ b/y2014_bot3/actors/BUILD
@@ -0,0 +1,31 @@
+cc_library(
+ name = "autonomous_action_lib",
+ srcs = [
+ "autonomous_actor.cc",
+ ],
+ hdrs = [
+ "autonomous_actor.h",
+ ],
+ deps = [
+ "//aos/actions:action_lib",
+ "//aos/logging",
+ "//aos/util:phased_loop",
+ "//frc971/autonomous:base_autonomous_actor",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//y2014_bot3/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+cc_binary(
+ name = "autonomous_action",
+ srcs = [
+ "autonomous_actor_main.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":autonomous_action_lib",
+ "//aos:init",
+ "//frc971/autonomous:auto_queue",
+ ],
+)
diff --git a/y2014_bot3/actors/autonomous_actor.cc b/y2014_bot3/actors/autonomous_actor.cc
new file mode 100644
index 0000000..681b7a0
--- /dev/null
+++ b/y2014_bot3/actors/autonomous_actor.cc
@@ -0,0 +1,58 @@
+#include "y2014_bot3/actors/autonomous_actor.h"
+
+#include <inttypes.h>
+#include <chrono>
+#include <cmath>
+
+#include "aos/logging/logging.h"
+#include "aos/util/phased_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2014_bot3 {
+namespace actors {
+using ::frc971::ProfileParameters;
+
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+
+namespace {
+
+double DoubleSeconds(monotonic_clock::duration duration) {
+ return ::std::chrono::duration_cast<::std::chrono::duration<double>>(duration)
+ .count();
+}
+
+const ProfileParameters kDrive = {5.0, 2.5};
+const ProfileParameters kTurn = {8.0, 3.0};
+
+} // namespace
+
+AutonomousActor::AutonomousActor(
+ ::frc971::autonomous::AutonomousActionQueueGroup *s)
+ : frc971::autonomous::BaseAutonomousActor(
+ s, control_loops::drivetrain::GetDrivetrainConfig()) {}
+
+bool AutonomousActor::RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) {
+ monotonic_clock::time_point start_time = monotonic_clock::now();
+ LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
+ Reset();
+
+ StartDrive(1.0, 0.0, kDrive, kTurn);
+ if (!WaitForDriveDone()) return true;
+
+ LOG(INFO, "Done %f\n", DoubleSeconds(monotonic_clock::now() - start_time));
+
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+ while (!ShouldCancel()) {
+ phased_loop.SleepUntilNext();
+ }
+ LOG(DEBUG, "Done running\n");
+
+ return true;
+}
+
+} // namespace actors
+} // namespace y2014_bot3
diff --git a/y2014_bot3/actors/autonomous_actor.h b/y2014_bot3/actors/autonomous_actor.h
new file mode 100644
index 0000000..94bbbd7
--- /dev/null
+++ b/y2014_bot3/actors/autonomous_actor.h
@@ -0,0 +1,31 @@
+#ifndef Y2014_BOT3_ACTORS_AUTONOMOUS_ACTOR_H_
+#define Y2014_BOT3_ACTORS_AUTONOMOUS_ACTOR_H_
+
+#include <chrono>
+#include <memory>
+
+#include "aos/actions/actions.h"
+#include "aos/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+
+namespace y2014_bot3 {
+namespace actors {
+
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
+ public:
+ explicit AutonomousActor(::frc971::autonomous::AutonomousActionQueueGroup *s);
+
+ bool RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
+
+ private:
+ void Reset() {
+ InitializeEncoders();
+ ResetDrivetrain();
+ }
+};
+
+} // namespace actors
+} // namespace y2014_bot3
+
+#endif // Y2014_BOT3_ACTORS_AUTONOMOUS_ACTOR_H_
diff --git a/y2014_bot3/actors/autonomous_actor_main.cc b/y2014_bot3/actors/autonomous_actor_main.cc
new file mode 100644
index 0000000..157d9ed
--- /dev/null
+++ b/y2014_bot3/actors/autonomous_actor_main.cc
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+#include "aos/init.h"
+#include "frc971/autonomous/auto.q.h"
+#include "y2014_bot3/actors/autonomous_actor.h"
+
+int main(int /*argc*/, char * /*argv*/ []) {
+ ::aos::Init(-1);
+
+ ::y2014_bot3::actors::AutonomousActor autonomous(
+ &::frc971::autonomous::autonomous_action);
+ autonomous.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2014_bot3/autonomous/BUILD b/y2014_bot3/autonomous/BUILD
deleted file mode 100644
index c4db824..0000000
--- a/y2014_bot3/autonomous/BUILD
+++ /dev/null
@@ -1,43 +0,0 @@
-package(default_visibility = ['//visibility:public'])
-
-load('//aos/build:queues.bzl', 'queue_library')
-
-queue_library(
- name = 'auto_queue',
- srcs = [
- 'auto.q',
- ],
-)
-
-cc_library(
- name = 'auto_lib',
- srcs = [
- 'auto.cc',
- ],
- hdrs = [
- 'auto.h',
- ],
- deps = [
- ':auto_queue',
- '//aos/controls:control_loop',
- '//frc971/control_loops/drivetrain:drivetrain_queue',
- '//y2014_bot3/control_loops/rollers:rollers_queue',
- '//aos/time:time',
- '//aos/util:phased_loop',
- '//aos/util:trapezoid_profile',
- '//aos/logging',
- '//aos/logging:queue_logging',
- ],
-)
-
-cc_binary(
- name = 'auto',
- srcs = [
- 'auto_main.cc',
- ],
- deps = [
- '//aos:init',
- ':auto_queue',
- ':auto_lib',
- ],
-)
diff --git a/y2014_bot3/autonomous/auto.cc b/y2014_bot3/autonomous/auto.cc
deleted file mode 100644
index 6cdaafd..0000000
--- a/y2014_bot3/autonomous/auto.cc
+++ /dev/null
@@ -1,94 +0,0 @@
-#include <stdio.h>
-
-#include <chrono>
-#include <memory>
-
-#include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/time/time.h"
-#include "aos/util/phased_loop.h"
-#include "aos/util/trapezoid_profile.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
-
-using ::frc971::control_loops::drivetrain_queue;
-using ::y2014_bot3::control_loops::rollers_queue;
-
-namespace y2014_bot3 {
-namespace autonomous {
-
-namespace chrono = ::std::chrono;
-using ::aos::monotonic_clock;
-
-static double left_initial_position, right_initial_position;
-
-bool ShouldExitAuto() {
- ::y2014_bot3::autonomous::autonomous.FetchLatest();
- bool ans = !::y2014_bot3::autonomous::autonomous->run_auto;
- if (ans) {
- LOG(INFO, "Time to exit auto mode\n");
- }
- return ans;
-}
-
-void ResetDrivetrain() {
- LOG(INFO, "resetting the drivetrain\n");
- ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
- .wheel(0.0)
- .throttle(0.0)
- .left_goal(left_initial_position)
- .left_velocity_goal(0)
- .right_goal(right_initial_position)
- .right_velocity_goal(0)
- .Send();
-}
-
-void InitializeEncoders() {
- ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
- left_initial_position =
- ::frc971::control_loops::drivetrain_queue.status->estimated_left_position;
- right_initial_position =
- ::frc971::control_loops::drivetrain_queue.status->estimated_right_position;
-}
-
-void HandleAuto() {
- monotonic_clock::time_point start_time = monotonic_clock::now();
- LOG(INFO, "Starting auto mode at %f\n",
- chrono::duration_cast<chrono::duration<double>>(
- start_time.time_since_epoch()).count());
-
- // TODO(comran): Add various options for different autos down below.
- ResetDrivetrain();
- InitializeEncoders();
-
- LOG(INFO, "Driving\n");
- ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
- .highgear(false)
- .quickturn(false)
- .wheel(0.0)
- .throttle(0.5)
- .left_goal(left_initial_position)
- .left_velocity_goal(0)
- .right_goal(right_initial_position)
- .right_velocity_goal(0)
- .Send();
- ::std::this_thread::sleep_for(chrono::seconds(2));
-
- ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
- .highgear(false)
- .quickturn(false)
- .wheel(0.0)
- .throttle(0.0)
- .left_goal(left_initial_position)
- .left_velocity_goal(0)
- .right_goal(right_initial_position)
- .right_velocity_goal(0)
- .Send();
-}
-
-} // namespace autonomous
-} // namespace y2014_bot3
diff --git a/y2014_bot3/autonomous/auto.h b/y2014_bot3/autonomous/auto.h
deleted file mode 100644
index 387d2a4..0000000
--- a/y2014_bot3/autonomous/auto.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#ifndef Y2014_BOT3_AUTONOMOUS_AUTO_H_
-#define Y2014_BOT3_AUTONOMOUS_AUTO_H_
-
-namespace y2014_bot3 {
-namespace autonomous {
-
-void HandleAuto();
-
-} // namespace autonomous
-} // namespace y2014_bot3
-
-#endif // Y2014_BOT3_AUTONOMOUS_AUTO_H_
diff --git a/y2014_bot3/autonomous/auto.q b/y2014_bot3/autonomous/auto.q
deleted file mode 100644
index 68fcd5f..0000000
--- a/y2014_bot3/autonomous/auto.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package y2014_bot3.autonomous;
-
-message AutoControl {
- // True if auto mode should be running, false otherwise.
- bool run_auto;
-};
-queue AutoControl autonomous;
diff --git a/y2014_bot3/autonomous/auto_main.cc b/y2014_bot3/autonomous/auto_main.cc
deleted file mode 100644
index 55c7c05..0000000
--- a/y2014_bot3/autonomous/auto_main.cc
+++ /dev/null
@@ -1,43 +0,0 @@
-#include <stdio.h>
-
-#include "aos/time/time.h"
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/autonomous/auto.h"
-
-int main(int /*argc*/, char * /*argv*/[]) {
- ::aos::Init(-1);
-
- LOG(INFO, "Auto main started.\n");
- ::y2014_bot3::autonomous::autonomous.FetchLatest();
- while (!::y2014_bot3::autonomous::autonomous.get()) {
- ::y2014_bot3::autonomous::autonomous.FetchNextBlocking();
- LOG(INFO, "Got another auto packet\n");
- }
-
- while (true) {
- while (!::y2014_bot3::autonomous::autonomous->run_auto) {
- ::y2014_bot3::autonomous::autonomous.FetchNextBlocking();
- LOG(INFO, "Got another auto packet\n");
- }
- LOG(INFO, "Starting auto mode\n");
- ::aos::monotonic_clock::time_point start_time =
- ::aos::monotonic_clock::now();
- ::y2014_bot3::autonomous::HandleAuto();
-
- auto elapsed_time = ::aos::monotonic_clock::now() - start_time;
- LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
- ::std::chrono::duration_cast<::std::chrono::duration<double>>(
- elapsed_time)
- .count());
- while (::y2014_bot3::autonomous::autonomous->run_auto) {
- ::y2014_bot3::autonomous::autonomous.FetchNextBlocking();
- LOG(INFO, "Got another auto packet\n");
- }
- LOG(INFO, "Waiting for auto to start back up.\n");
- }
- ::aos::Cleanup();
- return 0;
-}
-
diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 38061fa..53605f3 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -24,6 +24,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2014_bot3/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -36,15 +38,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index 2daaf6a..4d03eca 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,18 @@
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2014_bot3/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2014_bot3/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2014_bot3 {
namespace control_loops {
namespace drivetrain {
@@ -27,9 +31,11 @@
::y2014_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
::y2014_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
::y2014_bot3::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ ::y2014_bot3::control_loops::drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kV,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
diff --git a/y2014_bot3/control_loops/python/polydrivetrain.py b/y2014_bot3/control_loops/python/polydrivetrain.py
index 97fa70a..d98e003 100755
--- a/y2014_bot3/control_loops/python/polydrivetrain.py
+++ b/y2014_bot3/control_loops/python/polydrivetrain.py
@@ -19,11 +19,11 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2014_bot3',
- drivetrain.kDrivetrain)
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+ 'y2014_bot3', drivetrain.kDrivetrain)
if __name__ == '__main__':
argv = FLAGS(sys.argv)
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 6736329..70eff54 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -10,9 +10,12 @@
#include "aos/util/log_interval.h"
#include "aos/time/time.h"
-#include "frc971/queues/gyro.q.h"
+#include "aos/input/drivetrain_input.h"
+#include "frc971/autonomous/auto.q.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014_bot3/autonomous/auto.q.h"
+#include "frc971/queues/gyro.q.h"
+#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
#include "y2014_bot3/control_loops/rollers/rollers.q.h"
using ::frc971::control_loops::drivetrain_queue;
@@ -23,6 +26,7 @@
using ::aos::input::driver_station::POVLocation;
using ::aos::input::driver_station::JoystickAxis;
using ::aos::input::driver_station::ControlBit;
+using ::aos::input::DrivetrainInputReader;
namespace y2014_bot3 {
namespace input {
@@ -44,7 +48,11 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader() : is_high_gear_(false) {}
+ Reader() {
+ drivetrain_input_reader_ = DrivetrainInputReader::Make(
+ DrivetrainInputReader::InputType::kSteeringWheel,
+ ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
+ }
virtual void RunIteration(const ::aos::input::driver_station::Data &data) {
bool last_auto_running = auto_running_;
@@ -62,48 +70,20 @@
HandleDrivetrain(data);
HandleTeleop(data);
}
+
+ action_queue_.Tick();
}
void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
- bool is_control_loop_driving = false;
- const double wheel = -data.GetAxis(kSteeringWheel);
- const double throttle = -data.GetAxis(kDriveThrottle);
-
- if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
- drivetrain_queue.status.FetchLatest();
- if (drivetrain_queue.status.get()) {
- left_goal_ = drivetrain_queue.status->estimated_left_position;
- right_goal_ = drivetrain_queue.status->estimated_right_position;
- }
- }
- if (data.IsPressed(kTurn1) || data.IsPressed(kTurn2)) {
- is_control_loop_driving = true;
- }
-
- if (!drivetrain_queue.goal.MakeWithBuilder()
- .wheel(wheel)
- .throttle(throttle)
- .highgear(is_high_gear_)
- .quickturn(data.IsPressed(kQuickTurn))
- .control_loop_driving(is_control_loop_driving)
- .left_goal(left_goal_ - wheel * 0.5 + throttle * 0.3)
- .right_goal(right_goal_ + wheel * 0.5 + throttle * 0.3)
- .left_velocity_goal(0)
- .right_velocity_goal(0)
- .Send()) {
- LOG(WARNING, "sending stick values failed\n");
- }
-
- if (data.PosEdge(kShiftLow)) {
- is_high_gear_ = false;
- }
-
- if (data.PosEdge(kShiftHigh) || data.PosEdge(kShiftHigh2)) {
- is_high_gear_ = true;
- }
+ drivetrain_input_reader_->HandleDrivetrain(data);
}
void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ if (!data.GetControlBit(ControlBit::kEnabled)) {
+ action_queue_.CancelAllActions();
+ LOG(DEBUG, "Canceling\n");
+ }
+
// Rollers.
auto rollers_goal = control_loops::rollers_queue.goal.MakeMessage();
rollers_goal->Zero();
@@ -126,24 +106,26 @@
private:
void StartAuto() {
LOG(INFO, "Starting auto mode.\n");
- ::y2014_bot3::autonomous::autonomous.MakeWithBuilder().run_auto(true).Send();
+ ::frc971::autonomous::AutonomousActionParams params;
+ params.mode = 0;
+ action_queue_.EnqueueAction(
+ ::frc971::autonomous::MakeAutonomousAction(params));
}
void StopAuto() {
LOG(INFO, "Stopping auto mode\n");
- ::y2014_bot3::autonomous::autonomous.MakeWithBuilder().run_auto(false).Send();
+ action_queue_.CancelAllActions();
}
bool auto_running_ = false;
- bool is_high_gear_;
- // Turning goals.
- double left_goal_;
- double right_goal_;
-
::aos::util::SimpleLogInterval no_drivetrain_status_ =
::aos::util::SimpleLogInterval(::std::chrono::milliseconds(200), WARNING,
"no drivetrain status");
+
+ ::aos::common::actions::ActionQueue action_queue_;
+
+ ::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
};
} // namespace joysticks
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 2b0edb5..613b757 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -31,7 +31,6 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
#include "y2014_bot3/control_loops/rollers/rollers.q.h"
-#include "y2014_bot3/autonomous/auto.q.h"
#include "y2014_bot3/control_loops/rollers/rollers.h"
#include "frc971/wpilib/joystick_sender.h"
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index f921c8e..0716a97 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -64,7 +64,7 @@
.throttle(0.0)
.highgear(false)
.quickturn(false)
- .control_loop_driving(true)
+ .controller_type(1)
.left_goal(left_current + side_distance_change)
.right_goal(right_current - side_distance_change)
.left_velocity_goal(0)
diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 39f2b56..629c957 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -1,5 +1,3 @@
-package(default_visibility = ["//visibility:public"])
-
load("//aos/build:queues.bzl", "queue_library")
genrule(
@@ -14,7 +12,6 @@
tools = [
"//y2016/control_loops/python:drivetrain",
],
- visibility = ["//visibility:private"],
)
genrule(
@@ -24,27 +21,32 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
"//y2016/control_loops/python:polydrivetrain",
],
- visibility = ["//visibility:private"],
)
cc_library(
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
+ visibility = ["//visibility:public"],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
@@ -57,6 +59,7 @@
hdrs = [
"drivetrain_base.h",
],
+ visibility = ["//visibility:public"],
deps = [
":polydrivetrain_plants",
"//frc971:shifter_hall_effect",
@@ -70,6 +73,7 @@
srcs = [
"drivetrain_main.cc",
],
+ visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
"//aos:init",
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index b469f77..3a3f3c8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -1,15 +1,19 @@
#include "y2016/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2016/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2016 {
namespace control_loops {
namespace drivetrain {
@@ -25,11 +29,13 @@
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
drivetrain::kRobotRadius,
drivetrain::kWheelRadius,
drivetrain::kV,
diff --git a/y2016/control_loops/python/polydrivetrain.py b/y2016/control_loops/python/polydrivetrain.py
index 87d33e6..cdc2881 100755
--- a/y2016/control_loops/python/polydrivetrain.py
+++ b/y2016/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2016',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2016',
drivetrain.kDrivetrain)
if __name__ == '__main__':
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 99bfb68..8f99e4c 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -163,7 +163,7 @@
.throttle(throttle)
.highgear(is_high_gear_)
.quickturn(data.IsPressed(kQuickTurn))
- .control_loop_driving(is_control_loop_driving)
+ .controller_type(is_control_loop_driving ? 1 : 0)
.left_goal(left_goal_ - wheel * 0.5 + throttle * 0.3)
.right_goal(right_goal_ + wheel * 0.5 + throttle * 0.3)
.left_velocity_goal(0)
diff --git a/y2017/control_loops/drivetrain/BUILD b/y2017/control_loops/drivetrain/BUILD
index 3dcec74..2eb2a0f 100644
--- a/y2017/control_loops/drivetrain/BUILD
+++ b/y2017/control_loops/drivetrain/BUILD
@@ -24,6 +24,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2017/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -36,15 +38,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index b351cbf..6cc7822 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -1,15 +1,19 @@
#include "y2017/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2017/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2017/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2017/constants.h"
+#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2017/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2017/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2017/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2017 {
namespace control_loops {
namespace drivetrain {
@@ -25,11 +29,13 @@
::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2017::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2017::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
drivetrain::kRobotRadius,
drivetrain::kWheelRadius,
drivetrain::kV,
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index 701308e..7ddd630 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2017',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2017',
drivetrain.kDrivetrain)
if __name__ == '__main__':
diff --git a/y2017_bot3/control_loops/drivetrain/BUILD b/y2017_bot3/control_loops/drivetrain/BUILD
index cef561e..679e4bf 100644
--- a/y2017_bot3/control_loops/drivetrain/BUILD
+++ b/y2017_bot3/control_loops/drivetrain/BUILD
@@ -24,6 +24,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2017_bot3/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -36,15 +38,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
index f4be260..97b5ed4 100644
--- a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,18 @@
#include "y2017_bot3/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2017_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2017_bot3/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2017_bot3/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2017_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2017_bot3 {
namespace control_loops {
namespace drivetrain {
@@ -24,12 +28,14 @@
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2017_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2017_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2017_bot3::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kV,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kHighGearRatio,
kThreeStateDriveShifter, kThreeStateDriveShifter,
diff --git a/y2017_bot3/control_loops/python/polydrivetrain.py b/y2017_bot3/control_loops/python/polydrivetrain.py
index 92aa6e4..955f78f 100755
--- a/y2017_bot3/control_loops/python/polydrivetrain.py
+++ b/y2017_bot3/control_loops/python/polydrivetrain.py
@@ -19,11 +19,11 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2017_bot3',
- drivetrain.kDrivetrain)
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+ 'y2017_bot3', drivetrain.kDrivetrain)
if __name__ == '__main__':
argv = FLAGS(sys.argv)
diff --git a/y2018/actors/BUILD b/y2018/actors/BUILD
index fd40c38..712b94a 100644
--- a/y2018/actors/BUILD
+++ b/y2018/actors/BUILD
@@ -1,5 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
-
cc_library(
name = "autonomous_action_lib",
srcs = [
diff --git a/y2018/control_loops/drivetrain/BUILD b/y2018/control_loops/drivetrain/BUILD
index 48bfeb0..1824196 100644
--- a/y2018/control_loops/drivetrain/BUILD
+++ b/y2018/control_loops/drivetrain/BUILD
@@ -21,6 +21,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2018/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -32,16 +34,19 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
visibility = ["//visibility:public"],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index ed40082..bfd1a48 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -1,14 +1,18 @@
#include "y2018/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include <chrono>
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2018/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2018 {
namespace control_loops {
namespace drivetrain {
@@ -24,12 +28,14 @@
::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_Y,
- ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2018::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kV,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
kThreeStateDriveShifter, kThreeStateDriveShifter,
diff --git a/y2018/control_loops/python/polydrivetrain.py b/y2018/control_loops/python/polydrivetrain.py
index e08d3b6..1652b99 100644
--- a/y2018/control_loops/python/polydrivetrain.py
+++ b/y2018/control_loops/python/polydrivetrain.py
@@ -19,10 +19,10 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018',
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2018',
drivetrain.kDrivetrain)
if __name__ == '__main__':
diff --git a/y2018/control_loops/superstructure/arm/dynamics.h b/y2018/control_loops/superstructure/arm/dynamics.h
index cdbd6fe..b1ebc97 100644
--- a/y2018/control_loops/superstructure/arm/dynamics.h
+++ b/y2018/control_loops/superstructure/arm/dynamics.h
@@ -169,15 +169,15 @@
static const ::Eigen::Matrix<double, 4, 1> UnboundedDiscreteDynamics(
const ::Eigen::Matrix<double, 4, 1> &X,
const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
- return ::frc971::control_loops::RungeKutta(Dynamics::Acceleration, X, U,
- dt);
+ return ::frc971::control_loops::RungeKuttaU(Dynamics::Acceleration, X, U,
+ dt);
}
static const ::Eigen::Matrix<double, 6, 1> UnboundedEKFDiscreteDynamics(
const ::Eigen::Matrix<double, 6, 1> &X,
const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
- return ::frc971::control_loops::RungeKutta(Dynamics::EKFAcceleration, X, U,
- dt);
+ return ::frc971::control_loops::RungeKuttaU(Dynamics::EKFAcceleration, X, U,
+ dt);
}
};
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index bc43b0c..41efc00 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -85,8 +85,6 @@
const ButtonLocation kClawOpen(4, 4);
const ButtonLocation kDriverClawOpen(2, 4);
-std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
-
class Reader : public ::aos::input::JoystickInput {
public:
Reader() {
@@ -400,6 +398,8 @@
::aos::common::actions::ActionQueue action_queue_;
::std::unique_ptr<ProtoTXUdpSocket<VisionControl>> video_tx_;
+
+ ::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
};
} // namespace joysticks
diff --git a/y2018_bot3/control_loops/drivetrain/BUILD b/y2018_bot3/control_loops/drivetrain/BUILD
index a0d5683..d3fabe1 100644
--- a/y2018_bot3/control_loops/drivetrain/BUILD
+++ b/y2018_bot3/control_loops/drivetrain/BUILD
@@ -21,6 +21,8 @@
"polydrivetrain_dog_motor_plant.cc",
"polydrivetrain_cim_plant.h",
"polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)",
tools = [
@@ -32,15 +34,18 @@
name = "polydrivetrain_plants",
srcs = [
"drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
"kalman_drivetrain_motor_plant.cc",
"polydrivetrain_dog_motor_plant.cc",
],
hdrs = [
"drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
"//frc971/control_loops:state_feedback_loop",
],
)
@@ -65,6 +70,7 @@
srcs = [
"drivetrain_main.cc",
],
+ visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
"//aos:init",
diff --git a/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
index 305b7c2..4945947 100644
--- a/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -1,13 +1,18 @@
#include "y2018_bot3/control_loops/drivetrain/drivetrain_base.h"
+#include <chrono>
+
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2018_bot3/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2018_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2018_bot3/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2018_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+namespace chrono = ::std::chrono;
+
namespace y2018_bot3 {
namespace control_loops {
namespace drivetrain {
@@ -24,12 +29,14 @@
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_X,
- ::y2018_bot3::control_loops::drivetrain::MakeDrivetrainLoop,
- ::y2018_bot3::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
- ::y2018_bot3::control_loops::drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeDrivetrainLoop,
+ drivetrain::MakeVelocityDrivetrainLoop,
+ drivetrain::MakeKFDrivetrainLoop,
+ drivetrain::MakeHybridVelocityDrivetrainLoop,
- drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
- drivetrain::kV,
+ chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(drivetrain::kDt)),
+ drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kHighGearRatio,
kThreeStateDriveShifter, kThreeStateDriveShifter,
diff --git a/y2018_bot3/control_loops/python/polydrivetrain.py b/y2018_bot3/control_loops/python/polydrivetrain.py
index d7799ae..6037138 100644
--- a/y2018_bot3/control_loops/python/polydrivetrain.py
+++ b/y2018_bot3/control_loops/python/polydrivetrain.py
@@ -7,6 +7,8 @@
import gflags
import glog
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
FLAGS = gflags.FLAGS
try:
@@ -17,11 +19,11 @@
def main(argv):
if FLAGS.plot:
polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 5:
+ elif len(argv) != 7:
glog.fatal('Expected .h file name and .cc file name')
else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018_bot3',
- drivetrain.kDrivetrain)
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+ 'y2018_bot3', drivetrain.kDrivetrain)
if __name__ == '__main__':
argv = FLAGS(sys.argv)
diff --git a/y2019/BUILD b/y2019/BUILD
new file mode 100644
index 0000000..49ae5a5
--- /dev/null
+++ b/y2019/BUILD
@@ -0,0 +1,5 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2019/__init__.py b/y2019/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/__init__.py
diff --git a/y2019/control_loops/BUILD b/y2019/control_loops/BUILD
new file mode 100644
index 0000000..ddfdf61
--- /dev/null
+++ b/y2019/control_loops/BUILD
@@ -0,0 +1,6 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2019:python_init"],
+)
diff --git a/y2019/control_loops/__init__.py b/y2019/control_loops/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/control_loops/__init__.py
diff --git a/y2019/control_loops/python/BUILD b/y2019/control_loops/python/BUILD
new file mode 100644
index 0000000..1b395e5
--- /dev/null
+++ b/y2019/control_loops/python/BUILD
@@ -0,0 +1,57 @@
+package(default_visibility = ["//y2019:__subpackages__"])
+
+py_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:drivetrain",
+ ],
+)
+
+py_binary(
+ name = "polydrivetrain",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "polydrivetrain_lib",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:drivetrain",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2018/control_loops:python_init"],
+)
diff --git a/y2019/control_loops/python/__init__.py b/y2019/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2019/control_loops/python/__init__.py
diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..6421379
--- /dev/null
+++ b/y2019/control_loops/python/drivetrain.py
@@ -0,0 +1,50 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+#update mass (120lbs right now)
+#robot radius needs confirming(set as distance of center wheels from each other)
+#J needs updating
+
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=6.0,
+ mass=68.0,
+ robot_radius=0.616 / 2.0,
+ wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
+ G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ q_pos_low=0.12,
+ q_pos_high=0.14,
+ q_vel_low=1.0,
+ q_vel_high=0.95,
+ efficiency=0.70,
+ has_imu=True,
+ force=True,
+ kf_q_voltage=13.0,
+ controller_poles=[0.82, 0.82],
+ robot_cg_offset=0.0,
+)
+
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2019/control_loops/python/polydrivetrain.py b/y2019/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..1652b99
--- /dev/null
+++ b/y2019/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+
+import sys
+from y2018.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+def main(argv):
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 7:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2018',
+ drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))