Add J and Mass to drivetrain_config
They are needed for trajectory planning.
Change-Id: I8daf4303fee347af77567b20078f597354ba2472
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index c4652be..88547d5 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -72,6 +72,10 @@
Scalar high_gear_ratio;
Scalar low_gear_ratio;
+ // Moment of inertia and mass.
+ Scalar J;
+ Scalar mass;
+
// Hall effect constants. Unused if not applicable to shifter type.
constants::ShifterHallEffect left_drive;
constants::ShifterHallEffect right_drive;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 49022f6..e4d320e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -54,6 +54,8 @@
::y2016::control_loops::drivetrain::kHighGearRatio,
::y2016::control_loops::drivetrain::kLowGearRatio,
+ ::y2016::control_loops::drivetrain::kJ,
+ ::y2016::control_loops::drivetrain::kMass,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
false,
diff --git a/frc971/control_loops/drivetrain/trajectory_test.cc b/frc971/control_loops/drivetrain/trajectory_test.cc
index 58f0a22..89b5ffb 100644
--- a/frc971/control_loops/drivetrain/trajectory_test.cc
+++ b/frc971/control_loops/drivetrain/trajectory_test.cc
@@ -60,6 +60,8 @@
::y2016::control_loops::drivetrain::kHighGearRatio,
::y2016::control_loops::drivetrain::kLowGearRatio,
+ ::y2016::control_loops::drivetrain::kJ,
+ ::y2016::control_loops::drivetrain::kMass,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
false,
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 91e2229..a78f1e0 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -76,7 +76,10 @@
::motors::seems_reasonable::kWheelRadius, ::motors::seems_reasonable::kV,
::motors::seems_reasonable::kHighGearRatio,
- ::motors::seems_reasonable::kLowGearRatio, kThreeStateDriveShifter,
+ ::motors::seems_reasonable::kLowGearRatio,
+ ::motors::seems_reasonable::kJ,
+ ::motors::seems_reasonable::kMass,
+ kThreeStateDriveShifter,
kThreeStateDriveShifter, true /* default_high_gear */,
0 /* down_offset if using constants use
constants::GetValues().down_error */, 0.8 /* wheel_non_linearity */,
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index 4e5a87f..40f4d24 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -41,6 +41,8 @@
drivetrain::kHighGearRatio,
drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
true /* default_high_gear */,
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 8859f16..be4f238 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -37,6 +37,8 @@
constants::GetValues().high_gear_ratio,
constants::GetValues().low_gear_ratio,
+ drivetrain::kJ,
+ drivetrain::kMass,
constants::GetValues().left_drive.shifter_hall_effect,
constants::GetValues().right_drive.shifter_hall_effect,
true /* default_high_gear */,
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index 4d03eca..89cda1a 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -37,7 +37,8 @@
chrono::duration<double>(drivetrain::kDt)),
drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
- drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ drivetrain::kHighGearRatio, drivetrain::kLowGearRatio, drivetrain::kJ,
+ drivetrain::kMass,
// No shifter sensors, so we could put anything for the things below.
kThreeStateDriveShifter, kThreeStateDriveShifter,
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 3a3f3c8..1be12ca 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -42,6 +42,8 @@
drivetrain::kHighGearRatio,
drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
true /* default_high_gear */,
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 6cc7822..ea985d7 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -42,6 +42,8 @@
drivetrain::kHighGearRatio,
drivetrain::kHighGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter,
kThreeStateDriveShifter,
true /* default_high_gear */,
diff --git a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
index 97b5ed4..da4aafb 100644
--- a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -38,6 +38,8 @@
drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kHighGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter, kThreeStateDriveShifter,
// TODO(Neil): Find out whigh position is default in pneumatics for the
// gearing
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index bfd1a48..cfb8a9a 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -38,6 +38,8 @@
drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter, kThreeStateDriveShifter,
true /* default_high_gear */, 0 /* down_offset if using constants use
constants::GetValues().down_error */,
diff --git a/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
index 4945947..23b0705 100644
--- a/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -39,6 +39,8 @@
drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
drivetrain::kHighGearRatio, drivetrain::kHighGearRatio,
+ drivetrain::kJ,
+ drivetrain::kMass,
kThreeStateDriveShifter, kThreeStateDriveShifter,
// TODO(sabina): confirm once robot is built
true /* default_high_gear */, 0 /* down_offset */,