incorporate arm into superstructure.cc by adding arm constants
Change-Id: Icfd6ba91044b7a8f29f10edf8c4c44ae1a443d2c
Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>
Signed-off-by: James (Peilun) Li <jamespeilunli@gmail.com>
diff --git a/y2024_bot3/constants/9971.json b/y2024_bot3/constants/9971.json
index 5583b44..4eb1acf 100644
--- a/y2024_bot3/constants/9971.json
+++ b/y2024_bot3/constants/9971.json
@@ -1,3 +1,5 @@
+{% from 'y2024_bot3/constants/common.jinja2' import arm_zero %}
+
{
"cameras": [
{
@@ -13,6 +15,21 @@
"calibration": {% include 'y2024_bot3/constants/calib_files/calibration_orin1-9971-1_cam-24-11_2024-03-24_11-52-49.json' %}
}
],
- "robot": {},
+ "robot": {
+ "arm_constants": {
+ {% set _ = arm_zero.update(
+ {
+ "measured_absolute_position" : 0.0992895926495078
+ }
+ ) %}
+ "zeroing_constants": {{ arm_zero | tojson(indent=2)}},
+ "potentiometer_offset": {{ 0 }},
+ "arm_positions": {
+ "intake": 0,
+ "idle": 1,
+ "amp": 2
+ }
+ }
+ },
{% include 'y2024_bot3/constants/common.json' %}
}
diff --git a/y2024_bot3/constants/BUILD b/y2024_bot3/constants/BUILD
index 1ce69a0..323bd49 100644
--- a/y2024_bot3/constants/BUILD
+++ b/y2024_bot3/constants/BUILD
@@ -26,6 +26,7 @@
"common.jinja2",
"common.json",
"//y2024_bot3/constants/calib_files",
+ "//y2024_bot3/control_loops/superstructure/arm:arm_json",
"//y2024_bot3/vision/maps",
],
parameters = {},
@@ -40,6 +41,7 @@
"common.jinja2",
"common.json",
"//y2024_bot3/constants/calib_files",
+ "//y2024_bot3/control_loops/superstructure/arm:arm_json",
"//y2024_bot3/vision/maps",
],
parameters = {},
diff --git a/y2024_bot3/constants/common.jinja2 b/y2024_bot3/constants/common.jinja2
index 9b7af82..809f8c8 100644
--- a/y2024_bot3/constants/common.jinja2
+++ b/y2024_bot3/constants/common.jinja2
@@ -1,3 +1,16 @@
{% set pi = 3.14159265 %}
{%set zeroing_sample_size = 200 %}
+
+{# Arm #}
+{% set arm_encoder_ratio = (4.0 / 1.0) %}
+
+{%
+set arm_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * arm_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
diff --git a/y2024_bot3/constants/common.json b/y2024_bot3/constants/common.json
index e7b70b4..d5abec0 100644
--- a/y2024_bot3/constants/common.json
+++ b/y2024_bot3/constants/common.json
@@ -1,2 +1,21 @@
"common": {
+ "arm": {
+ "zeroing_voltage": 3.0,
+ "operating_voltage": 12.0,
+ "zeroing_profile_params": {
+ "max_velocity": 0.5,
+ "max_acceleration": 3.0
+ },
+ "default_profile_params":{
+ "max_velocity": 2.0,
+ "max_acceleration": 10.0
+ },
+ "range": {
+ "lower_hard": -50,
+ "upper_hard": 50,
+ "lower": -50,
+ "upper": 50
+ },
+ "loop": {% include 'y2024_bot3/control_loops/superstructure/arm/integral_arm_plant.json' %}
+ }
}
diff --git a/y2024_bot3/constants/constants.fbs b/y2024_bot3/constants/constants.fbs
index 0c7a792..99999bd 100644
--- a/y2024_bot3/constants/constants.fbs
+++ b/y2024_bot3/constants/constants.fbs
@@ -10,12 +10,26 @@
calibration:frc971.vision.calibration.CameraCalibration (id: 0);
}
+table ArmPositions {
+ intake:double (id: 0);
+ idle:double (id: 1);
+ amp:double (id: 2);
+}
+
+table PotAndAbsEncoderConstants {
+ zeroing_constants:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
+ potentiometer_offset:double (id: 1);
+ arm_positions:ArmPositions (id: 2);
+}
+
table RobotConstants {
+ arm_constants:PotAndAbsEncoderConstants (id: 0);
}
// Common table for constants unrelated to the robot
table Common {
target_map:frc971.vision.TargetMap (id: 0);
+ arm:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 1);
}
table Constants {
diff --git a/y2024_bot3/constants/test_data/test_team.json b/y2024_bot3/constants/test_data/test_team.json
index deacef4..06286e7 100644
--- a/y2024_bot3/constants/test_data/test_team.json
+++ b/y2024_bot3/constants/test_data/test_team.json
@@ -1,4 +1,21 @@
+{% from 'y2024_bot3/constants/common.jinja2' import arm_zero %}
+
{
- "robot": {},
+ "robot": {
+ "arm_constants": {
+ {% set _ = arm_zero.update(
+ {
+ "measured_absolute_position" : 0.0992895926495078
+ }
+ ) %}
+ "zeroing_constants": {{ arm_zero | tojson(indent=2)}},
+ "potentiometer_offset": {{ 0 }},
+ "arm_positions": {
+ "intake": 0,
+ "idle": 1,
+ "amp": 2
+ }
+ }
+ },
{% include 'y2024_bot3/constants/common.json' %}
}