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/control_loops/python/arm.py b/y2024_bot3/control_loops/python/arm.py
new file mode 100644
index 0000000..ef02be8
--- /dev/null
+++ b/y2024_bot3/control_loops/python/arm.py
@@ -0,0 +1,61 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import linear_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+gflags.DEFINE_bool('hybrid', False, 'If true, make it hybrid.')
+
+kArm = linear_system.LinearSystemParams(
+ name='Arm',
+ motor=control_loop.KrakenFOC(),
+ G=(14. / 60.) * (32. / 48.),
+ radius=36 * 0.005 / numpy.pi / 2.0,
+ mass=5.0,
+ q_pos=0.20,
+ q_vel=80.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=8.0,
+ kalman_r_position=0.05,
+ dt=0.005,
+)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[0.4], [0.0]])
+ linear_system.PlotKick(kArm, R)
+ linear_system.PlotMotion(kArm,
+ R,
+ max_velocity=2.0,
+ max_acceleration=15.0)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 7:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the arm pivot and integral arm pivot.'
+ )
+ else:
+ namespaces = ['y2024_bot3', 'control_loops', 'superstructure', 'arm']
+ linear_system.WriteLinearSystem(kArm, argv[1:4], argv[4:7], namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))