Add shooter class and python.
Change-Id: I27b4c8f282a0b80344a7df59cf3b04569d9c8110
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
new file mode 100644
index 0000000..257ed23
--- /dev/null
+++ b/y2020/control_loops/python/accelerator.py
@@ -0,0 +1,46 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+from y2020.control_loops.python import flywheel
+import numpy
+
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kAccelerator = flywheel.FlywheelParams(
+ name='Accelerator',
+ motor=control_loop.Falcon(),
+ G=1.0,
+ J=0.006,
+ q_pos=0.08,
+ q_vel=4.00,
+ q_voltage=0.3,
+ r_pos=0.05,
+ controller_poles=[.87],
+ dt=0.00505)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[0.0], [100.0], [0.0]])
+ flywheel.PlotSpinup(kAccelerator, goal=R, iterations=200)
+ return 0
+
+ if len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ namespaces = [
+ 'y2020', 'control_loops', 'superstructure', 'accelerator'
+ ]
+ flywheel.WriteFlywheel(kAccelerator, argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ sys.exit(main(argv))