Merge "Add 2023 image streamer"
diff --git a/WORKSPACE b/WORKSPACE
index d6a50c7..64f2dee 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -26,6 +26,17 @@
)
http_archive(
+ name = "aspect_bazel_lib",
+ sha256 = "80897b673c2b506d21f861ae316689aa8abcc3e56947580a41bf9e68ff13af58",
+ strip_prefix = "bazel-lib-1.27.1",
+ url = "https://github.com/aspect-build/bazel-lib/releases/download/v1.27.1/bazel-lib-v1.27.1.tar.gz",
+)
+
+load("@aspect_bazel_lib//lib:repositories.bzl", "aspect_bazel_lib_dependencies")
+
+aspect_bazel_lib_dependencies()
+
+http_archive(
name = "rules_python",
patch_args = ["-p1"],
patches = [
@@ -185,6 +196,10 @@
"//debian:libtinfo5_arm64.bzl",
libtinfo5_arm64_debs = "files",
)
+load(
+ "//debian:xvfb_amd64.bzl",
+ xvfb_amd64_debs = "files",
+)
load("//debian:packages.bzl", "generate_repositories_for_debs")
generate_repositories_for_debs(rsync_debs)
@@ -237,6 +252,8 @@
generate_repositories_for_debs(libtinfo5_arm64_debs)
+generate_repositories_for_debs(xvfb_amd64_debs)
+
local_repository(
name = "com_grail_bazel_toolchain",
path = "third_party/bazel-toolchain",
@@ -750,9 +767,9 @@
deps = ["@//third_party/allwpilib/wpimath"],
)
""",
- sha256 = "d9d6c48df9318cf106237a44bf7ad95e4092618bc3ab731092e9b733cacb1ffc",
+ sha256 = "7ffc54bf40814a5c101ea3159af15215f15087298cfc2ae65826f987ccf65499",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.1/api-cpp-23.0.1-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.5/api-cpp-23.0.5-headers.zip",
],
)
@@ -774,9 +791,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "3d228fdf8565de5411a739fa2670d4ef5390acb15ceb4d3cbef8c76b5adc7682",
+ sha256 = "1e8a487cb538388de437d04985512533a9dea79e6c56ee0f319c5eb80260fcab",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.1/api-cpp-23.0.1-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.5/api-cpp-23.0.5-linuxathena.zip",
],
)
@@ -789,9 +806,9 @@
hdrs = glob(['ctre/**/*.h', 'ctre/**/*.hpp']),
)
""",
- sha256 = "74d79bb3e739d9d6b87311656b0530aaefc211952cc647a3d57776a0cee9efce",
+ sha256 = "51c52dfce4c2491887a7b7380e2f17e93a4092b6ac9f60d716738447a8ebedd7",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.1/tools-23.0.1-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.5/tools-23.0.5-headers.zip",
],
)
@@ -813,9 +830,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "1791b35fdf76aa08ad120e4d689d9440bd386542f63f5c44e4047a06e2e05b9a",
+ sha256 = "9fb137321745c1eff63bdcfe486806afb46ede11ea4d4c59461320845698cc1e",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.1/tools-23.0.1-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.5/tools-23.0.5-linuxathena.zip",
],
)
@@ -1213,6 +1230,16 @@
urls = ["https://www.frc971.org/Build-Dependencies/libtinfo5_arm64.tar.gz"],
)
+http_archive(
+ name = "xvfb_amd64",
+ build_file = "//third_party:xvfb/xvfb.BUILD",
+ patch_cmds = [
+ "unlink usr/bin/X11",
+ ],
+ sha256 = "a7491bf6c47ed0037992fa493f9c25af3ab00a695d706e1fdc122a8b798c0d7c",
+ urls = ["https://www.frc971.org/Build-Dependencies/xvfb_amd64.tar.gz"],
+)
+
local_repository(
name = "com_github_nlohmann_json",
path = "third_party/com_github_nlohmann_json",
diff --git a/aos/BUILD b/aos/BUILD
index b8468bd..0792e67 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -411,9 +411,11 @@
],
data = [
":json_to_flatbuffer_fbs_reflection_out",
+ ":json_to_flatbuffer_test_spaces.json",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
+ ":flatbuffer_merge",
":json_to_flatbuffer",
":json_to_flatbuffer_fbs",
"//aos/testing:googletest",
diff --git a/aos/configuration.cc b/aos/configuration.cc
index 1d5e60a..ad0a489 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -1355,8 +1355,10 @@
case LoggerConfig::LOCAL_LOGGER:
return channel->source_node()->string_view() == node_name;
case LoggerConfig::LOCAL_AND_REMOTE_LOGGER:
- CHECK(channel->has_logger_nodes());
- CHECK_GT(channel->logger_nodes()->size(), 0u);
+ CHECK(channel->has_logger_nodes())
+ << "Missing logger nodes on " << StrippedChannelToString(channel);
+ CHECK_GT(channel->logger_nodes()->size(), 0u)
+ << "Missing logger nodes on " << StrippedChannelToString(channel);
if (channel->source_node()->string_view() == node_name) {
return true;
@@ -1364,8 +1366,10 @@
[[fallthrough]];
case LoggerConfig::REMOTE_LOGGER:
- CHECK(channel->has_logger_nodes());
- CHECK_GT(channel->logger_nodes()->size(), 0u);
+ CHECK(channel->has_logger_nodes())
+ << "Missing logger nodes on " << StrippedChannelToString(channel);
+ CHECK_GT(channel->logger_nodes()->size(), 0u)
+ << "Missing logger nodes on " << StrippedChannelToString(channel);
for (const flatbuffers::String *logger_node : *channel->logger_nodes()) {
if (logger_node->string_view() == node_name) {
return true;
diff --git a/aos/events/logging/timestamp_plot.cc b/aos/events/logging/timestamp_plot.cc
index 1239eb2..ddc8381 100644
--- a/aos/events/logging/timestamp_plot.cc
+++ b/aos/events/logging/timestamp_plot.cc
@@ -48,9 +48,13 @@
std::string_view node1, std::string_view node2, bool flip) {
std::vector<double> samplefile12_t;
std::vector<double> samplefile12_o;
+ const std::string path = SampleFile(node1, node2);
- const std::string file =
- aos::util::ReadFileToStringOrDie(SampleFile(node1, node2));
+ if (!aos::util::PathExists(path)) {
+ return {};
+ }
+
+ const std::string file = aos::util::ReadFileToStringOrDie(path);
bool first = true;
std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
samplefile12_t.reserve(lines.size());
@@ -91,7 +95,8 @@
for (size_t j = 0; j < i; ++j) {
const std::string_view node1 = nodes[j];
const std::string_view node2 = nodes[i];
- if (aos::util::PathExists(SampleFile(node1, node2))) {
+ if (aos::util::PathExists(SampleFile(node1, node2)) ||
+ aos::util::PathExists(SampleFile(node2, node1))) {
result.emplace_back(node1, node2);
LOG(INFO) << "Found pairing " << node1 << ", " << node2;
}
@@ -152,9 +157,13 @@
std::string_view node1, std::string_view node2, bool flip) {
std::vector<double> samplefile12_t;
std::vector<double> samplefile12_o;
+ const std::string path = absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv");
- const std::string file = aos::util::ReadFileToStringOrDie(
- absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv"));
+ if (!aos::util::PathExists(path)) {
+ return {};
+ }
+
+ const std::string file = aos::util::ReadFileToStringOrDie(path);
bool first = true;
std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
samplefile12_t.reserve(lines.size());
@@ -306,9 +315,14 @@
NodePlotter plotter;
if (FLAGS_all) {
- for (std::pair<std::string, std::string> ab : NodeConnections()) {
+ const std::vector<std::pair<std::string, std::string>> connections =
+ NodeConnections();
+ for (std::pair<std::string, std::string> ab : connections) {
plotter.AddNodes(ab.first, ab.second);
}
+ if (connections.size() == 0) {
+ LOG(WARNING) << "No connections found, is something wrong?";
+ }
} else {
CHECK_EQ(argc, 3);
diff --git a/aos/json_to_flatbuffer.h b/aos/json_to_flatbuffer.h
index d5e1039..6eab22a 100644
--- a/aos/json_to_flatbuffer.h
+++ b/aos/json_to_flatbuffer.h
@@ -109,10 +109,8 @@
template <typename T>
inline FlatbufferDetachedBuffer<T> JsonFileToFlatbuffer(
const std::string_view path) {
- std::ifstream t{std::string(path)};
- std::istream_iterator<char> start(t), end;
- std::string result(start, end);
- return FlatbufferDetachedBuffer<T>(JsonToFlatbuffer<T>(result));
+ return FlatbufferDetachedBuffer<T>(
+ JsonToFlatbuffer<T>(util::ReadFileToStringOrDie(path)));
}
// Parses a file as a binary flatbuffer or dies.
diff --git a/aos/json_to_flatbuffer_test.cc b/aos/json_to_flatbuffer_test.cc
index 6772826..fddb431 100644
--- a/aos/json_to_flatbuffer_test.cc
+++ b/aos/json_to_flatbuffer_test.cc
@@ -1,5 +1,6 @@
#include "aos/json_to_flatbuffer.h"
+#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer_generated.h"
#include "aos/testing/path.h"
#include "flatbuffers/minireflect.h"
@@ -301,5 +302,20 @@
ConfigurationTypeTable()));
}
+TEST_F(JsonToFlatbufferTest, SpacedData) {
+ EXPECT_TRUE(CompareFlatBuffer(
+ FlatbufferDetachedBuffer<VectorOfStrings>(
+ JsonToFlatbuffer<VectorOfStrings>(R"json({
+ "str": [
+ "f o o",
+ "b a r",
+ "foo bar",
+ "bar foo"
+ ]
+})json")),
+ JsonFileToFlatbuffer<VectorOfStrings>(
+ ArtifactPath("aos/json_to_flatbuffer_test_spaces.json"))));
+}
+
} // namespace testing
} // namespace aos
diff --git a/aos/json_to_flatbuffer_test_spaces.json b/aos/json_to_flatbuffer_test_spaces.json
new file mode 100644
index 0000000..c864037
--- /dev/null
+++ b/aos/json_to_flatbuffer_test_spaces.json
@@ -0,0 +1,8 @@
+{
+ "str": [
+ "f o o",
+ "b a r",
+ "foo bar",
+ "bar foo"
+ ]
+}
diff --git a/aos/network/www/BUILD b/aos/network/www/BUILD
index 03f41a5..81b9e16 100644
--- a/aos/network/www/BUILD
+++ b/aos/network/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//aos:config.bzl", "aos_config")
exports_files(["styles.css"])
@@ -13,7 +12,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "proxy",
srcs = [
"config_handler.ts",
@@ -31,7 +30,7 @@
],
)
-ts_library(
+ts_project(
name = "main",
srcs = [
"main.ts",
@@ -68,7 +67,7 @@
visibility = ["//aos:__subpackages__"],
)
-ts_library(
+ts_project(
name = "reflection_test_main",
srcs = [
"reflection_test_main.ts",
@@ -83,7 +82,7 @@
],
)
-ts_library(
+ts_project(
name = "reflection_ts",
srcs = ["reflection.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -96,7 +95,7 @@
],
)
-ts_library(
+ts_project(
name = "colors",
srcs = [
"colors.ts",
@@ -105,7 +104,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "plotter",
srcs = [
"plotter.ts",
@@ -115,7 +114,7 @@
deps = [":colors"],
)
-ts_library(
+ts_project(
name = "aos_plotter",
srcs = [
"aos_plotter.ts",
@@ -134,7 +133,7 @@
],
)
-ts_library(
+ts_project(
name = "demo_plot",
srcs = [
"demo_plot.ts",
diff --git a/aos/network/www/aos_plotter.ts b/aos/network/www/aos_plotter.ts
index cd2e131..13bf343 100644
--- a/aos/network/www/aos_plotter.ts
+++ b/aos/network/www/aos_plotter.ts
@@ -23,11 +23,11 @@
// The demo_plot.ts script has a basic example of using this library, with all
// the required boilerplate, as well as some extra examples about how to
// add axis labels and the such.
-import {Channel, Configuration} from 'org_frc971/aos/configuration_generated';
-import {Line, Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {SubscriberRequest, ChannelRequest, TransferMethod} from 'org_frc971/aos/network/web_proxy_generated';
-import {Parser, Table} from 'org_frc971/aos/network/www/reflection'
+import {Channel, Configuration} from '../../configuration_generated';
+import {Line, Plot, Point} from './plotter';
+import {Connection} from './proxy';
+import {SubscriberRequest, ChannelRequest, TransferMethod} from '../web_proxy_generated';
+import {Parser, Table} from './reflection'
import {Schema} from 'flatbuffers_reflection/reflection_generated';
import {ByteBuffer} from 'flatbuffers';
diff --git a/aos/network/www/config_handler.ts b/aos/network/www/config_handler.ts
index a7c2149..fba7be3 100644
--- a/aos/network/www/config_handler.ts
+++ b/aos/network/www/config_handler.ts
@@ -1,6 +1,6 @@
import {ByteBuffer} from 'flatbuffers';
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Configuration} from '../../configuration_generated';
+import {Connection} from './proxy';
import {Parser, Table} from './reflection'
diff --git a/aos/network/www/demo_plot.ts b/aos/network/www/demo_plot.ts
index ecd4da6..b586411 100644
--- a/aos/network/www/demo_plot.ts
+++ b/aos/network/www/demo_plot.ts
@@ -12,9 +12,9 @@
// This example shows how to:
// (a) Make use of the AosPlotter to plot a shmem message as a time-series.
// (b) Define your own custom plot with whatever data you want.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from './aos_plotter';
+import {Plot, Point} from './plotter';
+import * as proxy from './proxy';
import Connection = proxy.Connection;
diff --git a/aos/network/www/ping_handler.ts b/aos/network/www/ping_handler.ts
index 60e7c4a..224e432 100644
--- a/aos/network/www/ping_handler.ts
+++ b/aos/network/www/ping_handler.ts
@@ -1,4 +1,4 @@
-import {Ping} from 'org_frc971/aos/events/ping_generated';
+import {Ping} from '../../events/ping_generated';
import {ByteBuffer} from 'flatbuffers';
export function HandlePing(data: Uint8Array) {
diff --git a/aos/network/www/plotter.ts b/aos/network/www/plotter.ts
index 17bffa3..536322f 100644
--- a/aos/network/www/plotter.ts
+++ b/aos/network/www/plotter.ts
@@ -1,4 +1,5 @@
-import * as Colors from 'org_frc971/aos/network/www/colors';
+import * as Colors from './colors';
+
// Multiplies all the values in the provided array by scale.
function scaleVec(vec: number[], scale: number): number[] {
const scaled: number[] = [];
diff --git a/aos/network/www/proxy.ts b/aos/network/www/proxy.ts
index 0bda8b9..99a9a18 100644
--- a/aos/network/www/proxy.ts
+++ b/aos/network/www/proxy.ts
@@ -1,6 +1,6 @@
import {Builder, ByteBuffer, Offset} from 'flatbuffers';
-import {Channel as ChannelFb, Configuration} from 'org_frc971/aos/configuration_generated';
-import {ChannelRequest as ChannelRequestFb, ChannelState, MessageHeader, Payload, SdpType, SubscriberRequest, TransferMethod, WebSocketIce, WebSocketMessage, WebSocketSdp} from 'org_frc971/aos/network/web_proxy_generated';
+import {Channel as ChannelFb, Configuration} from '../../configuration_generated';
+import {ChannelRequest as ChannelRequestFb, ChannelState, MessageHeader, Payload, SdpType, SubscriberRequest, TransferMethod, WebSocketIce, WebSocketMessage, WebSocketSdp} from '../web_proxy_generated';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
// There is one handler for each DataChannel, it maintains the state of
diff --git a/aos/network/www/reflection_test_main.ts b/aos/network/www/reflection_test_main.ts
index 8fb041e..092c9c2 100644
--- a/aos/network/www/reflection_test_main.ts
+++ b/aos/network/www/reflection_test_main.ts
@@ -1,6 +1,6 @@
import {Builder, ByteBuffer} from 'flatbuffers';
-import {Configuration} from 'org_frc971/aos/configuration_generated'
-import {BaseType, Configuration as TestTable, FooStruct, Location, Map, VectorOfStrings, VectorOfVectorOfString} from 'org_frc971/aos/json_to_flatbuffer_generated'
+import {Configuration} from '../../configuration_generated'
+import {BaseType, Configuration as TestTable, FooStruct, Location, Map, VectorOfStrings, VectorOfVectorOfString} from '../../json_to_flatbuffer_generated'
import {Connection} from './proxy';
import {Parser, Table} from './reflection'
diff --git a/aos/starter/BUILD b/aos/starter/BUILD
index 5690bda..8a30408 100644
--- a/aos/starter/BUILD
+++ b/aos/starter/BUILD
@@ -1,6 +1,8 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//aos:config.bzl", "aos_config")
+exports_files(["roborio_irq_config.json"])
+
# This target is everything which should get deployed to the robot.
filegroup(
name = "starter",
diff --git a/aos/starter/irq_affinity.cc b/aos/starter/irq_affinity.cc
index 3f32ec9..5c70e9e 100644
--- a/aos/starter/irq_affinity.cc
+++ b/aos/starter/irq_affinity.cc
@@ -14,6 +14,8 @@
DEFINE_string(user, "",
"Starter runs as though this user ran a SUID binary if set.");
+DEFINE_string(irq_config, "rockpi_config.json",
+ "File path of rockpi configuration");
namespace aos {
@@ -265,117 +267,10 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
- // TODO(austin): File instead of hard-coded JSON.
aos::FlatbufferDetachedBuffer<aos::starter::IrqAffinityConfig>
irq_affinity_config =
- aos::JsonToFlatbuffer<aos::starter::IrqAffinityConfig>(
- R"json({
- "irqs": [
- {
- "name": "ttyS2",
- "affinity": [1]
- },
- {
- "name": "dw-mci",
- "affinity": [1]
- },
- {
- "name": "mmc1",
- "affinity": [1]
- },
- {
- "name": "rkisp1",
- "affinity": [2]
- },
- {
- "name": "ff3c0000.i2c",
- "affinity": [2]
- },
- {
- "name": "ff3d0000.i2c",
- "affinity": [2]
- },
- {
- "name": "ff6e0000.dma-controller",
- "affinity": [0]
- },
- {
- "name": "ff1d0000.spi",
- "affinity": [0]
- },
- {
- "name": "eth0",
- "affinity": [1]
- }
- ],
- "kthreads": [
- {
- "name": "irq/*-ff940000.hdmi",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-rockchip_usb2phy",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-mmc0",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-mmc1",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-fe320000.mmc cd",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-vc4 crtc",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-rkisp1",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 60,
- "affinity": [2]
- },
- {
- "name": "irq/*-ff3c0000.i2c",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 51,
- "affinity": [2]
- },
- {
- "name": "irq/*-adis16505",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 59,
- "affinity": [0]
- },
- {
- "name": "irq/*-ff6e0000.dma-controller",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 59,
- "affinity": [0]
- },
- {
- "name": "spi0",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 57,
- "affinity": [0]
- },
- {
- "name": "irq/*-eth0",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 10,
- "affinity": [1]
- },
- {
- "name": "irq/*-rockchip_thermal",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 1
- }
- ]
-})json");
+ aos::JsonFileToFlatbuffer<aos::starter::IrqAffinityConfig>(
+ FLAGS_irq_config);
aos::ShmEventLoop shm_event_loop(&config.message());
diff --git a/aos/starter/roborio_irq_config.json b/aos/starter/roborio_irq_config.json
new file mode 100644
index 0000000..d6ea0db
--- /dev/null
+++ b/aos/starter/roborio_irq_config.json
@@ -0,0 +1,24 @@
+{
+ "irqs": [
+ {
+ "name": "e0002000.usb",
+ "affinity": [1]
+ },
+ {
+ "name": "mmc0",
+ "affinity": [0]
+ },
+ {
+ "name": "eth0",
+ "affinity": [0]
+ }
+ ],
+ "kthreads": [
+ {
+ "name": "irq/*-e0002000",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 45,
+ "affinity": [1]
+ }
+ ]
+}
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index d4281c5..face963 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -13,8 +13,7 @@
elif [[ "$(hostname)" == "pi-"* ]]; then
# We have systemd configured to handle restarting, so just exec.
export PATH="${PATH}:/home/pi/bin"
- rm -rf /dev/shm/aos
- exec starterd --user=pi
+ exec starterd --user=pi --purge_shm_base
else
ROBOT_CODE="${HOME}/bin"
fi
@@ -22,6 +21,5 @@
cd "${ROBOT_CODE}"
export PATH="${PATH}:${ROBOT_CODE}"
while true; do
- rm -rf /dev/shm/aos
- starterd 2>&1
+ starterd --purge_shm_base 2>&1
done
diff --git a/aos/starter/starterd.cc b/aos/starter/starterd.cc
index 54f1bb4..19117de 100644
--- a/aos/starter/starterd.cc
+++ b/aos/starter/starterd.cc
@@ -2,15 +2,25 @@
#include <sys/types.h>
#include "aos/init.h"
+#include "aos/starter/starterd_lib.h"
+#include "aos/util/file.h"
#include "gflags/gflags.h"
-#include "starterd_lib.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
DEFINE_string(user, "",
"Starter runs as though this user ran a SUID binary if set.");
+DECLARE_string(shm_base);
+DEFINE_bool(purge_shm_base, false,
+ "If true, delete everything in --shm_base before starting.");
+
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
+
+ if (FLAGS_purge_shm_base) {
+ aos::util::UnlinkRecursive(FLAGS_shm_base);
+ }
+
if (!FLAGS_user.empty()) {
uid_t uid;
uid_t gid;
diff --git a/aos/util/error_counter.h b/aos/util/error_counter.h
index cf6cb7f..9fbe242 100644
--- a/aos/util/error_counter.h
+++ b/aos/util/error_counter.h
@@ -67,5 +67,40 @@
private:
flatbuffers::Vector<flatbuffers::Offset<Count>> *vector_ = nullptr;
};
+
+// The ArrayErrorCounter serves the same purpose as the ErrorCounter class,
+// except that:
+// (a) It owns its own memory, rather than modifying a flatbuffer in-place.
+// (b) Because of this, the user has greater flexibility in choosing when to
+// reset the error counters.
+template <typename Error, typename Count>
+class ArrayErrorCounter {
+ public:
+ static constexpr size_t kNumErrors = ErrorCounter<Error, Count>::kNumErrors;
+ ArrayErrorCounter() { ResetCounts(); }
+
+ flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Count>>>
+ PopulateCounts(flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Count>>>
+ offset = ErrorCounter<Error, Count>::Initialize(fbb);
+ flatbuffers::Vector<flatbuffers::Offset<Count>> *vector =
+ flatbuffers::GetMutableTemporaryPointer(*fbb, offset);
+ for (size_t ii = 0; ii < kNumErrors; ++ii) {
+ vector->GetMutableObject(ii)->mutate_count(error_counts_.at(ii));
+ }
+ return offset;
+ }
+
+ void IncrementError(Error error) {
+ DCHECK_LT(static_cast<size_t>(error), error_counts_.size());
+ error_counts_.at(static_cast<size_t>(error))++;
+ }
+
+ // Sets all the error counts to zero.
+ void ResetCounts() { error_counts_.fill(0); }
+
+ private:
+ std::array<size_t, kNumErrors> error_counts_;
+};
} // namespace aos::util
#endif // AOS_UTIL_ERROR_COUNTER_H_
diff --git a/aos/util/error_counter_test.cc b/aos/util/error_counter_test.cc
index 2166cea..567d71d 100644
--- a/aos/util/error_counter_test.cc
+++ b/aos/util/error_counter_test.cc
@@ -34,4 +34,45 @@
EXPECT_EQ(0u, message.message().error_counts()->Get(0)->count());
EXPECT_EQ(0u, message.message().error_counts()->Get(1)->count());
}
+
+// Tests the ArrayErrorCounter
+TEST(ErrorCounterTest, ARrayErrorCounter) {
+ ArrayErrorCounter<aos::timing::SendError, aos::timing::SendErrorCount>
+ counter;
+ flatbuffers::FlatBufferBuilder fbb;
+ fbb.ForceDefaults(true);
+ counter.IncrementError(aos::timing::SendError::MESSAGE_SENT_TOO_FAST);
+ counter.IncrementError(aos::timing::SendError::MESSAGE_SENT_TOO_FAST);
+ counter.IncrementError(aos::timing::SendError::INVALID_REDZONE);
+ {
+ const flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<aos::timing::SendErrorCount>>>
+ counts_offset = counter.PopulateCounts(&fbb);
+ aos::timing::Sender::Builder builder(fbb);
+ builder.add_error_counts(counts_offset);
+ fbb.Finish(builder.Finish());
+ aos::FlatbufferDetachedBuffer<aos::timing::Sender> message = fbb.Release();
+ ASSERT_EQ(2u, message.message().error_counts()->size());
+ EXPECT_EQ(aos::timing::SendError::MESSAGE_SENT_TOO_FAST,
+ message.message().error_counts()->Get(0)->error());
+ EXPECT_EQ(2u, message.message().error_counts()->Get(0)->count());
+ EXPECT_EQ(aos::timing::SendError::INVALID_REDZONE,
+ message.message().error_counts()->Get(1)->error());
+ EXPECT_EQ(1u, message.message().error_counts()->Get(1)->count());
+ }
+
+ counter.ResetCounts();
+ {
+ const flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<aos::timing::SendErrorCount>>>
+ counts_offset = counter.PopulateCounts(&fbb);
+ aos::timing::Sender::Builder builder(fbb);
+ builder.add_error_counts(counts_offset);
+ fbb.Finish(builder.Finish());
+ aos::FlatbufferDetachedBuffer<aos::timing::Sender> message = fbb.Release();
+ ASSERT_EQ(2u, message.message().error_counts()->size());
+ EXPECT_EQ(0u, message.message().error_counts()->Get(0)->count());
+ EXPECT_EQ(0u, message.message().error_counts()->Get(1)->count());
+ }
+}
} // namespace aos::util::testing
diff --git a/build_tests/BUILD b/build_tests/BUILD
index ea05c0b..bfdd76e 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,10 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_go_library", "flatbuffer_py_library")
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
load("//tools/build_rules:apache.bzl", "apache_wrapper")
load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library", "rust_test")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("@npm//@bazel/concatjs:index.bzl", "karma_web_test_suite")
load("//tools/build_rules:autocxx.bzl", "autocxx_library")
cc_test(
@@ -161,28 +160,11 @@
deps = [":hello_lib"],
)
-ts_library(
+ts_project(
name = "build_tests_ts",
srcs = ["basic.ts"],
)
-ts_library(
- name = "ts_test",
- testonly = True,
- srcs = ["basic_test.ts"],
- deps = [
- ":build_tests_ts",
- "@npm//@types/jasmine",
- ],
-)
-
-karma_web_test_suite(
- name = "karma",
- testonly = True,
- target_compatible_with = ["@platforms//os:linux"],
- deps = [":ts_test"],
-)
-
rust_library(
name = "rust_in_cc_rs",
srcs = ["rust_in_cc.rs"],
diff --git a/debian/BUILD b/debian/BUILD
index ca6d134..e40bf8f 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -82,6 +82,10 @@
":libtinfo5_arm64.bzl",
libtinfo5_arm64_debs = "files",
)
+load(
+ ":xvfb_amd64.bzl",
+ xvfb_amd64_debs = "files",
+)
load(":packages.bzl", "download_packages", "generate_deb_tarball")
package(default_visibility = ["//visibility:public"])
@@ -423,6 +427,22 @@
target_compatible_with = ["@platforms//os:linux"],
)
+download_packages(
+ name = "download_xvfb_packages",
+ excludes = [
+ "libglx-mesa0",
+ ],
+ packages = [
+ "xvfb",
+ ],
+)
+
+generate_deb_tarball(
+ name = "xvfb_amd64",
+ files = xvfb_amd64_debs,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
exports_files([
"ssh_wrapper.sh",
"curl.BUILD",
diff --git a/debian/xvfb_amd64.bzl b/debian/xvfb_amd64.bzl
new file mode 100644
index 0000000..faa9046
--- /dev/null
+++ b/debian/xvfb_amd64.bzl
@@ -0,0 +1,33 @@
+files = {
+ "libaudit-common_3.0-2_all.deb": "0d52f4826a57aea13cea1a85bfae354024c7b2f7b95e39cd1ce225e4db27d0f6",
+ "libaudit1_3.0-2_amd64.deb": "e3aa1383e387dc077a1176f7f3cbfdbc084bcc270a8938f598d5cb119773b268",
+ "libbrotli1_1.0.9-2+b2_amd64.deb": "65ca7d8b03e9dac09c5d544a89dd52d1aeb74f6a19583d32e4ff5f0c77624c24",
+ "libcap-ng0_0.7.9-2.2+b1_amd64.deb": "d34e29769b8ef23e9b9920814afb7905b8ee749db0814e6a8d937ccc4f309830",
+ "libfontenc1_1.1.4-1_amd64.deb": "1d0aa6ea16a34a8de1ea170360c4cb699f3239aeddb292df2d2c4eb6e835de4b",
+ "libfreetype6_2.10.4+dfsg-1+deb11u1_amd64.deb": "b21cfdd12adf6cac4af320c2485fb62a8a5edc6f9768bc2288fd686f4fa6dfdf",
+ "libgcrypt20_1.8.7-6_amd64.deb": "7a2e0eef8e0c37f03f3a5fcf7102a2e3dc70ba987f696ab71949f9abf36f35ef",
+ "libgl1_1.3.2-1_amd64.deb": "f300f9610b5f05f1ce566c4095f1bf2170e512ac5d201c40d895b8fce29dec98",
+ "libglvnd0_1.3.2-1_amd64.deb": "52a4464d181949f5ed8f7e55cca67ba2739f019e93fcfa9d14e8d65efe98fffc",
+ "libglx0_1.3.2-1_amd64.deb": "cb642200f7e28e6dbb4075110a0b441880eeec35c8a00a2198c59c53309e5e17",
+ "libgpg-error0_1.38-2_amd64.deb": "16a507fb20cc58b5a524a0dc254a9cb1df02e1ce758a2d8abde0bc4a3c9b7c26",
+ "libice6_1.0.10-1_amd64.deb": "452796e565c9d42386bd59990000ae9c37d85e142e00ee2b14df0787e2bbf970",
+ "liblz4-1_1.9.3-2_amd64.deb": "79ac6e9ca19c483f2e8effcc3401d723dd9dbb3a4ae324714de802adb21a8117",
+ "libpixman-1-0_0.40.0-1.1~deb11u1_amd64.deb": "1d0b392aec96fc3dc9c9cffa1241f4abfa7be0282f3451fce72492a934477c3e",
+ "libpng16-16_1.6.37-3_amd64.deb": "7d5336af395d1f658d0e66d74d0e1f4c632028750e7e04314d1a650e0317f3d6",
+ "libsm6_1.2.3-1_amd64.deb": "22a420890489023346f30fecef14ea900a0788e7bf959ef826aabb83944fccfb",
+ "libsystemd0_247.3-7+deb11u1_amd64.deb": "0bce44fd32e9fa18b68cb89f4010939b9984b9782db2d1985b041fc96e9a02b8",
+ "libunwind8_1.3.2-2_amd64.deb": "a8cc1181a479375aeb603cfe748cc19dc3a700a47ffdcb09fa025fe02b0c73bf",
+ "libuuid1_2.36.1-8+deb11u1_amd64.deb": "31250af4dd3b7d1519326a9a6764d1466a93d8f498cf6545058761ebc38b2823",
+ "libxaw7_1.0.13-1.1_amd64.deb": "fa30777b3c23421d18ed8cd817df7b4dd29d4532d2af00f9d6d449f4ad00a6d4",
+ "libxfont2_2.0.4-1_amd64.deb": "db5b67a3fc9f3a6adef313cb977a5a2480d751424cca49b286799b4bb98d8694",
+ "libxkbfile1_1.1.0-1_amd64.deb": "7c58d9986f918b71568ad83dbb6f4ab22c185f243461d41acee920cc5e13d347",
+ "libxmu6_1.1.2-2+b3_amd64.deb": "912a1bfb3416f18193824a4ffc5fe8a3a6e6781d9f8e50e26400dd36a7ca5bd0",
+ "libxpm4_3.5.12-1_amd64.deb": "49e64f0923cdecb2aaf6c93f176c25f63b841da2a501651ae23070f998967aa7",
+ "libxt6_1.2.0-1_amd64.deb": "1b2014704c8fb393aa9797da7c6de248f2bbd89eec8dee07bfecd7f2f85cff4d",
+ "lsb-base_11.1.0_all.deb": "89ed6332074d827a65305f9a51e591dff20641d61ff5e11f4e1822a9987e96fe",
+ "x11-common_7.7+22_all.deb": "5d1c3287826f60c3a82158b803b9c0489b8aad845ca23a53a982eba3dbb82aa3",
+ "x11-xkb-utils_7.7+5_amd64.deb": "fffdfdaec5533c33ddfdf25657e95e62bfd0348f375d0594d1727630059d1d3d",
+ "xkb-data_2.29-2_all.deb": "9122cccc67e6b3c3aef2fa9c50ef9d793a12f951c76698a02b1f4ceb9e3634e5",
+ "xserver-common_1.20.11-1+deb11u5_all.deb": "2cf7af2824d158159e2088f667c789ee4b6a5f1f6f776cbe4f867fa1ae5679b5",
+ "xvfb_1.20.11-1+deb11u5_amd64.deb": "3cefb98b07557a68ef0aa521fe34c7ef5755ea6f872141b05d68981433158f6e",
+}
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index c1ae252..36c450a 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
@@ -33,7 +32,7 @@
deps = ["//aos:configuration_fbs_python"],
)
-ts_library(
+ts_project(
name = "plot_index",
srcs = ["plot_index.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -127,7 +126,7 @@
target_compatible_with = ["@platforms//os:linux"],
)
-ts_library(
+ts_project(
name = "plot_data_utils",
srcs = ["plot_data_utils.ts"],
visibility = ["//visibility:public"],
diff --git a/frc971/analysis/cpp_plot/BUILD b/frc971/analysis/cpp_plot/BUILD
index d6e74c3..7f34afe 100644
--- a/frc971/analysis/cpp_plot/BUILD
+++ b/frc971/analysis/cpp_plot/BUILD
@@ -1,9 +1,8 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
package(default_visibility = ["//visibility:public"])
-ts_library(
+ts_project(
name = "cpp_plot",
srcs = ["cpp_plot.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/analysis/cpp_plot/cpp_plot.ts b/frc971/analysis/cpp_plot/cpp_plot.ts
index a704e89..08e2b1c 100644
--- a/frc971/analysis/cpp_plot/cpp_plot.ts
+++ b/frc971/analysis/cpp_plot/cpp_plot.ts
@@ -1,7 +1,7 @@
// Plotter for the C++ in-process plotter.
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
+import {Configuration} from '../../../aos/configuration_generated';
+import {Connection} from '../../../aos/network/www/proxy';
+import {plotData} from '../plot_data_utils';
const rootDiv = document.createElement('div');
rootDiv.classList.add('aos_cpp_plot');
diff --git a/frc971/analysis/in_process_plotter.cc b/frc971/analysis/in_process_plotter.cc
index 33d999e..b327c54 100644
--- a/frc971/analysis/in_process_plotter.cc
+++ b/frc971/analysis/in_process_plotter.cc
@@ -80,7 +80,7 @@
void Plotter::AddLine(const std::vector<double> &x,
const std::vector<double> &y, LineOptions options) {
- CHECK_EQ(x.size(), y.size());
+ CHECK_EQ(x.size(), y.size()) << ": " << options.label;
CHECK(!position_.IsNull())
<< "You must call AddFigure() before calling AddLine().";
diff --git a/frc971/analysis/plot_data_utils.ts b/frc971/analysis/plot_data_utils.ts
index 1362a09..25131fb 100644
--- a/frc971/analysis/plot_data_utils.ts
+++ b/frc971/analysis/plot_data_utils.ts
@@ -1,10 +1,10 @@
// Provides a plot which handles plotting the plot defined by a
// frc971.analysis.Plot message.
-import {Plot as PlotFb} from 'org_frc971/frc971/analysis/plot_data_generated';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
+import {Plot as PlotFb} from './plot_data_generated';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
import {ByteBuffer} from 'flatbuffers';
-import {Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Plot, Point} from '../../aos/network/www/plotter';
+import {Connection} from '../../aos/network/www/proxy';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
export function plotData(conn: Connection, parentDiv: Element) {
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index af9bd73..ab00b99 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -20,41 +20,41 @@
// each robot year, and may even end up allowing plots to be specified solely
// using JSON rather than requiring people to write a script just to create
// a plot.
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {plotImu} from 'org_frc971/frc971/wpilib/imu_plotter';
-import {plotDrivetrain} from 'org_frc971/frc971/control_loops/drivetrain/drivetrain_plotter';
-import {plotSpline} from 'org_frc971/frc971/control_loops/drivetrain/spline_plotter';
-import {plotDownEstimator} from 'org_frc971/frc971/control_loops/drivetrain/down_estimator_plotter';
+import {Configuration} from '../../aos/configuration_generated';
+import {Connection} from '../../aos/network/www/proxy';
+import {plotImu} from '../wpilib/imu_plotter';
+import {plotDrivetrain} from '../control_loops/drivetrain/drivetrain_plotter';
+import {plotSpline} from '../control_loops/drivetrain/spline_plotter';
+import {plotDownEstimator} from '../control_loops/drivetrain/down_estimator_plotter';
import {plotRobotState} from
- 'org_frc971/frc971/control_loops/drivetrain/robot_state_plotter'
+ '../control_loops/drivetrain/robot_state_plotter'
import {plotFinisher as plot2020Finisher} from
- 'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
+ '../../y2020/control_loops/superstructure/finisher_plotter'
import {plotTurret as plot2020Turret} from
- 'org_frc971/y2020/control_loops/superstructure/turret_plotter'
+ '../../y2020/control_loops/superstructure/turret_plotter'
import {plotLocalizer as plot2020Localizer} from
- 'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+ '../../y2020/control_loops/drivetrain/localizer_plotter'
import {plotAccelerator as plot2020Accelerator} from
- 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
+ '../../y2020/control_loops/superstructure/accelerator_plotter'
import {plotHood as plot2020Hood} from
- 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+ '../../y2020/control_loops/superstructure/hood_plotter'
import {plotSuperstructure as plot2021Superstructure} from
- 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+ '../../y2021_bot3/control_loops/superstructure/superstructure_plotter';
import {plotTurret as plot2022Turret} from
- 'org_frc971/y2022/control_loops/superstructure/turret_plotter'
+ '../../y2022/control_loops/superstructure/turret_plotter'
import {plotSuperstructure as plot2022Superstructure} from
- 'org_frc971/y2022/control_loops/superstructure/superstructure_plotter'
+ '../../y2022/control_loops/superstructure/superstructure_plotter'
import {plotCatapult as plot2022Catapult} from
- 'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
+ '../../y2022/control_loops/superstructure/catapult_plotter'
import {plotIntakeFront as plot2022IntakeFront, plotIntakeBack as plot2022IntakeBack} from
- 'org_frc971/y2022/control_loops/superstructure/intake_plotter'
+ '../../y2022/control_loops/superstructure/intake_plotter'
import {plotClimber as plot2022Climber} from
- 'org_frc971/y2022/control_loops/superstructure/climber_plotter'
+ '../../y2022/control_loops/superstructure/climber_plotter'
import {plotLocalizer as plot2022Localizer} from
- 'org_frc971/y2022/localizer/localizer_plotter'
+ '../../y2022/localizer/localizer_plotter'
import {plotVision as plot2022Vision} from
- 'org_frc971/y2022/vision/vision_plotter'
-import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
+ '../../y2022/vision/vision_plotter'
+import {plotDemo} from '../../aos/network/www/demo_plot';
const rootDiv = document.createElement('div');
rootDiv.style.width = '100%';
diff --git a/frc971/constants/BUILD b/frc971/constants/BUILD
index c17dc31..3a7e73a 100644
--- a/frc971/constants/BUILD
+++ b/frc971/constants/BUILD
@@ -45,6 +45,7 @@
],
data = [
"//frc971/constants/testdata:aos_config",
+ "//frc971/constants/testdata:syntax_error.json",
"//frc971/constants/testdata:test_constants.json",
],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/constants/constants_sender_test.cc b/frc971/constants/constants_sender_test.cc
index 1441767..512cb68 100644
--- a/frc971/constants/constants_sender_test.cc
+++ b/frc971/constants/constants_sender_test.cc
@@ -113,11 +113,11 @@
({
ConstantSender<testdata::ConstantsData, testdata::ConstantsList>
test_syntax(constants_sender_event_loop_.get(),
- "frc971/constants/testdata/syntaxerror.json", 971,
+ "frc971/constants/testdata/syntax_error.json", 971,
"/constants");
event_loop_factory_.RunFor(std::chrono::seconds(1));
}),
- "Error on line 0");
+ "Invalid field name");
}
} // namespace testing
diff --git a/frc971/constants/testdata/BUILD b/frc971/constants/testdata/BUILD
index 04cf8d3..a20264c 100644
--- a/frc971/constants/testdata/BUILD
+++ b/frc971/constants/testdata/BUILD
@@ -1,7 +1,10 @@
load("//aos:config.bzl", "aos_config")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-exports_files(["test_constants.json"])
+exports_files([
+ "test_constants.json",
+ "syntax_error.json",
+])
flatbuffer_cc_library(
name = "constants_list_fbs",
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index ee53c4a..a62b45f 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -354,6 +354,9 @@
"fixed_quadrature.h",
],
target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "@org_tuxfamily_eigen//:eigen",
+ ],
)
cc_test(
diff --git a/frc971/control_loops/double_jointed_arm/BUILD b/frc971/control_loops/double_jointed_arm/BUILD
new file mode 100644
index 0000000..c7fcefc
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/BUILD
@@ -0,0 +1,121 @@
+cc_library(
+ name = "trajectory",
+ srcs = [
+ "trajectory.cc",
+ ],
+ hdrs = [
+ "trajectory.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ "//aos/logging",
+ "//frc971/control_loops:dlqr",
+ "//frc971/control_loops:jacobian",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_test(
+ name = "trajectory_test",
+ srcs = [
+ "trajectory_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":demo_path",
+ ":dynamics",
+ ":ekf",
+ ":test_constants",
+ ":trajectory",
+ "//aos/testing:googletest",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "dynamics",
+ srcs = [
+ "dynamics.cc",
+ ],
+ hdrs = [
+ "dynamics.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:runge_kutta",
+ "@com_github_gflags_gflags//:gflags",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "demo_path",
+ srcs = [
+ "demo_path.cc",
+ ],
+ hdrs = ["demo_path.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [":trajectory"],
+)
+
+cc_test(
+ name = "dynamics_test",
+ srcs = [
+ "dynamics_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":dynamics",
+ ":test_constants",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
+ name = "ekf",
+ srcs = [
+ "ekf.cc",
+ ],
+ hdrs = [
+ "ekf.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ "//frc971/control_loops:jacobian",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "graph",
+ srcs = ["graph.cc"],
+ hdrs = ["graph.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_test(
+ name = "graph_test",
+ srcs = ["graph_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":graph",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
+ name = "test_constants",
+ hdrs = ["test_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ ],
+)
diff --git a/y2018/control_loops/superstructure/arm/demo_path.cc b/frc971/control_loops/double_jointed_arm/demo_path.cc
similarity index 98%
rename from y2018/control_loops/superstructure/arm/demo_path.cc
rename to frc971/control_loops/double_jointed_arm/demo_path.cc
index 03856c9..8d549d1 100644
--- a/y2018/control_loops/superstructure/arm/demo_path.cc
+++ b/frc971/control_loops/double_jointed_arm/demo_path.cc
@@ -1,12 +1,11 @@
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
#include <array>
#include <initializer_list>
#include <memory>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
::std::vector<::std::array<double, 6>> FlipPath(
@@ -25,7 +24,6 @@
return result;
}
-
::std::unique_ptr<Path> MakeDemoPath() {
return ::std::unique_ptr<Path>(new Path(FlipPath(
{{{1.3583511559969876, 0.99753029519739866, 0.63708920330895369,
@@ -213,6 +211,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/demo_path.h b/frc971/control_loops/double_jointed_arm/demo_path.h
new file mode 100644
index 0000000..9a9d393
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/demo_path.h
@@ -0,0 +1,19 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
+
+#include <memory>
+
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+::std::unique_ptr<Path> MakeDemoPath();
+::std::unique_ptr<Path> MakeReversedDemoPath();
+
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
diff --git a/frc971/control_loops/double_jointed_arm/dynamics.cc b/frc971/control_loops/double_jointed_arm/dynamics.cc
new file mode 100644
index 0000000..2842ad4
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics.cc
@@ -0,0 +1,37 @@
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+DEFINE_bool(gravity, true, "If true, enable gravity.");
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+Dynamics::Dynamics(ArmConstants arm_constants)
+ : arm_constants_(arm_constants),
+
+ K3_((::Eigen::Matrix<double, 2, 2>() << arm_constants_.g0 *
+ arm_constants_.Kt /
+ arm_constants_.resistance,
+ 0.0, 0.0,
+ arm_constants_.g1 * arm_constants_.num_distal_motors *
+ arm_constants_.Kt / arm_constants_.resistance)
+ .finished()),
+
+ K3_inverse_(K3_.inverse()),
+ K4_((::Eigen::Matrix<double, 2, 2>()
+ << arm_constants_.g0 * arm_constants_.g0 * arm_constants_.Kt /
+ (arm_constants_.Kv * arm_constants_.resistance),
+ 0.0, 0.0,
+ arm_constants_.g1 * arm_constants_.g1 * arm_constants_.Kt *
+ arm_constants_.num_distal_motors /
+ (arm_constants_.Kv * arm_constants_.resistance))
+ .finished()),
+ alpha_(arm_constants_.j0 +
+ arm_constants_.r0 * arm_constants_.r0 * arm_constants_.m0 +
+ arm_constants_.l0 * arm_constants_.l0 * arm_constants_.m1),
+ beta_(arm_constants_.l0 * arm_constants_.r1 * arm_constants_.m1),
+ gamma_(arm_constants_.j1 +
+ arm_constants_.r1 * arm_constants_.r1 * arm_constants_.m1) {}
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/dynamics.h b/frc971/control_loops/double_jointed_arm/dynamics.h
new file mode 100644
index 0000000..d4de1ed
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics.h
@@ -0,0 +1,248 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
+
+#include "Eigen/Dense"
+#include "frc971/control_loops/runge_kutta.h"
+#include "gflags/gflags.h"
+
+DECLARE_bool(gravity);
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+struct ArmConstants {
+ // Below, 0 refers to the proximal joint, and 1 refers to the distal joint.
+ // Length of the joints in meters.
+ double l0;
+ double l1;
+
+ // Mass of the joints in kilograms.
+ double m0;
+ double m1;
+
+ // Moment of inertia of the joints in kg m^2
+ double j0;
+ double j1;
+
+ // Radius of the center of mass of the joints in meters.
+ double r0;
+ double r1;
+
+ // Gear ratios for the two joints.
+ double g0;
+ double g1;
+
+ // motor constants.
+ double efficiency_tweak;
+ double stall_torque;
+ double free_speed;
+ double stall_current;
+ double resistance;
+ double Kv;
+ double Kt;
+
+ // Number of motors on the distal joint.
+ double num_distal_motors;
+};
+
+// This class captures the dynamics of our system. It doesn't actually need to
+// store state yet, so everything can be constexpr and/or static.
+//
+// 0, 0 is straight up.
+class Dynamics {
+ public:
+ Dynamics(ArmConstants arm_constants);
+ // Generates K1-2 for the arm ODE.
+ // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
+ // These matricies are missing the velocity factor for K2[1, 0], and K2[0, 1].
+ // You probbaly want MatriciesForState.
+ void NormilizedMatriciesForState(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ ::Eigen::Matrix<double, 2, 2> *K1_result,
+ ::Eigen::Matrix<double, 2, 2> *K2_result) const {
+ const double angle = X(0, 0) - X(2, 0);
+ const double s = ::std::sin(angle);
+ const double c = ::std::cos(angle);
+ *K1_result << alpha_, c * beta_, c * beta_, gamma_;
+ *K2_result << 0.0, s * beta_, -s * beta_, 0.0;
+ }
+
+ // Generates K1-2 for the arm ODE.
+ // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
+ void MatriciesForState(const ::Eigen::Matrix<double, 4, 1> &X,
+ ::Eigen::Matrix<double, 2, 2> *K1_result,
+ ::Eigen::Matrix<double, 2, 2> *K2_result) const {
+ NormilizedMatriciesForState(X, K1_result, K2_result);
+ (*K2_result)(1, 0) *= X(1, 0);
+ (*K2_result)(0, 1) *= X(3, 0);
+ }
+
+ // Calculates the joint torques as a function of the state and command.
+ const ::Eigen::Matrix<double, 2, 1> TorqueFromCommand(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) {
+ const ::Eigen::Matrix<double, 2, 1> velocity =
+ (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
+
+ return K3_ * U - K4_ * velocity;
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> CurrentFromTorque(
+ const ::Eigen::Matrix<double, 2, 1> &torque) {
+ return ::Eigen::DiagonalMatrix<double, 2>(
+ 1.0 / (arm_constants_.Kt * arm_constants_.g0),
+ 1.0 / (arm_constants_.Kt * arm_constants_.g1 *
+ arm_constants_.num_distal_motors)) *
+ torque;
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> CurrentFromCommand(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) {
+ return CurrentFromTorque(TorqueFromCommand(X, U));
+ }
+
+ // Computes the two joint torques given the state and the external force in
+ // x, y.
+ const ::Eigen::Matrix<double, 2, 1> TorqueFromForce(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &F) {
+ const ::Eigen::Matrix<double, 2, 1> L0(std::sin(X(0)) * arm_constants_.l0,
+ std::cos(X(0)) * arm_constants_.l0);
+ const ::Eigen::Matrix<double, 2, 1> L1(std::sin(X(2)) * arm_constants_.l1,
+ std::cos(X(2)) * arm_constants_.l1);
+
+ const Eigen::Matrix<double, 2, 1> Fn1 =
+ F - L0.normalized().dot(F) * L0.normalized();
+
+ const double torque1 = L0.x() * Fn1.y() - L0.y() * Fn1.x();
+ const double torque2 = L1.x() * F.y() - L1.y() * F.x();
+
+ return ::Eigen::Matrix<double, 2, 1>(torque1, torque2);
+ }
+
+ // TODO(austin): We may want a way to provide K1 and K2 to save CPU cycles.
+
+ // Calculates the acceleration given the current state and control input.
+ const ::Eigen::Matrix<double, 4, 1> Acceleration(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X, &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> velocity =
+ (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
+
+ const ::Eigen::Matrix<double, 2, 1> torque = K3_ * U - K4_ * velocity;
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
+
+ const ::Eigen::Matrix<double, 2, 1> accel =
+ K1.inverse() * (torque + gravity_torque - K2 * velocity);
+
+ return (::Eigen::Matrix<double, 4, 1>() << X(1, 0), accel(0, 0), X(3, 0),
+ accel(1, 0))
+ .finished();
+ }
+
+ // Calculates the acceleration given the current augmented kalman filter state
+ // and control input.
+ const ::Eigen::Matrix<double, 6, 1> EKFAcceleration(
+ const ::Eigen::Matrix<double, 6, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X.block<4, 1>(0, 0), &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> velocity =
+ (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
+
+ const ::Eigen::Matrix<double, 2, 1> torque =
+ K3_ *
+ (U +
+ (::Eigen::Matrix<double, 2, 1>() << X(4, 0), X(5, 0)).finished()) -
+ K4_ * velocity;
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque =
+ GravityTorque(X.block<4, 1>(0, 0));
+
+ const ::Eigen::Matrix<double, 2, 1> accel =
+ K1.inverse() * (torque + gravity_torque - K2 * velocity);
+
+ return (::Eigen::Matrix<double, 6, 1>() << X(1, 0), accel(0, 0), X(3, 0),
+ accel(1, 0), 0.0, 0.0)
+ .finished();
+ }
+
+ // Calculates the voltage required to follow the trajectory. This requires
+ // knowing the current state, desired angular velocity and acceleration.
+ const ::Eigen::Matrix<double, 2, 1> FF_U(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &omega_t,
+ const ::Eigen::Matrix<double, 2, 1> &alpha_t) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X, &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
+
+ return K3_inverse_ *
+ (K1 * alpha_t + K2 * omega_t + K4_ * omega_t - gravity_torque);
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> GravityTorque(
+ const ::Eigen::Matrix<double, 4, 1> &X) const {
+ const double accel_due_to_gravity = 9.8 * arm_constants_.efficiency_tweak;
+ return (::Eigen::Matrix<double, 2, 1>()
+ << (arm_constants_.r0 * arm_constants_.m0 +
+ arm_constants_.l0 * arm_constants_.m1) *
+ ::std::sin(X(0)) * accel_due_to_gravity,
+ arm_constants_.r1 * arm_constants_.m1 * ::std::sin(X(2)) *
+ accel_due_to_gravity)
+ .finished() *
+ (FLAGS_gravity ? 1.0 : 0.0);
+ }
+
+ const ::Eigen::Matrix<double, 4, 1> UnboundedDiscreteDynamics(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U, double dt) const {
+ return ::frc971::control_loops::RungeKuttaU(
+ [this](const auto &X, const auto &U) { return Acceleration(X, U); }, X,
+ U, dt);
+ }
+
+ const ::Eigen::Matrix<double, 6, 1> UnboundedEKFDiscreteDynamics(
+ const ::Eigen::Matrix<double, 6, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U, double dt) const {
+ return ::frc971::control_loops::RungeKuttaU(
+ [this](const auto &X, const auto &U) { return EKFAcceleration(X, U); },
+ X, U, dt);
+ }
+
+ const ArmConstants arm_constants_;
+
+ // K3, K4 matricies described above.
+ const ::Eigen::Matrix<double, 2, 2> &K3() const { return K3_; }
+ const ::Eigen::Matrix<double, 2, 2> &K3_inverse() const {
+ return K3_inverse_;
+ }
+ const ::Eigen::Matrix<double, 2, 2> &K4() const { return K4_; }
+
+ private:
+ const ::Eigen::Matrix<double, 2, 2> K3_;
+ const ::Eigen::Matrix<double, 2, 2> K3_inverse_;
+ const ::Eigen::Matrix<double, 2, 2> K4_;
+
+ const double alpha_;
+ const double beta_;
+ const double gamma_;
+};
+
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
diff --git a/frc971/control_loops/double_jointed_arm/dynamics_test.cc b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
new file mode 100644
index 0000000..6e12f75
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
@@ -0,0 +1,53 @@
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+namespace testing {
+
+// Tests that zero inputs result in no acceleration and no motion.
+// This isn't all that rigerous, but it's a good start.
+TEST(DynamicsTest, Acceleration) {
+ Dynamics dynamics(kArmConstants);
+
+ EXPECT_TRUE(dynamics
+ .Acceleration(::Eigen::Matrix<double, 4, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero())
+ .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
+
+ EXPECT_TRUE(
+ dynamics
+ .UnboundedDiscreteDynamics(::Eigen::Matrix<double, 4, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero(), 0.1)
+ .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
+
+ const ::Eigen::Matrix<double, 4, 1> X =
+ (::Eigen::Matrix<double, 4, 1>() << M_PI / 2.0, 0.0, 0.0, 0.0).finished();
+
+ ::std::cout << dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero())
+ << ::std::endl;
+
+ ::std::cout << dynamics.UnboundedDiscreteDynamics(
+ X,
+ dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero()),
+ 0.01)
+ << ::std::endl;
+
+ EXPECT_TRUE(dynamics
+ .UnboundedDiscreteDynamics(
+ X,
+ dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero()),
+ 0.01)
+ .isApprox(X));
+}
+
+} // namespace testing
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/ekf.cc b/frc971/control_loops/double_jointed_arm/ekf.cc
similarity index 87%
rename from y2018/control_loops/superstructure/arm/ekf.cc
rename to frc971/control_loops/double_jointed_arm/ekf.cc
index 48a71f4..a70e4a6 100644
--- a/y2018/control_loops/superstructure/arm/ekf.cc
+++ b/frc971/control_loops/double_jointed_arm/ekf.cc
@@ -1,19 +1,18 @@
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "Eigen/Dense"
#include <iostream>
+#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
DEFINE_double(proximal_voltage_error_uncertainty, 8.0,
"Proximal joint voltage error uncertainty.");
DEFINE_double(distal_voltage_error_uncertainty, 2.0,
"Distal joint voltage error uncertainty.");
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace {
@@ -29,7 +28,7 @@
.asDiagonal());
} // namespace
-EKF::EKF() {
+EKF::EKF(const Dynamics *dynamics) : dynamics_(dynamics) {
X_hat_.setZero();
Q_covariance =
((::Eigen::DiagonalMatrix<double, 6>().diagonal() << ::std::pow(0.1, 2),
@@ -69,9 +68,12 @@
void EKF::Predict(const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
const ::Eigen::Matrix<double, 6, 6> A =
::frc971::control_loops::NumericalJacobianX<6, 2>(
- Dynamics::UnboundedEKFDiscreteDynamics, X_hat_, U, dt);
+ [this](const auto &X_hat_, const auto &U, double dt) {
+ return dynamics_->UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
+ },
+ X_hat_, U, dt);
- X_hat_ = Dynamics::UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
+ X_hat_ = dynamics_->UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
P_ = A * P_ * A.transpose() + Q_covariance;
}
@@ -83,8 +85,8 @@
.asDiagonal());
// H is the jacobian of the h(x) measurement prediction function
const ::Eigen::Matrix<double, 2, 6> H_jacobian =
- (::Eigen::Matrix<double, 2, 6>() << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0, 0.0, 0.0)
+ (::Eigen::Matrix<double, 2, 6>() << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0, 0.0)
.finished();
// Update step Measurement residual error of proximal and distal joint
@@ -106,6 +108,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/ekf.h b/frc971/control_loops/double_jointed_arm/ekf.h
similarity index 81%
rename from y2018/control_loops/superstructure/arm/ekf.h
rename to frc971/control_loops/double_jointed_arm/ekf.h
index 9ae8b47..d969e82 100644
--- a/y2018/control_loops/superstructure/arm/ekf.h
+++ b/frc971/control_loops/double_jointed_arm/ekf.h
@@ -1,11 +1,11 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// An extended kalman filter for the Arm.
@@ -13,7 +13,7 @@
// [theta0, omega0, theta1, omega1, voltage error0, voltage error1]
class EKF {
public:
- EKF();
+ EKF(const Dynamics *dynamics);
// Resets the internal state back to X. Resets the torque disturbance to 0.
void Reset(const ::Eigen::Matrix<double, 4, 1> &X);
@@ -43,11 +43,12 @@
::Eigen::Matrix<double, 6, 6> P_half_converged_;
::Eigen::Matrix<double, 6, 6> P_converged_;
::Eigen::Matrix<double, 6, 6> P_reset_;
+
+ const Dynamics *dynamics_;
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
diff --git a/y2018/control_loops/superstructure/arm/graph.cc b/frc971/control_loops/double_jointed_arm/graph.cc
similarity index 92%
rename from y2018/control_loops/superstructure/arm/graph.cc
rename to frc971/control_loops/double_jointed_arm/graph.cc
index ad6f982..b5a70ab 100644
--- a/y2018/control_loops/superstructure/arm/graph.cc
+++ b/frc971/control_loops/double_jointed_arm/graph.cc
@@ -1,11 +1,10 @@
-#include "y2018/control_loops/superstructure/arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
#include <algorithm>
#include <cassert>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
SearchGraph::SearchGraph(size_t num_vertexes, std::initializer_list<Edge> edges)
@@ -68,6 +67,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/graph.h b/frc971/control_loops/double_jointed_arm/graph.h
similarity index 94%
rename from y2018/control_loops/superstructure/arm/graph.h
rename to frc971/control_loops/double_jointed_arm/graph.h
index 2300d6a..06d396c 100644
--- a/y2018/control_loops/superstructure/arm/graph.h
+++ b/frc971/control_loops/double_jointed_arm/graph.h
@@ -1,5 +1,5 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
#include <algorithm>
#include <cassert>
@@ -8,9 +8,8 @@
#include <memory>
#include <vector>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// Grr... normal priority queues don't allow modifying the node cost.
@@ -183,8 +182,7 @@
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
diff --git a/y2018/control_loops/superstructure/arm/graph_test.cc b/frc971/control_loops/double_jointed_arm/graph_test.cc
similarity index 90%
rename from y2018/control_loops/superstructure/arm/graph_test.cc
rename to frc971/control_loops/double_jointed_arm/graph_test.cc
index 8f246a5..7b14ced 100644
--- a/y2018/control_loops/superstructure/arm/graph_test.cc
+++ b/frc971/control_loops/double_jointed_arm/graph_test.cc
@@ -1,10 +1,9 @@
-#include "y2018/control_loops/superstructure/arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
#include "gtest/gtest.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace testing {
@@ -68,6 +67,5 @@
} // namespace testing
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/test_constants.h b/frc971/control_loops/double_jointed_arm/test_constants.h
new file mode 100644
index 0000000..4885d14
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/test_constants.h
@@ -0,0 +1,53 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+namespace testing {
+
+constexpr double kEfficiencyTweak = 0.95;
+constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
+constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
+constexpr double kStallCurrent = 89.0;
+
+constexpr ArmConstants kArmConstants = {
+ .l0 = 46.25 * 0.0254,
+ .l1 = 41.80 * 0.0254,
+ .m0 = 9.34 / 2.2,
+ .m1 = 9.77 / 2.2,
+
+ // Moment of inertia of the joints in kg m^2
+ .j0 = 2957.05 * 0.0002932545454545454,
+ .j1 = 2824.70 * 0.0002932545454545454,
+
+ // Radius of the center of mass of the joints in meters.
+ .r0 = 21.64 * 0.0254,
+ .r1 = 26.70 * 0.0254,
+
+ // Gear ratios for the two joints.
+ .g0 = 140.0,
+ .g1 = 90.0,
+
+ // MiniCIM motor constants.
+ .efficiency_tweak = kEfficiencyTweak,
+ .stall_torque = kStallTorque,
+ .free_speed = kFreeSpeed,
+ .stall_current = kStallCurrent,
+ .resistance = 12.0 / kStallCurrent,
+ .Kv = kFreeSpeed / 12.0,
+ .Kt = kStallTorque / kStallCurrent,
+
+ // Number of motors on the distal joint.
+ .num_distal_motors = 2.0,
+};
+
+} // namespace testing
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+
diff --git a/y2018/control_loops/superstructure/arm/trajectory.cc b/frc971/control_loops/double_jointed_arm/trajectory.cc
similarity index 92%
rename from y2018/control_loops/superstructure/arm/trajectory.cc
rename to frc971/control_loops/double_jointed_arm/trajectory.cc
index c6e09dd..a67216b 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory.cc
@@ -1,20 +1,19 @@
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "Eigen/Dense"
#include "aos/logging/logging.h"
#include "frc971/control_loops/dlqr.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
#include "gflags/gflags.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
DEFINE_double(lqr_proximal_pos, 0.15, "Position LQR gain");
DEFINE_double(lqr_proximal_vel, 4.0, "Velocity LQR gain");
DEFINE_double(lqr_distal_pos, 0.20, "Position LQR gain");
DEFINE_double(lqr_distal_vel, 4.0, "Velocity LQR gain");
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
Path Path::Reversed(const Path &p) {
@@ -106,9 +105,9 @@
::Eigen::Matrix<double, 2, 2> K2;
const ::Eigen::Matrix<double, 2, 1> gravity_volts =
- Dynamics::K3_inverse * Dynamics::GravityTorque(X);
+ dynamics_->K3_inverse() * dynamics_->GravityTorque(X);
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
@@ -123,18 +122,18 @@
::std::sqrt(1.0 / ::std::max(0.001, (alpha_unitizer * alpha).norm()));
const ::Eigen::Matrix<double, 2, 1> vk1 =
- Dynamics::K3_inverse * (K1 * alpha + K2 * omega_square * omega);
+ dynamics_->K3_inverse() * (K1 * alpha + K2 * omega_square * omega);
const ::Eigen::Matrix<double, 2, 1> vk2 =
- Dynamics::K3_inverse * Dynamics::K4 * omega;
+ dynamics_->K3_inverse() * dynamics_->K4() * omega;
// Loop through all the various vmin, plan_vmax combinations.
for (const double c : {-plan_vmax, plan_vmax}) {
// Also loop through saturating theta0 and theta1
for (const ::std::tuple<double, double, double> &abgravity :
{::std::tuple<double, double, double>{vk1(0), vk2(0),
- gravity_volts(0)},
+ gravity_volts(0)},
::std::tuple<double, double, double>{vk1(1), vk2(1),
- gravity_volts(1)}}) {
+ gravity_volts(1)}}) {
const double a = ::std::get<0>(abgravity);
const double b = ::std::get<1>(abgravity);
const double gravity = ::std::get<2>(abgravity);
@@ -178,19 +177,19 @@
::Eigen::Matrix<double, 2, 2> K1;
::Eigen::Matrix<double, 2, 2> K2;
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
.finished();
const ::Eigen::Matrix<double, 2, 1> k_constant =
- Dynamics::K3_inverse *
+ dynamics_->K3_inverse() *
((K1 * alpha + K2 * omega_square * omega) * goal_velocity *
goal_velocity +
- Dynamics::K4 * omega * goal_velocity - Dynamics::GravityTorque(X));
+ dynamics_->K4() * omega * goal_velocity - dynamics_->GravityTorque(X));
const ::Eigen::Matrix<double, 2, 1> k_scalar =
- Dynamics::K3_inverse * K1 * omega;
+ dynamics_->K3_inverse() * K1 * omega;
const double constraint_goal_acceleration =
::std::sqrt(
@@ -236,19 +235,19 @@
::Eigen::Matrix<double, 2, 2> K1;
::Eigen::Matrix<double, 2, 2> K2;
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
.finished();
const ::Eigen::Matrix<double, 2, 1> k_constant =
- Dynamics::K3_inverse *
+ dynamics_->K3_inverse() *
((K1 * alpha + K2 * omega_square * omega) * goal_velocity *
goal_velocity +
- Dynamics::K4 * omega * goal_velocity - Dynamics::GravityTorque(X));
+ dynamics_->K4() * omega * goal_velocity - dynamics_->GravityTorque(X));
const ::Eigen::Matrix<double, 2, 1> k_scalar =
- Dynamics::K3_inverse * K1 * omega;
+ dynamics_->K3_inverse() * K1 * omega;
const double constraint_goal_acceleration =
::std::sqrt(
@@ -390,12 +389,22 @@
.finished()
.asDiagonal();
+ const auto x_blocked = X.block<4, 1>(0, 0);
+
const ::Eigen::Matrix<double, 4, 4> final_A =
::frc971::control_loops::NumericalJacobianX<4, 2>(
- Dynamics::UnboundedDiscreteDynamics, X.block<4, 1>(0, 0), U, 0.00505);
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(
+ x_blocked, U, dt);
+ },
+ x_blocked, U, 0.00505);
+
const ::Eigen::Matrix<double, 4, 2> final_B =
::frc971::control_loops::NumericalJacobianU<4, 2>(
- Dynamics::UnboundedDiscreteDynamics, X.block<4, 1>(0, 0), U, 0.00505);
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(x_blocked, U, dt);
+ },
+ x_blocked, U, 0.00505);
::Eigen::Matrix<double, 4, 4> S;
::Eigen::Matrix<double, 2, 4> sub_K;
@@ -441,7 +450,7 @@
*saturation_goal_acceleration);
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U_ff =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
+ dynamics_->FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
*U = U_ff + K * (R - X);
}
@@ -494,11 +503,11 @@
U_unsaturated_.setZero();
} else {
const ::Eigen::Matrix<double, 6, 1> R =
- trajectory_->R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
+ Trajectory::R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
- U_ff_ = Dynamics::FF_U(X.block<4, 1>(0, 0),
- ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero());
+ U_ff_ = dynamics_->FF_U(
+ X.block<4, 1>(0, 0), ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero());
const ::Eigen::Matrix<double, 2, 6> K = K_at_state(X, U_ff_);
U_ = U_unsaturated_ = U_ff_ + K * (R - X);
@@ -558,7 +567,7 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory_->R(theta_t, omega_t);
- U_ff_ = Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
+ U_ff_ = dynamics_->FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
const ::Eigen::Matrix<double, 2, 6> K = K_at_state(X, U_ff_);
U_ = U_unsaturated_ = U_ff_ + K * (R - X);
@@ -613,6 +622,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/trajectory.h b/frc971/control_loops/double_jointed_arm/trajectory.h
similarity index 93%
rename from y2018/control_loops/superstructure/arm/trajectory.h
rename to frc971/control_loops/double_jointed_arm/trajectory.h
index a3a4246..a194a03 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.h
+++ b/frc971/control_loops/double_jointed_arm/trajectory.h
@@ -1,5 +1,5 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
#include <array>
#include <initializer_list>
@@ -7,10 +7,10 @@
#include <vector>
#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// This class represents a path in theta0, theta1 space. It also returns the
@@ -90,8 +90,10 @@
public:
// Constructs a trajectory (but doesn't calculate it) given a path and a step
// size.
- Trajectory(::std::unique_ptr<const Path> path, double gridsize)
- : path_(::std::move(path)),
+ Trajectory(const Dynamics *dynamics, ::std::unique_ptr<const Path> path,
+ double gridsize)
+ : dynamics_(dynamics),
+ path_(::std::move(path)),
num_plan_points_(
static_cast<size_t>(::std::ceil(path_->length() / gridsize) + 1)),
step_size_(path_->length() /
@@ -220,7 +222,8 @@
double GetDAcceleration(double distance) const {
return GetDAcceleration(distance, max_dvelocity_);
}
- double GetDAcceleration(double distance, const ::std::vector<double> &plan) const {
+ double GetDAcceleration(double distance,
+ const ::std::vector<double> &plan) const {
::std::pair<size_t, size_t> indices = IndicesForDistance(distance);
const double v0 = plan[indices.first];
const double v1 = plan[indices.second];
@@ -276,6 +279,7 @@
const Path &path() const { return *path_; }
+
private:
friend class testing::TrajectoryTest_IndicesForDistanceTest_Test;
@@ -298,6 +302,8 @@
return ::std::pair<size_t, size_t>(lower_index, lower_index + 1);
}
+ const Dynamics *dynamics_;
+
// The path to follow.
::std::unique_ptr<const Path> path_;
// The number of points in the plan.
@@ -315,14 +321,16 @@
// This class tracks the current goal along trajectories and paths.
class TrajectoryFollower {
public:
- TrajectoryFollower(const ::Eigen::Matrix<double, 2, 1> &theta)
- : trajectory_(nullptr), theta_(theta) {
+ TrajectoryFollower(const Dynamics *dynamics,
+ const ::Eigen::Matrix<double, 2, 1> &theta)
+ : dynamics_(dynamics), trajectory_(nullptr), theta_(theta) {
omega_.setZero();
last_K_.setZero();
Reset();
}
- TrajectoryFollower(Trajectory *const trajectory) : trajectory_(trajectory) {
+ TrajectoryFollower(const Dynamics *dynamics, Trajectory *const trajectory)
+ : dynamics_(dynamics), trajectory_(trajectory) {
last_K_.setZero();
Reset();
}
@@ -405,6 +413,7 @@
int failed_solutions() const { return failed_solutions_; }
private:
+ const Dynamics *dynamics_;
// The trajectory plan.
const Trajectory *trajectory_ = nullptr;
@@ -431,8 +440,7 @@
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
diff --git a/y2018/control_loops/superstructure/arm/trajectory_test.cc b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
similarity index 86%
rename from y2018/control_loops/superstructure/arm/trajectory_test.cc
rename to frc971/control_loops/double_jointed_arm/trajectory_test.cc
index b91c5a4..e700282 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_test.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
@@ -1,13 +1,13 @@
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "gtest/gtest.h"
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace testing {
@@ -75,20 +75,22 @@
(::Eigen::Matrix<double, 2, 1>() << 3.0, 0.0).finished()));
}
-
-// Tests that we can compute the indices of the plan for a given distance correctly.
+// Tests that we can compute the indices of the plan for a given distance
+// correctly.
TEST(TrajectoryTest, IndicesForDistanceTest) {
// Start with a stupid simple plan.
Path p({{{0.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{1.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{2.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{3.0, 0.0, 1.0, 0.0, 0.0, 0.0}}});
- Trajectory t(::std::unique_ptr<Path>(new Path(p)), 0.1);
+ Dynamics dynamics(kArmConstants);
+ Trajectory t(&dynamics, ::std::unique_ptr<Path>(new Path(p)), 0.1);
// 0 - 3.0 every 0.1 should be 31 points.
EXPECT_EQ(t.num_plan_points(), 31);
- // Verify that something centered in a grid cell returns the points on either side.
+ // Verify that something centered in a grid cell returns the points on either
+ // side.
EXPECT_EQ(::std::make_pair(static_cast<size_t>(0), static_cast<size_t>(1)),
t.IndicesForDistance(0.05));
EXPECT_EQ(::std::make_pair(static_cast<size_t>(1), static_cast<size_t>(2)),
@@ -145,17 +147,21 @@
EXPECT_NEAR(path->length(), reversed_path->length(), 1e-6);
for (double d = 0; d < path->length(); d += 0.01) {
- EXPECT_TRUE(path->Theta(d).isApprox(reversed_path->Theta(path->length() - d)));
- EXPECT_TRUE(path->Omega(d).isApprox(-reversed_path->Omega(path->length() - d)));
- EXPECT_TRUE(path->Alpha(d).isApprox(reversed_path->Alpha(path->length() - d)));
+ EXPECT_TRUE(
+ path->Theta(d).isApprox(reversed_path->Theta(path->length() - d)));
+ EXPECT_TRUE(
+ path->Omega(d).isApprox(-reversed_path->Omega(path->length() - d)));
+ EXPECT_TRUE(
+ path->Alpha(d).isApprox(reversed_path->Alpha(path->length() - d)));
}
}
// Tests that we can follow a path. Look at :trajectory_plot if you want to see
// the path.
TEST(TrajectoryTest, RunTrajectory) {
+ Dynamics dynamics(kArmConstants);
::std::unique_ptr<Path> path = MakeDemoPath();
- Trajectory trajectory(::std::move(path), 0.001);
+ Trajectory trajectory(&dynamics, ::std::move(path), 0.001);
constexpr double kAlpha0Max = 40.0;
constexpr double kAlpha1Max = 60.0;
@@ -174,16 +180,17 @@
X << theta_t(0), 0.0, theta_t(1), 0.0;
}
- EKF arm_ekf;
+ EKF arm_ekf(&dynamics);
arm_ekf.Reset(X);
- TrajectoryFollower follower(&trajectory);
+ TrajectoryFollower follower(&dynamics, &trajectory);
constexpr double sim_dt = 0.00505;
while (t < 1.0) {
arm_ekf.Correct((::Eigen::Matrix<double, 2, 1>() << X(0), X(2)).finished(),
sim_dt);
follower.Update(arm_ekf.X_hat(), false, sim_dt, vmax, 12.0);
- X = Dynamics::UnboundedDiscreteDynamics(X, follower.U(), sim_dt);
+
+ X = dynamics.UnboundedDiscreteDynamics(X, follower.U(), sim_dt);
arm_ekf.Predict(follower.U(), sim_dt);
t += sim_dt;
}
@@ -204,6 +211,5 @@
} // namespace testing
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 13c8ade..86c1ec0 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
load("//tools/build_rules:select.bzl", "cpu_select")
load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -786,7 +786,7 @@
],
)
-ts_library(
+ts_project(
name = "down_estimator_plotter",
srcs = ["down_estimator_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -798,7 +798,7 @@
],
)
-ts_library(
+ts_project(
name = "spline_plotter",
srcs = ["spline_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -809,7 +809,7 @@
],
)
-ts_library(
+ts_project(
name = "drivetrain_plotter",
srcs = ["drivetrain_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -821,7 +821,7 @@
],
)
-ts_library(
+ts_project(
name = "robot_state_plotter",
srcs = ["robot_state_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/control_loops/drivetrain/down_estimator_plotter.ts b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
index 178ab0b..126336d 100644
--- a/frc971/control_loops/drivetrain/down_estimator_plotter.ts
+++ b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
@@ -1,8 +1,8 @@
// Provides a basic plot for debugging IMU-related issues on a robot.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/drivetrain_plotter.ts b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
index 4b59dc0..5610e97 100644
--- a/frc971/control_loops/drivetrain/drivetrain_plotter.ts
+++ b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
@@ -1,8 +1,8 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/localization/BUILD b/frc971/control_loops/drivetrain/localization/BUILD
new file mode 100644
index 0000000..06c8d57
--- /dev/null
+++ b/frc971/control_loops/drivetrain/localization/BUILD
@@ -0,0 +1,66 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
+
+cc_library(
+ name = "utils",
+ srcs = ["utils.cc"],
+ hdrs = ["utils.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/input:joystick_state_fbs",
+ "//frc971/vision:calibration_fbs",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "puppet_localizer",
+ srcs = ["puppet_localizer.cc"],
+ hdrs = ["puppet_localizer.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
+ "//frc971/control_loops/drivetrain:hybrid_ekf",
+ "//frc971/control_loops/drivetrain:localizer",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ ],
+)
+
+cc_test(
+ name = "puppet_localizer_test",
+ srcs = ["puppet_localizer_test.cc"],
+ data = ["//y2022/control_loops/drivetrain:simulation_config"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":puppet_localizer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_writer",
+ "//aos/network:team_number",
+ "//frc971/control_loops:control_loop_test",
+ "//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_output_fbs",
+ srcs = [
+ "localizer_output.fbs",
+ ],
+ gen_reflections = True,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "localizer_output_ts_fbs",
+ srcs = ["localizer_output.fbs"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2022/localizer/localizer_output.fbs b/frc971/control_loops/drivetrain/localization/localizer_output.fbs
similarity index 100%
rename from y2022/localizer/localizer_output.fbs
rename to frc971/control_loops/drivetrain/localization/localizer_output.fbs
diff --git a/y2022/control_loops/drivetrain/localizer.cc b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
similarity index 82%
rename from y2022/control_loops/drivetrain/localizer.cc
rename to frc971/control_loops/drivetrain/localization/puppet_localizer.cc
index 0aa4456..3125793 100644
--- a/y2022/control_loops/drivetrain/localizer.cc
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
@@ -1,10 +1,10 @@
-#include "y2022/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
-namespace y2022 {
+namespace frc971 {
namespace control_loops {
namespace drivetrain {
-Localizer::Localizer(
+PuppetLocalizer::PuppetLocalizer(
aos::EventLoop *event_loop,
const frc971::control_loops::drivetrain::DrivetrainConfig<double>
&dt_config)
@@ -15,8 +15,6 @@
localizer_output_fetcher_(
event_loop_->MakeFetcher<frc971::controls::LocalizerOutput>(
"/localizer")),
- joystick_state_fetcher_(
- event_loop_->MakeFetcher<aos::JoystickState>("/aos")),
clock_offset_fetcher_(
event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
"/aos")) {
@@ -30,7 +28,7 @@
target_selector_.set_has_target(false);
}
-void Localizer::Reset(
+void PuppetLocalizer::Reset(
aos::monotonic_clock::time_point t,
const frc971::control_loops::drivetrain::HybridEkf<double>::State &state) {
// Go through and clear out all of the fetchers so that we don't get behind.
@@ -38,19 +36,12 @@
ekf_.ResetInitialState(t, state.cast<float>(), ekf_.P());
}
-void Localizer::Update(const Eigen::Matrix<double, 2, 1> &U,
+void PuppetLocalizer::Update(const Eigen::Matrix<double, 2, 1> &U,
aos::monotonic_clock::time_point now,
double left_encoder, double right_encoder,
double gyro_rate, const Eigen::Vector3d &accel) {
ekf_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate,
U.cast<float>(), accel.cast<float>(), now);
- joystick_state_fetcher_.Fetch();
- if (joystick_state_fetcher_.get() != nullptr &&
- joystick_state_fetcher_->autonomous()) {
- // TODO(james): This is an inelegant way to avoid having the localizer mess
- // up splines. Do better.
- // return;
- }
if (localizer_output_fetcher_.Fetch()) {
clock_offset_fetcher_.Fetch();
bool message_bridge_connected = true;
@@ -79,8 +70,6 @@
std::chrono::nanoseconds(
localizer_output_fetcher_->monotonic_timestamp_ns()) -
monotonic_offset);
- // TODO: Finish implementing simple x/y/theta updater with state_at_capture.
- // TODO: Implement turret/camera processing logic on pi side.
std::optional<State> state_at_capture =
ekf_.LastStateBeforeTime(capture_time);
if (!state_at_capture.has_value()) {
@@ -104,4 +93,4 @@
} // namespace drivetrain
} // namespace control_loops
-} // namespace y2022
+} // namespace frc971
diff --git a/y2022/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
similarity index 78%
rename from y2022/control_loops/drivetrain/localizer.h
rename to frc971/control_loops/drivetrain/localization/puppet_localizer.h
index 77b29eb..4f8f4f3 100644
--- a/y2022/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
@@ -1,5 +1,5 @@
-#ifndef Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
-#define Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_PUPPET_LOCALIZER_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_PUPPET_LOCALIZER_H_
#include <string_view>
@@ -7,20 +7,20 @@
#include "aos/network/message_bridge_server_generated.h"
#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
#include "frc971/control_loops/drivetrain/localizer.h"
-#include "frc971/input/joystick_state_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
-namespace y2022 {
+namespace frc971 {
namespace control_loops {
namespace drivetrain {
-// This class handles the localization for the 2022 robot. Rather than actually
-// doing any work on the roborio, we farm all the localization out to a
+// This class handles the localization for the 2022/2023 robots. Rather than
+// actually doing any work on the roborio, we farm all the localization out to a
// raspberry pi and it then sends out LocalizerOutput messages that we treat as
-// measurement updates. See //y2022/localizer.
-// TODO(james): Needs tests. Should refactor out some of the code from the 2020
-// localizer test.
-class Localizer : public frc971::control_loops::drivetrain::LocalizerInterface {
+// measurement updates. See //y202*/localizer.
+// TODO(james): Needs more tests. Should refactor out some of the code from the
+// 2020 localizer test.
+class PuppetLocalizer
+ : public frc971::control_loops::drivetrain::LocalizerInterface {
public:
typedef frc971::control_loops::TypedPose<float> Pose;
typedef frc971::control_loops::drivetrain::HybridEkf<float> HybridEkf;
@@ -29,9 +29,10 @@
typedef typename HybridEkf::StateSquare StateSquare;
typedef typename HybridEkf::Input Input;
typedef typename HybridEkf::Output Output;
- Localizer(aos::EventLoop *event_loop,
- const frc971::control_loops::drivetrain::DrivetrainConfig<double>
- &dt_config);
+ PuppetLocalizer(
+ aos::EventLoop *event_loop,
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &dt_config);
frc971::control_loops::drivetrain::HybridEkf<double>::State Xhat()
const override {
return ekf_.X_hat().cast<double>();
@@ -93,7 +94,6 @@
HybridEkf::ExpectedObservationAllocator<Corrector> observations_;
aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
- aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
// Target selector to allow us to satisfy the LocalizerInterface requirements.
@@ -102,6 +102,6 @@
} // namespace drivetrain
} // namespace control_loops
-} // namespace y2022
+} // namespace frc971
-#endif // Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_PUPPET_LOCALIZER_H_
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
similarity index 92%
rename from y2022/control_loops/drivetrain/localizer_test.cc
rename to frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
index 77f3988..d64c419 100644
--- a/y2022/control_loops/drivetrain/localizer_test.cc
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
@@ -1,4 +1,4 @@
-#include "y2022/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
#include <queue>
@@ -8,17 +8,17 @@
#include "aos/network/testing_time_converter.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-#include "y2022/localizer/localizer_output_generated.h"
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
DECLARE_bool(die_on_malloc);
-namespace y2022 {
+namespace frc971 {
namespace control_loops {
namespace drivetrain {
namespace testing {
@@ -29,7 +29,8 @@
namespace {
DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
- DrivetrainConfig<double> config = GetDrivetrainConfig();
+ DrivetrainConfig<double> config =
+ y2022::control_loops::drivetrain::GetDrivetrainConfig();
return config;
}
} // namespace
@@ -39,11 +40,13 @@
using frc971::control_loops::drivetrain::DrivetrainLoop;
using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
+
// TODO(james): Make it so this actually tests the full system of the localizer.
class LocalizedDrivetrainTest : public frc971::testing::ControlLoopTest {
protected:
- // We must use the 2022 drivetrain config so that we don't have to deal
- // with shifting:
+ // We must use the 2022 drivetrain config so that we actually have a multi-nde
+ // config with a LocalizerOutput message.
+ // TODO(james): Refactor this test to be year-agnostic.
LocalizedDrivetrainTest()
: frc971::testing::ControlLoopTest(
aos::configuration::ReadConfig(
@@ -108,7 +111,8 @@
void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
*drivetrain_plant_.mutable_state() << xytheta.x(), xytheta.y(),
xytheta(2, 0), 0.0, 0.0;
- Eigen::Matrix<double, Localizer::HybridEkf::kNStates, 1> localizer_state;
+ Eigen::Matrix<double, PuppetLocalizer::HybridEkf::kNStates, 1>
+ localizer_state;
localizer_state.setZero();
localizer_state.block<3, 1>(0, 0) = xytheta;
localizer_.Reset(monotonic_now(), localizer_state);
@@ -169,7 +173,7 @@
std::unique_ptr<aos::EventLoop> drivetrain_event_loop_;
const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
- Localizer localizer_;
+ PuppetLocalizer localizer_;
DrivetrainLoop drivetrain_;
std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
@@ -208,4 +212,4 @@
} // namespace testing
} // namespace drivetrain
} // namespace control_loops
-} // namespace y2022
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/localization/utils.cc b/frc971/control_loops/drivetrain/localization/utils.cc
new file mode 100644
index 0000000..ff027d0
--- /dev/null
+++ b/frc971/control_loops/drivetrain/localization/utils.cc
@@ -0,0 +1,72 @@
+#include "frc971/control_loops/drivetrain/localization/utils.h"
+
+namespace frc971::control_loops::drivetrain {
+
+LocalizationUtils::LocalizationUtils(aos::EventLoop *event_loop)
+ : output_fetcher_(event_loop->MakeFetcher<Output>("/drivetrain")),
+ clock_offset_fetcher_(
+ event_loop->MakeFetcher<aos::message_bridge::ServerStatistics>(
+ "/aos")),
+ joystick_state_fetcher_(
+ event_loop->MakeFetcher<aos::JoystickState>("/roborio/aos")) {}
+
+Eigen::Vector2d LocalizationUtils::VoltageOrZero(
+ aos::monotonic_clock::time_point now) {
+ output_fetcher_.Fetch();
+ // Determine if the robot is likely to be disabled currently.
+ const bool disabled = (output_fetcher_.get() == nullptr) ||
+ (output_fetcher_.context().monotonic_event_time +
+ std::chrono::milliseconds(10) <
+ now);
+ return disabled ? Eigen::Vector2d::Zero()
+ : Eigen::Vector2d{output_fetcher_->left_voltage(),
+ output_fetcher_->right_voltage()};
+}
+
+bool LocalizationUtils::MaybeInAutonomous() {
+ joystick_state_fetcher_.Fetch();
+ return (joystick_state_fetcher_.get() != nullptr)
+ ? joystick_state_fetcher_->autonomous()
+ : true;
+}
+
+std::optional<aos::monotonic_clock::duration> LocalizationUtils::ClockOffset(
+ std::string_view node) {
+ std::optional<aos::monotonic_clock::duration> monotonic_offset;
+ clock_offset_fetcher_.Fetch();
+ if (clock_offset_fetcher_.get() != nullptr) {
+ for (const auto connection : *clock_offset_fetcher_->connections()) {
+ if (connection->has_node() && connection->node()->has_name() &&
+ connection->node()->name()->string_view() == node) {
+ if (connection->has_monotonic_offset()) {
+ monotonic_offset =
+ std::chrono::nanoseconds(connection->monotonic_offset());
+ } else {
+ // If we don't have a monotonic offset, that means we aren't
+ // connected.
+ return std::nullopt;
+ }
+ break;
+ }
+ }
+ }
+ CHECK(monotonic_offset.has_value());
+ return monotonic_offset;
+}
+
+// Technically, this should be able to do a single memcpy, but the extra
+// verbosity here seems appropriate.
+Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
+ const frc971::vision::calibration::TransformationMatrix &flatbuffer) {
+ CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ Eigen::Matrix<double, 4, 4> result;
+ result.setIdentity();
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ result(row, col) = (*flatbuffer.data())[row * 4 + col];
+ }
+ }
+ return result;
+}
+
+} // namespace frc971::control_loops::drivetrain
diff --git a/frc971/control_loops/drivetrain/localization/utils.h b/frc971/control_loops/drivetrain/localization/utils.h
new file mode 100644
index 0000000..26242f9
--- /dev/null
+++ b/frc971/control_loops/drivetrain/localization/utils.h
@@ -0,0 +1,51 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_UTILS_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_UTILS_H_
+#include <Eigen/Dense>
+
+#include "aos/events/event_loop.h"
+#include "aos/network/message_bridge_server_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/input/joystick_state_generated.h"
+#include "frc971/vision/calibration_generated.h"
+
+namespace frc971::control_loops::drivetrain {
+// This class provides a variety of checks that have generally proved useful for
+// the localizer but which have no clear place to live otherwise.
+// Specifically, it tracks:
+// * Drivetrain voltages, including checks for whether the Output message
+// has timed out.
+// * Offsets between monotonic clocks on different devices.
+// * Whether we are in autonomous mode.
+class LocalizationUtils {
+ public:
+ LocalizationUtils(aos::EventLoop *event_loop);
+
+ // Returns the latest drivetrain output voltage, or zero if no output is
+ // available (which happens when the robot is disabled; when the robot is
+ // disabled, the voltage is functionally zero). Return value will be
+ // [left_voltage, right_voltage]
+ Eigen::Vector2d VoltageOrZero(aos::monotonic_clock::time_point now);
+
+ // Returns true if either there is no JoystickState message available or if
+ // we are currently in autonomous mode.
+ bool MaybeInAutonomous();
+
+ // Returns the offset between our node and the specified node (or nullopt if
+ // no offset is available). The sign of this will be such that the time on
+ // the remote node = time on our node + ClockOffset().
+ std::optional<aos::monotonic_clock::duration> ClockOffset(
+ std::string_view node);
+
+ private:
+ aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
+ aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+};
+
+// Converts a flatbuffer TransformationMatrix to an Eigen matrix.
+Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
+ const frc971::vision::calibration::TransformationMatrix &flatbuffer);
+
+} // namespace frc971::control_loops::drivetrain
+
+#endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_LOCALIZATION_UTILS_H_
diff --git a/frc971/control_loops/drivetrain/robot_state_plotter.ts b/frc971/control_loops/drivetrain/robot_state_plotter.ts
index 2ce8001..8cffd76 100644
--- a/frc971/control_loops/drivetrain/robot_state_plotter.ts
+++ b/frc971/control_loops/drivetrain/robot_state_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/spline_plotter.ts b/frc971/control_loops/drivetrain/spline_plotter.ts
index c39afd5..67e9fc7 100644
--- a/frc971/control_loops/drivetrain/spline_plotter.ts
+++ b/frc971/control_loops/drivetrain/spline_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/spline_test.cc b/frc971/control_loops/drivetrain/spline_test.cc
index ca4d128..015ec6a 100644
--- a/frc971/control_loops/drivetrain/spline_test.cc
+++ b/frc971/control_loops/drivetrain/spline_test.cc
@@ -129,11 +129,13 @@
plotter_->AddLine(alphas_plot, idy_plot, "Integrated dY");
plotter_->XLabel("Spline Alpha");
plotter_->YLabel("X/Y (m), dX, dY (m / alpha)");
+ plotter_->Publish();
plotter_->AddFigure("X/Y Plot of Spline Path");
plotter_->AddLine(x_plot, y_plot, "spline");
plotter_->XLabel("X (m)");
plotter_->YLabel("Y (m)");
+ plotter_->Publish();
}
}
diff --git a/frc971/control_loops/fixed_quadrature.h b/frc971/control_loops/fixed_quadrature.h
index 572c235..22d4984 100644
--- a/frc971/control_loops/fixed_quadrature.h
+++ b/frc971/control_loops/fixed_quadrature.h
@@ -1,6 +1,7 @@
#ifndef FRC971_CONTROL_LOOPS_FIXED_QUADRATURE_H_
#define FRC971_CONTROL_LOOPS_FIXED_QUADRATURE_H_
+#include <Eigen/Dense>
#include <array>
namespace frc971 {
@@ -9,8 +10,8 @@
// Implements Gaussian Quadrature integration (5th order). fn is the function to
// integrate. It must take 1 argument of type T. The integration is between a
// and b.
-template <typename F, typename T>
-T GaussianQuadrature5(const F &fn, T a, T b) {
+template <typename T, typename F>
+double GaussianQuadrature5(const F &fn, T a, T b) {
// Pulled from Python.
// numpy.set_printoptions(precision=20)
// scipy.special.p_roots(5)
@@ -31,6 +32,30 @@
return answer;
}
+template <size_t N, typename F>
+Eigen::Matrix<double, N, 1> MatrixGaussianQuadrature5(const F &fn, double a,
+ double b) {
+ // Pulled from Python.
+ // numpy.set_printoptions(precision=20)
+ // scipy.special.p_roots(5)
+ const ::std::array<double, 5> x{{
+ -9.06179845938663630633e-01, -5.38469310105682885670e-01,
+ 3.24607628916367383789e-17, 5.38469310105683218737e-01,
+ 9.06179845938663408589e-01}};
+
+ const ::std::array<double, 5> w{{
+ 0.23692688505618844652, 0.4786286704993669705, 0.56888888888888811124,
+ 0.47862867049936674846, 0.23692688505618875183}};
+
+ Eigen::Matrix<double, N, 1> answer;
+ answer.setZero();
+ for (int i = 0; i < 5; ++i) {
+ const double y = (b - a) * (x[i] + 1) / 2.0 + a;
+ answer += (b - a) / 2.0 * w[i] * fn(y);
+ }
+ return answer;
+}
+
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/fixed_quadrature_test.cc b/frc971/control_loops/fixed_quadrature_test.cc
index f842519..0615031 100644
--- a/frc971/control_loops/fixed_quadrature_test.cc
+++ b/frc971/control_loops/fixed_quadrature_test.cc
@@ -16,6 +16,18 @@
EXPECT_NEAR(y1, ::std::sin(0.5), 1e-15);
}
+// Tests that integrating y = [cos(x), sin(x)] works.
+TEST(GaussianQuadratureTest, MatrixCos) {
+ Eigen::Matrix<double, 2, 1> y1 = MatrixGaussianQuadrature5<2>(
+ [](double x) {
+ return Eigen::Matrix<double, 2, 1>(std::cos(x), std::sin(x));
+ },
+ 0.0, 0.5);
+
+ EXPECT_TRUE(y1.isApprox(Eigen::Matrix<double, 2, 1>(
+ ::std::sin(0.5), -std::cos(0.5) + std::cos(0))));
+}
+
} // namespace testing
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 7b46439..c547833 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -29,6 +29,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -77,6 +78,7 @@
":controls",
":python_init",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
@@ -90,6 +92,7 @@
":controls",
":python_init",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
@@ -132,6 +135,7 @@
":python_init",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
@@ -153,6 +157,7 @@
"//aos/util:py_trapezoid_profile",
"//frc971/control_loops:python_init",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
@@ -166,6 +171,7 @@
"//aos/util:py_trapezoid_profile",
"//frc971/control_loops:python_init",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 6772e71..c6ffb50 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -120,11 +120,15 @@
self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
- self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
- B=self.B,
- C=self.C,
- Q=self.Q,
- R=self.R)
+ # From testing, these continuous Q and R's appear to be good approximations of Q and R.
+ self.Q_continuous = self.Q / self.dt
+ self.R_continuous = self.R * 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)
glog.debug('Kal %s', repr(self.KalmanGain))
@@ -165,11 +169,15 @@
self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
- self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
- B=self.B,
- C=self.C,
- Q=self.Q,
- R=self.R)
+ # From testing, these continuous Q and R's appear to be good approximations of Q and R.
+ self.Q_continuous = self.Q / self.dt
+ self.R_continuous = self.R * 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.K_unaugmented = self.K
self.K = numpy.matrix(numpy.zeros((1, 3)))
@@ -409,7 +417,12 @@
max_acceleration=max_acceleration)
-def WriteAngularSystem(params, plant_files, controller_files, year_namespaces):
+def WriteAngularSystem(params,
+ plant_files,
+ controller_files,
+ year_namespaces,
+ plant_type='StateFeedbackPlant',
+ observer_type='StateFeedbackObserver'):
"""Writes out the constants for a angular system to a file.
Args:
@@ -440,7 +453,9 @@
loop_writer = control_loop.ControlLoopWriter(name,
angular_systems,
- namespaces=year_namespaces)
+ namespaces=year_namespaces,
+ plant_type=plant_type,
+ observer_type=observer_type)
loop_writer.AddConstant(
control_loop.Constant('kOutputRatio', '%f', angular_systems[0].G))
loop_writer.AddConstant(
@@ -451,5 +466,7 @@
integral_loop_writer = control_loop.ControlLoopWriter(
'Integral' + name,
integral_angular_systems,
- namespaces=year_namespaces)
+ namespaces=year_namespaces,
+ plant_type=plant_type,
+ observer_type=observer_type)
integral_loop_writer.Write(controller_files[0], controller_files[1])
diff --git a/frc971/control_loops/runge_kutta.h b/frc971/control_loops/runge_kutta.h
index 963f463..7fa3f3e 100644
--- a/frc971/control_loops/runge_kutta.h
+++ b/frc971/control_loops/runge_kutta.h
@@ -31,8 +31,8 @@
return X;
}
-// 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
+// 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) {
@@ -45,6 +45,15 @@
return y + (k1 + 2.0 * k2 + 2.0 * k3 + k4) / 6.0;
}
+template <typename F, typename T>
+T RungeKuttaSteps(const F &fn, T X, double t, double dt, int steps) {
+ dt = dt / steps;
+ for (int i = 0; i < steps; ++i) {
+ X = RungeKutta(fn, X, t + dt * i, dt);
+ }
+ return X;
+}
+
// 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.
diff --git a/frc971/control_loops/runge_kutta_test.cc b/frc971/control_loops/runge_kutta_test.cc
index 615f82c..e07c469 100644
--- a/frc971/control_loops/runge_kutta_test.cc
+++ b/frc971/control_loops/runge_kutta_test.cc
@@ -9,7 +9,7 @@
// Tests that integrating dx/dt = e^x works.
TEST(RungeKuttaTest, Exponential) {
::Eigen::Matrix<double, 1, 1> y0;
- y0(0, 0) = 0.0;
+ y0(0, 0) = 1.0;
::Eigen::Matrix<double, 1, 1> y1 = RungeKutta(
[](::Eigen::Matrix<double, 1, 1> x) {
@@ -18,7 +18,22 @@
return y;
},
y0, 0.1);
- EXPECT_NEAR(y1(0, 0), ::std::exp(0.1) - ::std::exp(0), 1e-3);
+ EXPECT_NEAR(y1(0, 0), -std::log(std::exp(-1.0) - 0.1), 1e-5);
+}
+
+// Now do it with sub steps.
+TEST(RungeKuttaTest, ExponentialSteps) {
+ ::Eigen::Matrix<double, 1, 1> y0;
+ y0(0, 0) = 1.0;
+
+ ::Eigen::Matrix<double, 1, 1> y1 = RungeKuttaSteps(
+ [](::Eigen::Matrix<double, 1, 1> x) {
+ ::Eigen::Matrix<double, 1, 1> y;
+ y(0, 0) = ::std::exp(x(0, 0));
+ return y;
+ },
+ y0, 0.1, 10);
+ EXPECT_NEAR(y1(0, 0), -std::log(std::exp(-1.0) - 0.1), 1e-8);
}
// Tests that integrating dx/dt = e^x works when we provide a U.
@@ -63,6 +78,20 @@
EXPECT_NEAR(y1(0, 0), RungeKuttaTimeVaryingSolution(6.0)(0, 0), 1e-3);
}
+// Now do it with a ton of sub steps.
+TEST(RungeKuttaTest, RungeKuttaTimeVaryingSteps) {
+ ::Eigen::Matrix<double, 1, 1> y0 = RungeKuttaTimeVaryingSolution(5.0);
+
+ ::Eigen::Matrix<double, 1, 1> y1 = RungeKuttaSteps(
+ [](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, 10);
+ EXPECT_NEAR(y1(0, 0), RungeKuttaTimeVaryingSolution(6.0)(0, 0), 1e-7);
+}
+
} // namespace testing
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/image_streamer/www/BUILD b/frc971/image_streamer/www/BUILD
index 908c5b4..f808a73 100644
--- a/frc971/image_streamer/www/BUILD
+++ b/frc971/image_streamer/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
package(default_visibility = ["//visibility:public"])
@@ -12,7 +11,7 @@
]),
)
-ts_library(
+ts_project(
name = "proxy",
srcs = [
"proxy.ts",
@@ -23,7 +22,7 @@
],
)
-ts_library(
+ts_project(
name = "main",
srcs = [
"main.ts",
diff --git a/frc971/image_streamer/www/proxy.ts b/frc971/image_streamer/www/proxy.ts
index bfe8135..517d203 100644
--- a/frc971/image_streamer/www/proxy.ts
+++ b/frc971/image_streamer/www/proxy.ts
@@ -1,5 +1,5 @@
import {Builder, ByteBuffer} from 'flatbuffers';
-import {Payload, SdpType, WebSocketIce, WebSocketMessage, WebSocketSdp} from 'org_frc971/aos/network/web_proxy_generated';
+import {Payload, SdpType, WebSocketIce, WebSocketMessage, WebSocketSdp} from '../../../aos/network/web_proxy_generated';
// Port 9 is used to indicate an active (outgoing) TCP connection. The server
// would send a corresponding candidate with the actual TCP port it is
diff --git a/frc971/imu_reader/BUILD b/frc971/imu_reader/BUILD
index 7d424c4..4825900 100644
--- a/frc971/imu_reader/BUILD
+++ b/frc971/imu_reader/BUILD
@@ -1,3 +1,6 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
+
cc_library(
name = "imu",
srcs = [
@@ -14,8 +17,38 @@
"//aos/util:crc32",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
- "//y2022:constants",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/types:span",
],
)
+
+flatbuffer_cc_library(
+ name = "imu_failures_fbs",
+ srcs = [
+ "imu_failures.fbs",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "imu_failures_ts_fbs",
+ srcs = [
+ "imu_failures.fbs",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "imu_watcher",
+ srcs = ["imu_watcher.cc"],
+ hdrs = ["imu_watcher.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":imu_failures_fbs",
+ "//aos/events:event_loop",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/zeroing:imu_zeroer",
+ "//frc971/zeroing:wrap",
+ ],
+)
diff --git a/frc971/imu_reader/imu_failures.fbs b/frc971/imu_reader/imu_failures.fbs
new file mode 100644
index 0000000..e6d9d85
--- /dev/null
+++ b/frc971/imu_reader/imu_failures.fbs
@@ -0,0 +1,16 @@
+namespace frc971.controls;
+
+// Counters to track how many times different errors have occurred.
+table ImuFailures {
+ // Count of total number of checksum mismatches between the IMU and the
+ // pico itself.
+ imu_to_pico_checksum_mismatch:uint (id: 0);
+ // Count of total number of checksum mismatches between the pico board
+ // and the raspberry pi.
+ pico_to_pi_checksum_mismatch:uint (id: 1);
+ // Total number of dropped/missed messages.
+ missed_messages:uint (id: 2);
+ // Total number of messages dropped for any other conditions that can fault
+ // the zeroer (e.g., diagnostic failures in the IMU).
+ other_zeroing_faults:uint (id: 3);
+}
diff --git a/frc971/imu_reader/imu_watcher.cc b/frc971/imu_reader/imu_watcher.cc
new file mode 100644
index 0000000..0e0d656
--- /dev/null
+++ b/frc971/imu_reader/imu_watcher.cc
@@ -0,0 +1,117 @@
+#include "frc971/imu_reader/imu_watcher.h"
+
+#include "frc971/wpilib/imu_batch_generated.h"
+
+namespace frc971::controls {
+namespace {
+// Return the amount of distance that the drivetrain can travel before the
+// encoders will wrap. Necessary because the pico only sends over the encoders
+// in 16-bit counters, which will wrap relatively readily.
+double EncoderWrapDistance(double drivetrain_distance_per_encoder_tick) {
+ return drivetrain_distance_per_encoder_tick * (1 << 16);
+}
+} // namespace
+ImuWatcher::ImuWatcher(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config,
+ const double drivetrain_distance_per_encoder_tick,
+ std::function<
+ void(aos::monotonic_clock::time_point, aos::monotonic_clock::time_point,
+ std::optional<Eigen::Vector2d>, Eigen::Vector3d, Eigen::Vector3d)>
+ callback)
+ : dt_config_(dt_config),
+ callback_(std::move(callback)),
+ zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
+ left_encoder_(
+ -EncoderWrapDistance(drivetrain_distance_per_encoder_tick) / 2.0,
+ EncoderWrapDistance(drivetrain_distance_per_encoder_tick)),
+ right_encoder_(
+ -EncoderWrapDistance(drivetrain_distance_per_encoder_tick) / 2.0,
+ EncoderWrapDistance(drivetrain_distance_per_encoder_tick)) {
+ event_loop->MakeWatcher("/localizer", [this, event_loop](
+ const IMUValuesBatch &values) {
+ CHECK(values.has_readings());
+ for (const IMUValues *value : *values.readings()) {
+ zeroer_.InsertAndProcessMeasurement(*value);
+ if (zeroer_.Faulted()) {
+ if (value->checksum_failed()) {
+ imu_fault_tracker_.pico_to_pi_checksum_mismatch++;
+ } else if (value->previous_reading_diag_stat()->checksum_mismatch()) {
+ imu_fault_tracker_.imu_to_pico_checksum_mismatch++;
+ } else {
+ imu_fault_tracker_.other_zeroing_faults++;
+ }
+ } else {
+ if (!first_valid_data_counter_.has_value()) {
+ first_valid_data_counter_ = value->data_counter();
+ }
+ }
+ if (first_valid_data_counter_.has_value()) {
+ total_imu_messages_received_++;
+ // Only update when we have good checksums, since the data counter
+ // could get corrupted.
+ if (!zeroer_.Faulted()) {
+ if (value->data_counter() < last_data_counter_) {
+ data_counter_offset_ += 1 << 16;
+ }
+ imu_fault_tracker_.missed_messages =
+ (1 + value->data_counter() + data_counter_offset_ -
+ first_valid_data_counter_.value()) -
+ total_imu_messages_received_;
+ last_data_counter_ = value->data_counter();
+ }
+ }
+ // Set encoders to nullopt if we are faulted at all (faults may include
+ // checksum mismatches).
+ const std::optional<Eigen::Vector2d> encoders =
+ zeroer_.Faulted()
+ ? std::nullopt
+ : std::make_optional(Eigen::Vector2d{
+ left_encoder_.Unwrap(value->left_encoder()),
+ right_encoder_.Unwrap(value->right_encoder())});
+ {
+ // If we can't trust the imu reading, just naively increment the
+ // pico timestamp.
+ const aos::monotonic_clock::time_point pico_timestamp =
+ zeroer_.Faulted()
+ ? (last_pico_timestamp_.has_value()
+ ? last_pico_timestamp_.value() + kNominalDt
+ : aos::monotonic_clock::epoch())
+ : aos::monotonic_clock::time_point(
+ std::chrono::microseconds(value->pico_timestamp_us()));
+ // TODO(james): If we get large enough drift off of the pico,
+ // actually do something about it.
+ if (!pico_offset_.has_value()) {
+ pico_offset_ =
+ event_loop->context().monotonic_event_time - pico_timestamp;
+ last_pico_timestamp_ = pico_timestamp;
+ }
+ if (pico_timestamp < last_pico_timestamp_) {
+ pico_offset_.value() += std::chrono::microseconds(1ULL << 32);
+ }
+ const aos::monotonic_clock::time_point sample_timestamp =
+ pico_offset_.value() + pico_timestamp;
+ pico_offset_error_ =
+ event_loop->context().monotonic_event_time - sample_timestamp;
+ const bool zeroed = zeroer_.Zeroed();
+
+ // When not zeroed, we aim to approximate zero acceleration by doing a
+ // zero-order hold on the gyro and setting the accelerometer readings to
+ // gravity.
+ callback_(sample_timestamp,
+ aos::monotonic_clock::time_point(std::chrono::nanoseconds(
+ value->monotonic_timestamp_ns())),
+ encoders, zeroed ? zeroer_.ZeroedGyro().value() : last_gyro_,
+ zeroed ? zeroer_.ZeroedAccel().value()
+ : dt_config_.imu_transform.transpose() *
+ Eigen::Vector3d::UnitZ());
+
+ if (zeroed) {
+ last_gyro_ = zeroer_.ZeroedGyro().value();
+ }
+ last_pico_timestamp_ = pico_timestamp;
+ }
+ }
+ });
+}
+} // namespace frc971::controls
diff --git a/frc971/imu_reader/imu_watcher.h b/frc971/imu_reader/imu_watcher.h
new file mode 100644
index 0000000..8867266
--- /dev/null
+++ b/frc971/imu_reader/imu_watcher.h
@@ -0,0 +1,104 @@
+#ifndef FRC971_IMU_READER_IMU_WATCHER_H_
+#define FRC971_IMU_READER_IMU_WATCHER_H_
+
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/imu_reader/imu_failures_generated.h"
+#include "frc971/zeroing/imu_zeroer.h"
+#include "frc971/zeroing/wrap.h"
+
+namespace frc971::controls {
+// This class handles listening to an IMUValuesBatch channel sourced off of our
+// ADIS16505 pico board and calling the user-specified callback with the
+// relevant data. This intermediary is used to unwrap encoder readings, check
+// for checksum mismatches, zero the gyro/accelerometer, and translate
+// timestamps between devices.
+// TODO(james): Get unit tests for this class specifically written (we already
+// have tests for the code that exercises this).
+class ImuWatcher {
+ public:
+ // Expected frequency of messages from the pico-based IMU.
+ static constexpr std::chrono::microseconds kNominalDt{500};
+
+ // The callback specified by the user will take:
+ // sample_time_pico: The pico-based timestamp corresponding to the measurement
+ // time. This will be offset by roughly pico_offset_error from the pi's
+ // monotonic clock.
+ // sample_time_pi: Timestamp from the kernel for when the pi observed the
+ // relevant measurement.
+ // encoders: Current encoder values, [left, right]. nullopt if we have faults.
+ // gyro: Current gyro readings, in the raw IMU axes (i.e., these must be
+ // rotated by dt_config.imu_transform before being used). Suitable
+ // for input to the down estimator.
+ // accel: Current accelerometer readings, in the raw IMU axes (i.e., these
+ // must be rotated by dt_config.imu_transform before being used). Suitable
+ // for input to the down estimator.
+ ImuWatcher(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config,
+ double drivetrain_distance_per_encoder_tick,
+ std::function<void(
+ aos::monotonic_clock::time_point, aos::monotonic_clock::time_point,
+ std::optional<Eigen::Vector2d>, Eigen::Vector3d, Eigen::Vector3d)>
+ callback);
+
+ const zeroing::ImuZeroer &zeroer() const { return zeroer_; }
+
+ flatbuffers::Offset<ImuFailures> PopulateImuFailures(
+ flatbuffers::FlatBufferBuilder *fbb) const {
+ return ImuFailures::Pack(*fbb, &imu_fault_tracker_);
+ }
+
+ // t = pico_offset + pico_timestamp.
+ // Note that this can drift over sufficiently long time periods!
+ std::optional<std::chrono::nanoseconds> pico_offset() const {
+ return pico_offset_;
+ }
+ // pico_offset_error = actual_time - (pico_offset + pico_timestamp)
+ // If the pico clock and pi clock are exactly in sync, this will always be
+ // zero.
+ aos::monotonic_clock::duration pico_offset_error() const {
+ return pico_offset_error_;
+ }
+
+ private:
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ std::function<void(
+ aos::monotonic_clock::time_point, aos::monotonic_clock::time_point,
+ std::optional<Eigen::Vector2d>, Eigen::Vector3d, Eigen::Vector3d)>
+ callback_;
+
+ // Last observed pico measurement. Used to track IMU staleness.
+ std::optional<aos::monotonic_clock::time_point> last_pico_timestamp_;
+ // Estimate of the drift between the pi and pico clocks. See
+ // pico_offset_error() for definition.
+ aos::monotonic_clock::duration pico_offset_error_;
+ // Raw offset between the pico and pi clocks. Gets updated to compensate for
+ // wrapping in the pico timestamp.
+ std::optional<std::chrono::nanoseconds> pico_offset_;
+
+ zeroing::ImuZeroer zeroer_;
+
+ ImuFailuresT imu_fault_tracker_;
+ // The first observed data counter. This is used to help us track dropped
+ // messages.
+ std::optional<size_t> first_valid_data_counter_;
+ size_t total_imu_messages_received_ = 0;
+ // added to the current read data counter to allow the data counter to
+ // increase monotonically. Will be a multiple of 2 ** 16.
+ size_t data_counter_offset_ = 0;
+ // PRevious data counter value (data_counter_offset_ not included).
+ int last_data_counter_ = 0;
+
+ // Unwrappers for the left and right encoders (necessary because the pico only
+ // sends out 16-bit encoder counts).
+ zeroing::UnwrapSensor left_encoder_;
+ zeroing::UnwrapSensor right_encoder_;
+
+ // When we lose IMU readings (e.g., due to checksum mismatches), we perform a
+ // zero-order hold on gyro readings; in order to do this, store the most
+ // recent gyro readings.
+ Eigen::Vector3d last_gyro_ = Eigen::Vector3d::Zero();
+};
+} // namespace frc971::controls
+#endif // FRC971_IMU_READER_IMU_WATCHER_H_
diff --git a/frc971/raspi/rootfs/make_sd.sh b/frc971/raspi/rootfs/make_sd.sh
index 4c50a6b..01f94f8 100755
--- a/frc971/raspi/rootfs/make_sd.sh
+++ b/frc971/raspi/rootfs/make_sd.sh
@@ -4,7 +4,7 @@
# Disk image to use for creating SD card
# NOTE: You MUST run modify_rootfs.sh on this image BEFORE running make_sd.sh
-ORIG_IMAGE="2022-01-28-raspios-bullseye-arm64-lite.img"
+ORIG_IMAGE="arm64_bullseye_debian.img"
IMAGE=`echo ${ORIG_IMAGE} | sed s/.img/-frc-mods.img/`
DEVICE="/dev/sda"
diff --git a/frc971/rockpi/BUILD b/frc971/rockpi/BUILD
new file mode 100644
index 0000000..f6d1840
--- /dev/null
+++ b/frc971/rockpi/BUILD
@@ -0,0 +1 @@
+exports_files(["rockpi_config.json"])
diff --git a/frc971/rockpi/build_rootfs.sh b/frc971/rockpi/build_rootfs.sh
index 2e16419..bb8b84a 100755
--- a/frc971/rockpi/build_rootfs.sh
+++ b/frc971/rockpi/build_rootfs.sh
@@ -195,7 +195,7 @@
target "apt-get -y install -t bullseye-backports bpfcc-tools"
-target "apt-get install -y sudo openssh-server python3 bash-completion git v4l-utils cpufrequtils pmount rsync vim-nox chrony libopencv-calib3d4.5 libopencv-contrib4.5 libopencv-core4.5 libopencv-features2d4.5 libopencv-flann4.5 libopencv-highgui4.5 libopencv-imgcodecs4.5 libopencv-imgproc4.5 libopencv-ml4.5 libopencv-objdetect4.5 libopencv-photo4.5 libopencv-shape4.5 libopencv-stitching4.5 libopencv-superres4.5 libopencv-video4.5 libopencv-videoio4.5 libopencv-videostab4.5 libopencv-viz4.5 libnice10 pmount libnice-dev feh libgstreamer1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-bad1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-nice usbutils locales trace-cmd clinfo jq strace sysstat"
+target "apt-get install -y sudo openssh-server python3 bash-completion git v4l-utils cpufrequtils pmount rsync vim-nox chrony libopencv-calib3d4.5 libopencv-contrib4.5 libopencv-core4.5 libopencv-features2d4.5 libopencv-flann4.5 libopencv-highgui4.5 libopencv-imgcodecs4.5 libopencv-imgproc4.5 libopencv-ml4.5 libopencv-objdetect4.5 libopencv-photo4.5 libopencv-shape4.5 libopencv-stitching4.5 libopencv-superres4.5 libopencv-video4.5 libopencv-videoio4.5 libopencv-videostab4.5 libopencv-viz4.5 libnice10 pmount libnice-dev feh libgstreamer1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-bad1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-nice usbutils locales trace-cmd clinfo jq strace sysstat lm-sensors"
target "cd /tmp && wget https://software.frc971.org/Build-Dependencies/libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb && sudo dpkg -i libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb && rm libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb"
target "apt-get clean"
@@ -229,6 +229,7 @@
copyfile root.root 644 etc/udev/rules.d/99-usb-mount.rules
copyfile root.root 644 etc/udev/rules.d/99-adis16505.rules
copyfile root.root 644 etc/udev/rules.d/99-mali.rules
+copyfile root.root 644 etc/chrony/chrony.conf
target "apt-get update"
diff --git a/frc971/rockpi/contents/etc/chrony/chrony.conf b/frc971/rockpi/contents/etc/chrony/chrony.conf
new file mode 100644
index 0000000..6e03143
--- /dev/null
+++ b/frc971/rockpi/contents/etc/chrony/chrony.conf
@@ -0,0 +1,59 @@
+# Welcome to the chrony configuration file. See chrony.conf(5) for more
+# information about usable directives.
+
+# Include configuration files found in /etc/chrony/conf.d.
+confdir /etc/chrony/conf.d
+
+# Use Debian vendor zone.
+pool 2.debian.pool.ntp.org iburst
+
+# Use time sources from DHCP.
+sourcedir /run/chrony-dhcp
+
+# Use NTP sources found in /etc/chrony/sources.d.
+sourcedir /etc/chrony/sources.d
+
+# This directive specify the location of the file containing ID/key pairs for
+# NTP authentication.
+keyfile /etc/chrony/chrony.keys
+
+# This directive specify the file into which chronyd will store the rate
+# information.
+driftfile /var/lib/chrony/chrony.drift
+
+# Save NTS keys and cookies.
+ntsdumpdir /var/lib/chrony
+
+# Uncomment the following line to turn logging on.
+#log tracking measurements statistics
+
+# Log files location.
+logdir /var/log/chrony
+
+# Stop bad estimates upsetting machine clock.
+maxupdateskew 100.0
+
+# This directive enables kernel synchronisation (every 11 minutes) of the
+# real-time clock. Note that it can’t be used along with the 'rtcfile' directive.
+rtcsync
+
+# Always step the time if it's more than 4ms off.
+makestep 0.004 -1
+
+# The next 2 settings are used to control how much slewing of the clock chrony
+# is allowed to do. The total will be the sum of both and we have a hard limit
+# at 500ppm coming from AOS.
+
+# The maximum slewing allowed to correct an offset with the reference clock.
+# Note that this value doesn't include corrections due to frequency errors
+# (drift).
+maxslewrate 200
+
+# Maximum frequency error (drift) of the clock. Chrony will try to compensate
+# for drift and this setting limits how large that correction can be.
+maxdrift 100
+
+# Get TAI-UTC offset and leap seconds from the system tz database.
+# This directive must be commented out when using time sources serving
+# leap-smeared time.
+leapsectz right/UTC
diff --git a/frc971/rockpi/contents/etc/fstab b/frc971/rockpi/contents/etc/fstab
index cf62c9f..c148c2d 100644
--- a/frc971/rockpi/contents/etc/fstab
+++ b/frc971/rockpi/contents/etc/fstab
@@ -1,2 +1,2 @@
-/dev/mmcblk0p1 /boot auto defaults 0 2
/dev/mmcblk0p2 / auto errors=remount-ro 0 0
+tmpfs /dev/shm tmpfs rw,nosuid,nodev,size=90% 0 0
diff --git a/frc971/rockpi/contents/root/bin/change_hostname.sh b/frc971/rockpi/contents/root/bin/change_hostname.sh
index a784bb1..43e6528 100755
--- a/frc971/rockpi/contents/root/bin/change_hostname.sh
+++ b/frc971/rockpi/contents/root/bin/change_hostname.sh
@@ -40,23 +40,10 @@
done
fi
-# Put corret team number in roborio's address, or add it if missing
+# Put correct team number in roborio's address, or add it if missing
if grep '^10\.[0-9]*\.[0-9]*\.2\s*roborio$' /etc/hosts >/dev/null;
then
sed -i "s/^10\.[0-9]*\.[0-9]*\(\.2\s*roborio\)$/${IP_BASE}\1/" /etc/hosts
else
echo -e "${IP_BASE}.2\troborio" >> /etc/hosts
fi
-
-# Put corret team number in imu's address, or add it if missing
-if grep '^10\.[0-9]*\.[0-9]*\.105\s.*\s*imu$' /etc/hosts >/dev/null;
-then
- sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi5 imu\)$/${IP_BASE}\1${TEAM_NUMBER}\2/" /etc/hosts
-else
- if grep '^10\.[0-9]*\.[0-9]*\.105\s*pi-[0-9]*-[0-9]*\s*pi5$' /etc/hosts
- then
- sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi5\)$/${IP_BASE}\1${TEAM_NUMBER}\2 imu/" /etc/hosts
- else
- echo -e "${IP_BASE}.105\tpi-${TEAM_NUMBER}-5 pi5 imu" >> /etc/hosts
- fi
-fi
diff --git a/frc971/rockpi/rockpi_config.json b/frc971/rockpi/rockpi_config.json
new file mode 100644
index 0000000..d4cbaae
--- /dev/null
+++ b/frc971/rockpi/rockpi_config.json
@@ -0,0 +1,107 @@
+{
+ "irqs": [
+ {
+ "name": "ttyS2",
+ "affinity": [1]
+ },
+ {
+ "name": "dw-mci",
+ "affinity": [1]
+ },
+ {
+ "name": "mmc1",
+ "affinity": [1]
+ },
+ {
+ "name": "rkisp1",
+ "affinity": [2]
+ },
+ {
+ "name": "ff3c0000.i2c",
+ "affinity": [2]
+ },
+ {
+ "name": "ff3d0000.i2c",
+ "affinity": [2]
+ },
+ {
+ "name": "ff6e0000.dma-controller",
+ "affinity": [0]
+ },
+ {
+ "name": "ff1d0000.spi",
+ "affinity": [0]
+ },
+ {
+ "name": "eth0",
+ "affinity": [1]
+ }
+ ],
+ "kthreads": [
+ {
+ "name": "irq/*-ff940000.hdmi",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-rockchip_usb2phy",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-mmc0",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-mmc1",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-fe320000.mmc cd",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-vc4 crtc",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-rkisp1",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 60,
+ "affinity": [2]
+ },
+ {
+ "name": "irq/*-ff3c0000.i2c",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 51,
+ "affinity": [2]
+ },
+ {
+ "name": "irq/*-adis16505",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 59,
+ "affinity": [0]
+ },
+ {
+ "name": "irq/*-ff6e0000.dma-controller",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 59,
+ "affinity": [0]
+ },
+ {
+ "name": "spi0",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 57,
+ "affinity": [0]
+ },
+ {
+ "name": "irq/*-eth0",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 10,
+ "affinity": [1]
+ },
+ {
+ "name": "irq/*-rockchip_thermal",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 1
+ }
+ ]
+}
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index 711ed7d..f01af3c 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -8,11 +8,11 @@
#include "aos/events/simulated_event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
+#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
-#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
@@ -116,10 +116,10 @@
CalibrationFoxgloveVisualizer::CalibrationFoxgloveVisualizer(
aos::EventLoop *event_loop)
: event_loop_(event_loop),
- image_converter_(event_loop_, "/camera", "/visualization",
+ image_converter_(event_loop_, "/camera", "/camera",
ImageCompression::kJpeg),
annotations_sender_(
- event_loop_->MakeSender<foxglove::ImageAnnotations>("/visualization")) {}
+ event_loop_->MakeSender<foxglove::ImageAnnotations>("/camera")) {}
aos::FlatbufferDetachedBuffer<aos::Configuration>
CalibrationFoxgloveVisualizer::AddVisualizationChannels(
diff --git a/frc971/vision/extrinsics_calibration.cc b/frc971/vision/extrinsics_calibration.cc
index d563fb0..daa371e 100644
--- a/frc971/vision/extrinsics_calibration.cc
+++ b/frc971/vision/extrinsics_calibration.cc
@@ -488,38 +488,6 @@
vis_robot.SetCameraParameters(camera_mat);
vis_robot.SetDistortionCoefficients(dist_coeffs);
- /*
- // Draw an initial visualization
- Eigen::Vector3d T_world_imu_vec =
- calibration_parameters.initial_state.block<3, 1>(0, 0);
- Eigen::Translation3d T_world_imu(T_world_imu_vec);
- Eigen::Affine3d H_world_imu =
- T_world_imu * calibration_parameters.initial_orientation;
-
- vis_robot.DrawFrameAxes(H_world_imu, "imu");
-
- Eigen::Quaterniond R_imu_pivot(calibration_parameters.pivot_to_imu);
- Eigen::Translation3d T_imu_pivot(
- calibration_parameters.pivot_to_imu_translation);
- Eigen::Affine3d H_imu_pivot = T_imu_pivot * R_imu_pivot;
- Eigen::Affine3d H_world_pivot = H_world_imu * H_imu_pivot;
- vis_robot.DrawFrameAxes(H_world_pivot, "pivot");
-
- Eigen::Affine3d H_imupivot_camerapivot(
- Eigen::AngleAxisd(1.5, Eigen::Vector3d::UnitZ()));
- Eigen::Quaterniond R_camera_pivot(calibration_parameters.pivot_to_camera);
- Eigen::Translation3d T_camera_pivot(
- calibration_parameters.pivot_to_camera_translation);
- Eigen::Affine3d H_camera_pivot = T_camera_pivot * R_camera_pivot;
- Eigen::Affine3d H_world_camera = H_world_imu * H_imu_pivot *
- H_imupivot_camerapivot *
- H_camera_pivot.inverse();
- vis_robot.DrawFrameAxes(H_world_camera, "camera");
-
- cv::imshow("Original poses", image_mat);
- cv::waitKey();
- */
-
uint current_state_index = 0;
uint current_turret_index = 0;
for (uint i = 0; i < camera_times_.size() - 1; i++) {
@@ -623,11 +591,6 @@
cv::imshow("Live", image_mat);
cv::waitKey(50);
-
- if (i % 200 == 0) {
- LOG(INFO) << "Pausing at step " << i;
- cv::waitKey();
- }
}
LOG(INFO) << "Finished visualizing robot. Press any key to continue";
cv::waitKey();
@@ -849,11 +812,11 @@
trans_error_scale * filter.errorpz(i);
}
- LOG(INFO) << "Cost function calc took "
- << chrono::duration<double>(aos::monotonic_clock::now() -
- start_time)
- .count()
- << " seconds";
+ VLOG(2) << "Cost function calc took "
+ << chrono::duration<double>(aos::monotonic_clock::now() -
+ start_time)
+ .count()
+ << " seconds";
return true;
}
@@ -898,7 +861,7 @@
calibration_parameters->accelerometer_bias.data());
}
- {
+ if (calibration_parameters->has_pivot) {
// The turret's Z rotation is redundant with the camera's mounting z
// rotation since it's along the rotation axis.
ceres::CostFunction *turret_z_cost_function =
@@ -922,6 +885,17 @@
calibration_parameters->pivot_to_imu_translation.data());
}
+ {
+ // The board rotation in z is a bit arbitrary, so hoping to limit it to
+ // increase repeatability
+ ceres::CostFunction *board_z_cost_function =
+ new ceres::AutoDiffCostFunction<PenalizeQuaternionZ, 1, 4>(
+ new PenalizeQuaternionZ());
+ problem.AddResidualBlock(
+ board_z_cost_function, nullptr,
+ calibration_parameters->board_to_world.coeffs().data());
+ }
+
problem.SetParameterization(
calibration_parameters->initial_orientation.coeffs().data(),
quaternion_local_parameterization);
@@ -952,9 +926,9 @@
// Run the solver!
ceres::Solver::Options options;
options.minimizer_progress_to_stdout = true;
- options.gradient_tolerance = 1e-12;
+ options.gradient_tolerance = 1e-6;
options.function_tolerance = 1e-6;
- options.parameter_tolerance = 1e-12;
+ options.parameter_tolerance = 1e-6;
ceres::Solver::Summary summary;
Solve(options, &problem, &summary);
LOG(INFO) << summary.FullReport();
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
index cee2b07..ed87895 100644
--- a/frc971/vision/target_map.fbs
+++ b/frc971/vision/target_map.fbs
@@ -18,7 +18,7 @@
// AprilTag ID of this target
id:uint64 (id: 0);
- // Pose of target relative to either the field origin or robot.
+ // Pose of target relative to either the field origin or camera.
// To get the pose of the target, do:
// Translation3d(position.x(), position.y(), position.z()) *
// Quaterniond(orientation.w(), orientation.x(), orientation.y(), orientation.z())
@@ -29,7 +29,7 @@
// Map of all target poses on a field.
// There are two possible uses for this:
// 1. Static april tag poses on the field solved for by TargetMapper.
-// 2. List of detected april poses relative to the robot.
+// 2. List of detected april poses relative to the camera.
table TargetMap {
target_poses:[TargetPoseFbs] (id: 0);
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index eb0571c..ca3dd0c 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -1,4 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
@@ -469,7 +469,7 @@
],
)
-ts_library(
+ts_project(
name = "imu_plot_utils",
srcs = ["imu_plot_utils.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -484,7 +484,7 @@
],
)
-ts_library(
+ts_project(
name = "imu_plotter",
srcs = ["imu_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/wpilib/imu_plot_utils.ts b/frc971/wpilib/imu_plot_utils.ts
index c4b516b..a56fd9b 100644
--- a/frc971/wpilib/imu_plot_utils.ts
+++ b/frc971/wpilib/imu_plot_utils.ts
@@ -1,9 +1,9 @@
// This script provides a basic utility for de-batching the IMUValues
// message. See imu_plotter.ts for usage.
-import {IMUValuesBatch} from 'org_frc971/frc971/wpilib/imu_batch_generated';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {IMUValuesBatch} from './imu_batch_generated';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
+import {Point} from '../../aos/network/www/plotter';
+import {Table} from '../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index 6768e1c..91edd7c 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -1,7 +1,7 @@
// Provides a basic plot for debugging IMU-related issues on a robot.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
new file mode 100644
index 0000000..65a160f
--- /dev/null
+++ b/pnpm-lock.yaml
@@ -0,0 +1,4373 @@
+lockfileVersion: 5.4
+
+importers:
+
+ .:
+ specifiers:
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+ '@angular/forms': 15.0.1
+ '@angular/platform-browser': 15.0.1
+ '@babel/cli': ^7.6.0
+ '@babel/core': ^7.6.0
+ '@rollup/plugin-node-resolve': 13.1.3
+ '@types/flatbuffers': 1.10.0
+ '@types/jasmine': 3.10.3
+ '@types/node': 17.0.21
+ cypress: 12.3.0
+ html-insert-assets: 0.14.3
+ jasmine: 3.10.0
+ karma: 6.4.1
+ karma-chrome-launcher: 3.1.0
+ karma-firefox-launcher: 2.1.2
+ karma-jasmine: 4.0.1
+ karma-requirejs: 1.1.0
+ karma-sourcemap-loader: 0.3.8
+ prettier: 2.6.1
+ protractor: 7.0.0
+ requirejs: 2.3.6
+ rollup: 2.66.1
+ rxjs: 7.5.7
+ terser: 5.10.0
+ typescript: 4.8.4
+ zone.js: ^0.11.4
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+ '@angular/compiler-cli': 15.0.1_cjgqlygpi5ntpb3clzn7pzsmpy
+ '@angular/core': 15.0.1_rxjs@7.5.7+zone.js@0.11.8
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+
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+ /uuid/8.3.2:
+ resolution: {integrity: sha512-+NYs2QeMWy+GWFOEm9xnn6HCDp0l7QBD7ml8zLUmJ+93Q5NF0NocErnwkTkXVFNiX3/fpC6afS8Dhb/gz7R7eg==}
+ hasBin: true
+ dev: true
+
+ /validate-npm-package-license/3.0.4:
+ resolution: {integrity: sha512-DpKm2Ui/xN7/HQKCtpZxoRWBhZ9Z0kqtygG8XCgNQ8ZlDnxuQmWhj566j8fN4Cu3/JmbhsDo7fcAJq4s9h27Ew==}
+ dependencies:
+ spdx-correct: 3.1.1
+ spdx-expression-parse: 3.0.1
+ dev: true
+
+ /validate-npm-package-name/4.0.0:
+ resolution: {integrity: sha512-mzR0L8ZDktZjpX4OB46KT+56MAhl4EIazWP/+G/HPGuvfdaqg4YsCdtOm6U9+LOFyYDoh4dpnpxZRB9MQQns5Q==}
+ engines: {node: ^12.13.0 || ^14.15.0 || >=16.0.0}
+ dependencies:
+ builtins: 5.0.1
+ dev: true
+
+ /validate-npm-package-name/5.0.0:
+ resolution: {integrity: sha512-YuKoXDAhBYxY7SfOKxHBDoSyENFeW5VvIIQp2TGQuit8gpK6MnWaQelBKxso72DoxTZfZdcP3W90LqpSkgPzLQ==}
+ engines: {node: ^14.17.0 || ^16.13.0 || >=18.0.0}
+ dependencies:
+ builtins: 5.0.1
+ dev: true
+
+ /vary/1.1.2:
+ resolution: {integrity: sha512-BNGbWLfd0eUPabhkXUVm0j8uuvREyTh5ovRa/dyow/BqAbZJyC+5fU+IzQOzmAKzYqYRAISoRhdQr3eIZ/PXqg==}
+ engines: {node: '>= 0.8'}
+ dev: true
+
+ /verror/1.10.0:
+ resolution: {integrity: sha512-ZZKSmDAEFOijERBLkmYfJ+vmk3w+7hOLYDNkRCuRuMJGEmqYNCNLyBBFwWKVMhfwaEF3WOd0Zlw86U/WC/+nYw==}
+ engines: {'0': node >=0.6.0}
+ dependencies:
+ assert-plus: 1.0.0
+ core-util-is: 1.0.2
+ extsprintf: 1.3.0
+ dev: true
+
+ /void-elements/2.0.1:
+ resolution: {integrity: sha512-qZKX4RnBzH2ugr8Lxa7x+0V6XD9Sb/ouARtiasEQCHB1EVU4NXtmHsDDrx1dO4ne5fc3J6EW05BP1Dl0z0iung==}
+ engines: {node: '>=0.10.0'}
+ dev: true
+
+ /wcwidth/1.0.1:
+ resolution: {integrity: sha512-XHPEwS0q6TaxcvG85+8EYkbiCux2XtWG2mkc47Ng2A77BQu9+DqIOJldST4HgPkuea7dvKSj5VgX3P1d4rW8Tg==}
+ dependencies:
+ defaults: 1.0.4
+ dev: true
+
+ /webdriver-js-extender/2.1.0:
+ resolution: {integrity: sha512-lcUKrjbBfCK6MNsh7xaY2UAUmZwe+/ib03AjVOpFobX4O7+83BUveSrLfU0Qsyb1DaKJdQRbuU+kM9aZ6QUhiQ==}
+ engines: {node: '>=6.9.x'}
+ dependencies:
+ '@types/selenium-webdriver': 3.0.20
+ selenium-webdriver: 3.6.0
+ dev: true
+
+ /webdriver-manager/12.1.8:
+ resolution: {integrity: sha512-qJR36SXG2VwKugPcdwhaqcLQOD7r8P2Xiv9sfNbfZrKBnX243iAkOueX1yAmeNgIKhJ3YAT/F2gq6IiEZzahsg==}
+ engines: {node: '>=6.9.x'}
+ hasBin: true
+ dependencies:
+ adm-zip: 0.4.16
+ chalk: 1.1.3
+ del: 2.2.2
+ glob: 7.2.3
+ ini: 1.3.8
+ minimist: 1.2.7
+ q: 1.4.1
+ request: 2.88.2
+ rimraf: 2.7.1
+ semver: 5.7.1
+ xml2js: 0.4.23
+ dev: true
+
+ /which-module/2.0.0:
+ resolution: {integrity: sha512-B+enWhmw6cjfVC7kS8Pj9pCrKSc5txArRyaYGe088shv/FGWH+0Rjx/xPgtsWfsUtS27FkP697E4DDhgrgoc0Q==}
+ dev: true
+
+ /which/1.3.1:
+ resolution: {integrity: sha512-HxJdYWq1MTIQbJ3nw0cqssHoTNU267KlrDuGZ1WYlxDStUtKUhOaJmh112/TZmHxxUfuJqPXSOm7tDyas0OSIQ==}
+ hasBin: true
+ dependencies:
+ isexe: 2.0.0
+ dev: true
+
+ /which/2.0.2:
+ resolution: {integrity: sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==}
+ engines: {node: '>= 8'}
+ hasBin: true
+ dependencies:
+ isexe: 2.0.0
+ dev: true
+
+ /which/3.0.0:
+ resolution: {integrity: sha512-nla//68K9NU6yRiwDY/Q8aU6siKlSs64aEC7+IV56QoAuyQT2ovsJcgGYGyqMOmI/CGN1BOR6mM5EN0FBO+zyQ==}
+ engines: {node: ^14.17.0 || ^16.13.0 || >=18.0.0}
+ hasBin: true
+ dependencies:
+ isexe: 2.0.0
+ dev: true
+
+ /wide-align/1.1.5:
+ resolution: {integrity: sha512-eDMORYaPNZ4sQIuuYPDHdQvf4gyCF9rEEV/yPxGfwPkRodwEgiMUUXTx/dex+Me0wxx53S+NgUHaP7y3MGlDmg==}
+ dependencies:
+ string-width: 4.2.3
+ dev: true
+
+ /wrap-ansi/6.2.0:
+ resolution: {integrity: sha512-r6lPcBGxZXlIcymEu7InxDMhdW0KDxpLgoFLcguasxCaJ/SOIZwINatK9KY/tf+ZrlywOKU0UDj3ATXUBfxJXA==}
+ engines: {node: '>=8'}
+ dependencies:
+ ansi-styles: 4.3.0
+ string-width: 4.2.3
+ strip-ansi: 6.0.1
+ dev: true
+
+ /wrap-ansi/7.0.0:
+ resolution: {integrity: sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==}
+ engines: {node: '>=10'}
+ dependencies:
+ ansi-styles: 4.3.0
+ string-width: 4.2.3
+ strip-ansi: 6.0.1
+ dev: true
+
+ /wrappy/1.0.2:
+ resolution: {integrity: sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==}
+ dev: true
+
+ /ws/8.2.3:
+ resolution: {integrity: sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==}
+ engines: {node: '>=10.0.0'}
+ peerDependencies:
+ bufferutil: ^4.0.1
+ utf-8-validate: ^5.0.2
+ peerDependenciesMeta:
+ bufferutil:
+ optional: true
+ utf-8-validate:
+ optional: true
+ dev: true
+
+ /xml2js/0.4.23:
+ resolution: {integrity: sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==}
+ engines: {node: '>=4.0.0'}
+ dependencies:
+ sax: 1.2.4
+ xmlbuilder: 11.0.1
+ dev: true
+
+ /xmlbuilder/11.0.1:
+ resolution: {integrity: sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==}
+ engines: {node: '>=4.0'}
+ dev: true
+
+ /y18n/4.0.3:
+ resolution: {integrity: sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==}
+ dev: true
+
+ /y18n/5.0.8:
+ resolution: {integrity: sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==}
+ engines: {node: '>=10'}
+ dev: true
+
+ /yallist/3.1.1:
+ resolution: {integrity: sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==}
+ dev: true
+
+ /yallist/4.0.0:
+ resolution: {integrity: sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==}
+ dev: true
+
+ /yargs-parser/18.1.3:
+ resolution: {integrity: sha512-o50j0JeToy/4K6OZcaQmW6lyXXKhq7csREXcDwk2omFPJEwUNOVtJKvmDr9EI1fAJZUyZcRF7kxGBWmRXudrCQ==}
+ engines: {node: '>=6'}
+ dependencies:
+ camelcase: 5.3.1
+ decamelize: 1.2.0
+ dev: true
+
+ /yargs-parser/20.2.9:
+ resolution: {integrity: sha512-y11nGElTIV+CT3Zv9t7VKl+Q3hTQoT9a1Qzezhhl6Rp21gJ/IVTW7Z3y9EWXhuUBC2Shnf+DX0antecpAwSP8w==}
+ engines: {node: '>=10'}
+ dev: true
+
+ /yargs-parser/21.1.1:
+ resolution: {integrity: sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==}
+ engines: {node: '>=12'}
+ dev: true
+
+ /yargs/15.4.1:
+ resolution: {integrity: sha512-aePbxDmcYW++PaqBsJ+HYUFwCdv4LVvdnhBy78E57PIor8/OVvhMrADFFEDh8DHDFRv/O9i3lPhsENjO7QX0+A==}
+ engines: {node: '>=8'}
+ dependencies:
+ cliui: 6.0.0
+ decamelize: 1.2.0
+ find-up: 4.1.0
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ require-main-filename: 2.0.0
+ set-blocking: 2.0.0
+ string-width: 4.2.3
+ which-module: 2.0.0
+ y18n: 4.0.3
+ yargs-parser: 18.1.3
+ dev: true
+
+ /yargs/16.2.0:
+ resolution: {integrity: sha512-D1mvvtDG0L5ft/jGWkLpG1+m0eQxOfaBvTNELraWj22wSVUMWxZUvYgJYcKh6jGGIkJFhH4IZPQhR4TKpc8mBw==}
+ engines: {node: '>=10'}
+ dependencies:
+ cliui: 7.0.4
+ escalade: 3.1.1
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ string-width: 4.2.3
+ y18n: 5.0.8
+ yargs-parser: 20.2.9
+ dev: true
+
+ /yargs/17.6.2:
+ resolution: {integrity: sha512-1/9UrdHjDZc0eOU0HxOHoS78C69UD3JRMvzlJ7S79S2nTaWRA/whGCTV8o9e/N/1Va9YIV7Q4sOxD8VV4pCWOw==}
+ engines: {node: '>=12'}
+ dependencies:
+ cliui: 8.0.1
+ escalade: 3.1.1
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ string-width: 4.2.3
+ y18n: 5.0.8
+ yargs-parser: 21.1.1
+ dev: true
+
+ /yauzl/2.10.0:
+ resolution: {integrity: sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==}
+ dependencies:
+ buffer-crc32: 0.2.13
+ fd-slicer: 1.1.0
+ dev: true
+
+ /zone.js/0.11.8:
+ resolution: {integrity: sha512-82bctBg2hKcEJ21humWIkXRlLBBmrc3nN7DFh5LGGhcyycO2S7FN8NmdvlcKaGFDNVL4/9kFLmwmInTavdJERA==}
+ dependencies:
+ tslib: 2.4.1
+ dev: true
diff --git a/scouting/BUILD b/scouting/BUILD
index f58a157..ae121e6 100644
--- a/scouting/BUILD
+++ b/scouting/BUILD
@@ -11,6 +11,9 @@
"//scouting/www:static_files",
],
visibility = ["//visibility:public"],
+ deps = [
+ "@bazel_tools//tools/bash/runfiles",
+ ],
)
protractor_ts_test(
diff --git a/scouting/db/db.go b/scouting/db/db.go
index 8f043de..940d96e 100644
--- a/scouting/db/db.go
+++ b/scouting/db/db.go
@@ -3,7 +3,6 @@
import (
"errors"
"fmt"
-
"gorm.io/driver/postgres"
"gorm.io/gorm"
"gorm.io/gorm/clause"
@@ -14,13 +13,13 @@
*gorm.DB
}
-type Match struct {
- // TODO(phil): Rework this be be one team per row.
- // Makes queries much simpler.
- MatchNumber int32 `gorm:"primaryKey"`
- SetNumber int32 `gorm:"primaryKey"`
- CompLevel string `gorm:"primaryKey"`
- R1, R2, R3, B1, B2, B3 int32
+type TeamMatch struct {
+ MatchNumber int32 `gorm:"primaryKey"`
+ SetNumber int32 `gorm:"primaryKey"`
+ CompLevel string `gorm:"primaryKey"`
+ Alliance string `gorm:"primaryKey"` // "R" or "B"
+ AlliancePosition int32 `gorm:"primaryKey"` // 1, 2, or 3
+ TeamNumber int32
}
type Shift struct {
@@ -141,7 +140,7 @@
return nil, errors.New(fmt.Sprint("Failed to connect to postgres: ", err))
}
- err = database.AutoMigrate(&Match{}, &Shift{}, &Stats{}, &Stats2023{}, &Action{}, &NotesData{}, &Ranking{}, &DriverRankingData{})
+ err = database.AutoMigrate(&TeamMatch{}, &Shift{}, &Stats{}, &Stats2023{}, &Action{}, &NotesData{}, &Ranking{}, &DriverRankingData{})
if err != nil {
database.Delete()
return nil, errors.New(fmt.Sprint("Failed to create/migrate tables: ", err))
@@ -162,7 +161,7 @@
database.DB.Logger = database.DB.Logger.LogMode(logger.Info)
}
-func (database *Database) AddToMatch(m Match) error {
+func (database *Database) AddToMatch(m TeamMatch) error {
result := database.Clauses(clause.OnConflict{
UpdateAll: true,
}).Create(&m)
@@ -240,8 +239,8 @@
return result.Error
}
-func (database *Database) ReturnMatches() ([]Match, error) {
- var matches []Match
+func (database *Database) ReturnMatches() ([]TeamMatch, error) {
+ var matches []TeamMatch
result := database.Find(&matches)
return matches, result.Error
}
@@ -304,18 +303,18 @@
return rankins, result.Error
}
-func (database *Database) queryMatches(teamNumber_ int32) ([]Match, error) {
- var matches []Match
+func (database *Database) queryMatches(teamNumber_ int32) ([]TeamMatch, error) {
+ var matches []TeamMatch
result := database.
- Where("r1 = $1 OR r2 = $1 OR r3 = $1 OR b1 = $1 OR b2 = $1 OR b3 = $1", teamNumber_).
+ Where("team_number = $1", teamNumber_).
Find(&matches)
return matches, result.Error
}
-func (database *Database) QueryMatchesString(teamNumber_ string) ([]Match, error) {
- var matches []Match
+func (database *Database) QueryMatchesString(teamNumber_ string) ([]TeamMatch, error) {
+ var matches []TeamMatch
result := database.
- Where("r1 = $1 OR r2 = $1 OR r3 = $1 OR b1 = $1 OR b2 = $1 OR b3 = $1", teamNumber_).
+ Where("team_number = $1", teamNumber_).
Find(&matches)
return matches, result.Error
}
diff --git a/scouting/db/db_test.go b/scouting/db/db_test.go
index 9e85651..ec5e776 100644
--- a/scouting/db/db_test.go
+++ b/scouting/db/db_test.go
@@ -71,17 +71,37 @@
fixture := createDatabase(t)
defer fixture.TearDown()
- correct := []Match{
- Match{
- MatchNumber: 7,
- SetNumber: 1,
- CompLevel: "quals",
- R1: 9999, R2: 1000, R3: 777, B1: 0000, B2: 4321, B3: 1234,
+ correct := []TeamMatch{
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 9999,
+ },
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1000,
+ },
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 777,
+ },
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 0000,
+ },
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 4321,
+ },
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1234,
},
}
- err := fixture.db.AddToMatch(correct[0])
- check(t, err, "Failed to add match data")
+ for _, match := range correct {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match data")
+ }
got, err := fixture.db.ReturnMatches()
check(t, err, "Failed ReturnMatches()")
@@ -179,15 +199,28 @@
Comment: "final comment", CollectedBy: "beth",
},
}
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1236},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1001},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 777},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 1000},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 4321},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1234},
+ }
- err := fixture.db.AddToMatch(Match{
- MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
- R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234,
- })
- check(t, err, "Failed to add match")
+ for _, match := range matches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ }
for i := 0; i < len(correct); i++ {
- err = fixture.db.AddToStats(correct[i])
+ err := fixture.db.AddToStats(correct[i])
check(t, err, "Failed to add stats to DB")
}
@@ -214,14 +247,28 @@
Comment: "this is a comment", CollectedBy: "josh",
}
- err := fixture.db.AddToMatch(Match{
- MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
- R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234,
- })
- check(t, err, "Failed to add match")
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1236},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1001},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 777},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 1000},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 4321},
+ TeamMatch{MatchNumber: 7, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1234},
+ }
+
+ for _, match := range matches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ }
// Add stats. This should succeed.
- err = fixture.db.AddToStats(stats)
+ err := fixture.db.AddToStats(stats)
check(t, err, "Failed to add stats to DB")
// Try again. It should fail this time.
@@ -323,13 +370,28 @@
},
}
- err := fixture.db.AddToMatch(Match{
- MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
- R1: 1235, R2: 1234, R3: 1233, B1: 1232, B2: 1231, B3: 1239})
- check(t, err, "Failed to add match")
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1235},
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1234},
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 1233},
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 1232},
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 1231},
+ TeamMatch{MatchNumber: 94, SetNumber: 2, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1239},
+ }
+
+ for _, match := range matches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ }
for i := 0; i < len(testDatabase); i++ {
- err = fixture.db.AddToStats(testDatabase[i])
+ err := fixture.db.AddToStats(testDatabase[i])
check(t, err, fmt.Sprint("Failed to add stats ", i))
}
@@ -404,27 +466,17 @@
fixture := createDatabase(t)
defer fixture.TearDown()
- correct := []Match{
- Match{
- MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
- R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149,
- },
- Match{
- MatchNumber: 3, SetNumber: 1, CompLevel: "quals",
- R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
- },
- Match{
- MatchNumber: 4, SetNumber: 1, CompLevel: "quals",
- R1: 251, R2: 169, R3: 286, B1: 653, B2: 538, B3: 149,
- },
- Match{
- MatchNumber: 5, SetNumber: 1, CompLevel: "quals",
- R1: 198, R2: 1421, R3: 538, B1: 26, B2: 448, B3: 262,
- },
- Match{
- MatchNumber: 6, SetNumber: 1, CompLevel: "quals",
- R1: 251, R2: 188, R3: 286, B1: 555, B2: 538, B3: 149,
- },
+ correct := []TeamMatch{
+ TeamMatch{
+ MatchNumber: 8, SetNumber: 1, CompLevel: "quals", Alliance: "R", AlliancePosition: 1, TeamNumber: 6835},
+ TeamMatch{
+ MatchNumber: 8, SetNumber: 1, CompLevel: "quals", Alliance: "R", AlliancePosition: 2, TeamNumber: 4834},
+ TeamMatch{
+ MatchNumber: 9, SetNumber: 1, CompLevel: "quals", Alliance: "B", AlliancePosition: 3, TeamNumber: 9824},
+ TeamMatch{
+ MatchNumber: 7, SetNumber: 2, CompLevel: "quals", Alliance: "B", AlliancePosition: 1, TeamNumber: 3732},
+ TeamMatch{
+ MatchNumber: 8, SetNumber: 1, CompLevel: "quals", Alliance: "B", AlliancePosition: 1, TeamNumber: 3732},
}
for i := 0; i < len(correct); i++ {
@@ -444,19 +496,13 @@
fixture := createDatabase(t)
defer fixture.TearDown()
- testDatabase := []Match{
- Match{
- MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
- R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149,
- },
- Match{
- MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
- R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698,
- },
- Match{
- MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
- R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
- },
+ testDatabase := []TeamMatch{
+ TeamMatch{
+ MatchNumber: 9, SetNumber: 1, CompLevel: "quals", Alliance: "B", AlliancePosition: 3, TeamNumber: 4464},
+ TeamMatch{
+ MatchNumber: 8, SetNumber: 1, CompLevel: "quals", Alliance: "R", AlliancePosition: 2, TeamNumber: 2352},
+ TeamMatch{
+ MatchNumber: 9, SetNumber: 1, CompLevel: "quals", Alliance: "B", AlliancePosition: 3, TeamNumber: 6321},
}
for i := 0; i < len(testDatabase); i++ {
@@ -464,15 +510,11 @@
check(t, err, fmt.Sprint("Failed to add match", i))
}
- correct := []Match{
- Match{
- MatchNumber: 2, SetNumber: 1, CompLevel: "quals",
- R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698,
- },
- Match{
- MatchNumber: 1, SetNumber: 1, CompLevel: "quals",
- R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262,
- },
+ correct := []TeamMatch{
+ TeamMatch{
+ MatchNumber: 8, SetNumber: 1, CompLevel: "quals", Alliance: "R", AlliancePosition: 2, TeamNumber: 2352},
+ TeamMatch{
+ MatchNumber: 9, SetNumber: 1, CompLevel: "quals", Alliance: "B", AlliancePosition: 3, TeamNumber: 6321},
}
got, err := fixture.db.ReturnMatches()
@@ -605,13 +647,28 @@
},
}
- err := fixture.db.AddToMatch(Match{
- MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
- R1: 1235, R2: 1236, R3: 1237, B1: 1238, B2: 1239, B3: 1233})
- check(t, err, "Failed to add match")
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1235},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1236},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 1237},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 1238},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 1239},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1233},
+ }
+
+ for _, match := range matches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ }
for i := 0; i < len(correct); i++ {
- err = fixture.db.AddToStats(correct[i])
+ err := fixture.db.AddToStats(correct[i])
check(t, err, fmt.Sprint("Failed to add stats ", i))
}
@@ -653,13 +710,28 @@
},
}
- err := fixture.db.AddToMatch(Match{
- MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
- R1: 1235, R2: 1236, R3: 1237, B1: 1238, B2: 1239, B3: 1233})
- check(t, err, "Failed to add match")
+ matches := []TeamMatch{
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 1235},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 1236},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 1237},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 1238},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 1239},
+ TeamMatch{MatchNumber: 94, SetNumber: 1, CompLevel: "quals",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 1233},
+ }
+
+ for _, match := range matches {
+ err := fixture.db.AddToMatch(match)
+ check(t, err, "Failed to add match")
+ }
for i := 0; i < len(correct); i++ {
- err = fixture.db.AddAction(correct[i])
+ err := fixture.db.AddAction(correct[i])
check(t, err, fmt.Sprint("Failed to add to actions ", i))
}
diff --git a/scouting/scouting.sh b/scouting/scouting.sh
index 669cf22..30e2989 100755
--- a/scouting/scouting.sh
+++ b/scouting/scouting.sh
@@ -2,7 +2,20 @@
# This script runs the webserver and asks it to host all the web pages.
+# --- begin runfiles.bash initialization v2 ---
+# Copy-pasted from the Bazel Bash runfiles library v2.
+set -uo pipefail; set +e; f=bazel_tools/tools/bash/runfiles/runfiles.bash
+source "${RUNFILES_DIR:-/dev/null}/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "${RUNFILES_MANIFEST_FILE:-/dev/null}" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$0.runfiles/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.exe.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ { echo>&2 "ERROR: cannot find $f"; exit 1; }; f=; set -e
+# --- end runfiles.bash initialization v2 ---
+
+runfiles_export_envvars
+
exec \
- scouting/webserver/webserver_/webserver \
- -directory scouting/www/ \
+ "${RUNFILES_DIR}"/org_frc971/scouting/webserver/webserver_/webserver \
+ -directory "${RUNFILES_DIR}"/org_frc971/scouting/www/ \
"$@"
diff --git a/scouting/scouting_test.ts b/scouting/scouting_test.ts
index 8623fa1..cbeffc1 100644
--- a/scouting/scouting_test.ts
+++ b/scouting/scouting_test.ts
@@ -327,7 +327,7 @@
// Navigate to Notes Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Notes')).click();
- expect(await element(by.id('page-title')).getText()).toEqual('Notes');
+ expect(await getHeadingText()).toEqual('Notes');
// Add first team.
await setTextboxByIdTo('team_number_notes', '1234');
@@ -336,7 +336,7 @@
// Add note and select keyword for first team.
expect(await element(by.id('team-key-1')).getText()).toEqual('1234');
await element(by.id('text-input-1')).sendKeys('Good Driving');
- await element(by.id('Good Driving_0')).click();
+ await element(by.id('good_driving_0')).click();
// Navigate to add team selection and add another team.
await element(by.id('add-team-button')).click();
@@ -346,7 +346,7 @@
// Add note and select keyword for second team.
expect(await element(by.id('team-key-2')).getText()).toEqual('1235');
await element(by.id('text-input-2')).sendKeys('Bad Driving');
- await element(by.id('Bad Driving_1')).click();
+ await element(by.id('bad_driving_1')).click();
// Submit Notes.
await element(by.buttonText('Submit')).click();
@@ -359,7 +359,7 @@
// Navigate to Notes Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Notes')).click();
- expect(await element(by.id('page-title')).getText()).toEqual('Notes');
+ expect(await getHeadingText()).toEqual('Notes');
// Add first team.
await setTextboxByIdTo('team_number_notes', '1234');
@@ -395,9 +395,7 @@
// Navigate to Driver Ranking Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Driver Ranking')).click();
- expect(await element(by.id('page-title')).getText()).toEqual(
- 'Driver Ranking'
- );
+ expect(await getHeadingText()).toEqual('Driver Ranking');
// Input match and team numbers.
await setTextboxByIdTo('match_number_selection', '11');
diff --git a/scouting/testing/BUILD b/scouting/testing/BUILD
index 7e26763..07c02f2 100644
--- a/scouting/testing/BUILD
+++ b/scouting/testing/BUILD
@@ -10,4 +10,7 @@
"//scouting/scraping:test_data",
],
visibility = ["//visibility:public"],
+ deps = [
+ "@rules_python//python/runfiles",
+ ],
)
diff --git a/scouting/testing/scouting_test_servers.py b/scouting/testing/scouting_test_servers.py
index 9df23c1..d1e4e32 100644
--- a/scouting/testing/scouting_test_servers.py
+++ b/scouting/testing/scouting_test_servers.py
@@ -18,6 +18,10 @@
import time
from typing import List
+from rules_python.python.runfiles import runfiles
+
+RUNFILES = runfiles.Create()
+
def wait_for_server(port: int):
"""Waits for the server at the specified port to respond to TCP connections."""
@@ -59,15 +63,22 @@
tba_api_dir = tmpdir / "api" / "v3" / "event" / f"{year}{event_code}"
tba_api_dir.mkdir(parents=True, exist_ok=True)
(tba_api_dir / "matches").write_text(
- Path(f"scouting/scraping/test_data/{year}_{event_code}.json").
- read_text())
+ Path(
+ RUNFILES.Rlocation(
+ f"org_frc971/scouting/scraping/test_data/{year}_{event_code}.json"
+ )).read_text())
class Runner:
"""Helps manage the services we need for testing the scouting app."""
- def start(self, port: int):
- """Starts the services needed for testing the scouting app."""
+ def start(self, port: int, notify_fd: int = 0):
+ """Starts the services needed for testing the scouting app.
+
+ if notify_fd is set to a non-zero value, the string "READY" is written
+ to that file descriptor once everything is set up.
+ """
+
self.tmpdir = Path(os.environ["TEST_TMPDIR"]) / "servers"
self.tmpdir.mkdir(exist_ok=True)
@@ -76,12 +87,15 @@
# The database needs to be running and addressable before the scouting
# webserver can start.
- self.testdb_server = subprocess.Popen(
- ["scouting/db/testdb_server/testdb_server_/testdb_server"])
+ self.testdb_server = subprocess.Popen([
+ RUNFILES.Rlocation(
+ "org_frc971/scouting/db/testdb_server/testdb_server_/testdb_server"
+ )
+ ])
wait_for_server(5432)
self.webserver = subprocess.Popen([
- "scouting/scouting",
+ RUNFILES.Rlocation("org_frc971/scouting/scouting"),
f"--port={port}",
f"--db_config={db_config}",
f"--tba_config={tba_config}",
@@ -99,6 +113,10 @@
wait_for_server(7000)
wait_for_server(port)
+ if notify_fd:
+ with os.fdopen(notify_fd, "w") as file:
+ file.write("READY")
+
def stop(self):
"""Stops the services needed for testing the scouting app."""
servers = (self.webserver, self.testdb_server, self.fake_tba_api)
@@ -127,10 +145,17 @@
parser.add_argument("--port",
type=int,
help="The port for the actual web server.")
+ parser.add_argument(
+ "--notify_fd",
+ type=int,
+ default=0,
+ help=("If non-zero, indicates a file descriptor to which 'READY' is "
+ "written when everything has started up."),
+ )
args = parser.parse_args(argv[1:])
runner = Runner()
- runner.start(args.port)
+ runner.start(args.port, args.notify_fd)
# Wait until we're asked to shut down via CTRL-C or SIGTERM.
signal.signal(signal.SIGINT, discard_signal)
diff --git a/scouting/webserver/requests/messages/submit_actions.fbs b/scouting/webserver/requests/messages/submit_actions.fbs
index 9d9efa4..863e2fc 100644
--- a/scouting/webserver/requests/messages/submit_actions.fbs
+++ b/scouting/webserver/requests/messages/submit_actions.fbs
@@ -31,6 +31,8 @@
}
table EndMatchAction {
+ docked:bool (id:0);
+ engaged:bool (id:1);
}
union ActionType {
diff --git a/scouting/webserver/requests/requests.go b/scouting/webserver/requests/requests.go
index 99b5459..d56f380 100644
--- a/scouting/webserver/requests/requests.go
+++ b/scouting/webserver/requests/requests.go
@@ -7,6 +7,7 @@
"io"
"log"
"net/http"
+ "sort"
"strconv"
"strings"
@@ -69,10 +70,10 @@
// The interface we expect the database abstraction to conform to.
// We use an interface here because it makes unit testing easier.
type Database interface {
- AddToMatch(db.Match) error
+ AddToMatch(db.TeamMatch) error
AddToShift(db.Shift) error
AddToStats(db.Stats) error
- ReturnMatches() ([]db.Match, error)
+ ReturnMatches() ([]db.TeamMatch, error)
ReturnAllNotes() ([]db.NotesData, error)
ReturnAllDriverRankings() ([]db.DriverRankingData, error)
ReturnAllShifts() ([]db.Shift, error)
@@ -212,6 +213,15 @@
db Database
}
+func findIndexInList(list []string, comp_level string) (int, error) {
+ for index, value := range list {
+ if value == comp_level {
+ return index, nil
+ }
+ }
+ return -1, errors.New(fmt.Sprint("Failed to find comp level ", comp_level, " in list ", list))
+}
+
func (handler requestAllMatchesHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
requestBytes, err := io.ReadAll(req.Body)
if err != nil {
@@ -230,19 +240,121 @@
return
}
- var response RequestAllMatchesResponseT
+ // Change structure of match objects in the database(1 per team) to
+ // the old match structure(1 per match) that the webserver uses.
+ type Key struct {
+ MatchNumber int32
+ SetNumber int32
+ CompLevel string
+ }
+
+ assembledMatches := map[Key]request_all_matches_response.MatchT{}
+
for _, match := range matches {
- response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
- MatchNumber: match.MatchNumber,
- SetNumber: match.SetNumber,
- CompLevel: match.CompLevel,
- R1: match.R1,
- R2: match.R2,
- R3: match.R3,
- B1: match.B1,
- B2: match.B2,
- B3: match.B3,
- })
+ key := Key{match.MatchNumber, match.SetNumber, match.CompLevel}
+ entry, ok := assembledMatches[key]
+ if !ok {
+ entry = request_all_matches_response.MatchT{
+ MatchNumber: match.MatchNumber,
+ SetNumber: match.SetNumber,
+ CompLevel: match.CompLevel,
+ }
+ }
+ switch match.Alliance {
+ case "R":
+ switch match.AlliancePosition {
+ case 1:
+ entry.R1 = match.TeamNumber
+ case 2:
+ entry.R2 = match.TeamNumber
+ case 3:
+ entry.R3 = match.TeamNumber
+ default:
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Unknown red position ", strconv.Itoa(int(match.AlliancePosition)), " in match ", strconv.Itoa(int(match.MatchNumber))))
+ return
+ }
+ case "B":
+ switch match.AlliancePosition {
+ case 1:
+ entry.B1 = match.TeamNumber
+ case 2:
+ entry.B2 = match.TeamNumber
+ case 3:
+ entry.B3 = match.TeamNumber
+ default:
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Unknown blue position ", strconv.Itoa(int(match.AlliancePosition)), " in match ", strconv.Itoa(int(match.MatchNumber))))
+ return
+ }
+ default:
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Unknown alliance ", match.Alliance, " in match ", strconv.Itoa(int(match.AlliancePosition))))
+ return
+ }
+ assembledMatches[key] = entry
+ }
+
+ var response RequestAllMatchesResponseT
+ for _, match := range assembledMatches {
+ copied_match := match
+ response.MatchList = append(response.MatchList, &copied_match)
+ }
+
+ var MATCH_TYPE_ORDERING = []string{"qm", "ef", "qf", "sf", "f"}
+
+ err = nil
+ sort.Slice(response.MatchList, func(i, j int) bool {
+ if err != nil {
+ return false
+ }
+ a := response.MatchList[i]
+ b := response.MatchList[j]
+
+ aMatchTypeIndex, err2 := findIndexInList(MATCH_TYPE_ORDERING, a.CompLevel)
+ if err2 != nil {
+ err = errors.New(fmt.Sprint("Comp level ", a.CompLevel, " not found in sorting list ", MATCH_TYPE_ORDERING, " : ", err2))
+ return false
+ }
+ bMatchTypeIndex, err2 := findIndexInList(MATCH_TYPE_ORDERING, b.CompLevel)
+ if err2 != nil {
+ err = errors.New(fmt.Sprint("Comp level ", b.CompLevel, " not found in sorting list ", MATCH_TYPE_ORDERING, " : ", err2))
+ return false
+ }
+
+ if aMatchTypeIndex < bMatchTypeIndex {
+ return true
+ }
+ if aMatchTypeIndex > bMatchTypeIndex {
+ return false
+ }
+
+ // Then sort by match number. E.g. in semi finals, all match 1 rounds
+ // are done first. Then come match 2 rounds. And then, if necessary,
+ // the match 3 rounds.
+ aMatchNumber := a.MatchNumber
+ bMatchNumber := b.MatchNumber
+ if aMatchNumber < bMatchNumber {
+ return true
+ }
+ if aMatchNumber > bMatchNumber {
+ return false
+ }
+ // Lastly, sort by set number. I.e. Semi Final 1 Match 1 happens first.
+ // Then comes Semi Final 2 Match 1. Then comes Semi Final 1 Match 2. Then
+ // Semi Final 2 Match 2.
+ aSetNumber := a.SetNumber
+ bSetNumber := b.SetNumber
+ if aSetNumber < bSetNumber {
+ return true
+ }
+ if aSetNumber > bSetNumber {
+ return false
+ }
+ return true
+ })
+
+ if err != nil {
+ // check if error happened during sorting and notify webpage if that
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint(err))
+ return
}
builder := flatbuffers.NewBuilder(50 * 1024)
@@ -400,22 +512,48 @@
"TheBlueAlliance data for match %d is malformed: %v", match.MatchNumber, err))
return
}
- // Add the match to the database.
- err = handler.db.AddToMatch(db.Match{
- MatchNumber: int32(match.MatchNumber),
- SetNumber: int32(match.SetNumber),
- CompLevel: match.CompLevel,
- R1: red[0],
- R2: red[1],
- R3: red[2],
- B1: blue[0],
- B2: blue[1],
- B3: blue[2],
- })
- if err != nil {
- respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
- "Failed to add match %d to the database: %v", match.MatchNumber, err))
- return
+
+ team_matches := []db.TeamMatch{
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 1, TeamNumber: red[0],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 2, TeamNumber: red[1],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "R", AlliancePosition: 3, TeamNumber: red[2],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 1, TeamNumber: blue[0],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 2, TeamNumber: blue[1],
+ },
+ {
+ MatchNumber: int32(match.MatchNumber),
+ SetNumber: int32(match.SetNumber), CompLevel: match.CompLevel,
+ Alliance: "B", AlliancePosition: 3, TeamNumber: blue[2],
+ },
+ }
+
+ for _, match := range team_matches {
+ // Iterate through matches to check they can be added to database.
+ err = handler.db.AddToMatch(match)
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
+ "Failed to add team %d from match %d to the database: %v", match.TeamNumber, match.MatchNumber, err))
+ return
+ }
}
}
diff --git a/scouting/webserver/requests/requests_test.go b/scouting/webserver/requests/requests_test.go
index 9775eae..27a45e6 100644
--- a/scouting/webserver/requests/requests_test.go
+++ b/scouting/webserver/requests/requests_test.go
@@ -125,18 +125,78 @@
// Validates that we can request the full match list.
func TestRequestAllMatches(t *testing.T) {
db := MockDatabase{
- matches: []db.Match{
+ matches: []db.TeamMatch{
{
- MatchNumber: 1, SetNumber: 1, CompLevel: "qual",
- R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 5,
},
{
- MatchNumber: 2, SetNumber: 1, CompLevel: "qual",
- R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 42,
},
{
- MatchNumber: 3, SetNumber: 1, CompLevel: "qual",
- R1: 7, R2: 44, R3: 602, B1: 973, B2: 402, B3: 202,
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 600,
+ },
+ {
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 971,
+ },
+ {
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 400,
+ },
+ {
+ MatchNumber: 1, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 200,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 6,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 43,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 601,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 972,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 401,
+ },
+ {
+ MatchNumber: 2, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 201,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 7,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 44,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 602,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 973,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 402,
+ },
+ {
+ MatchNumber: 3, SetNumber: 1, CompLevel: "qm",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 202,
},
},
}
@@ -158,15 +218,15 @@
// MatchNumber, SetNumber, CompLevel
// R1, R2, R3, B1, B2, B3
{
- 1, 1, "qual",
+ 1, 1, "qm",
5, 42, 600, 971, 400, 200,
},
{
- 2, 1, "qual",
+ 2, 1, "qm",
6, 43, 601, 972, 401, 201,
},
{
- 3, 1, "qual",
+ 3, 1, "qm",
7, 44, 602, 973, 402, 202,
},
},
@@ -496,19 +556,33 @@
}
// Make sure that the data made it into the database.
- expectedMatches := []db.Match{
+ expectedMatches := []db.TeamMatch{
{
- MatchNumber: 1,
- SetNumber: 2,
- CompLevel: "qual",
- R1: 100,
- R2: 200,
- R3: 300,
- B1: 101,
- B2: 201,
- B3: 301,
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "R", AlliancePosition: 1, TeamNumber: 100,
+ },
+ {
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "R", AlliancePosition: 2, TeamNumber: 200,
+ },
+ {
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "R", AlliancePosition: 3, TeamNumber: 300,
+ },
+ {
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "B", AlliancePosition: 1, TeamNumber: 101,
+ },
+ {
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "B", AlliancePosition: 2, TeamNumber: 201,
+ },
+ {
+ MatchNumber: 1, SetNumber: 2, CompLevel: "qual",
+ Alliance: "B", AlliancePosition: 3, TeamNumber: 301,
},
}
+
if !reflect.DeepEqual(expectedMatches, database.matches) {
t.Fatal("Expected ", expectedMatches, ", but got ", database.matches)
}
@@ -677,14 +751,14 @@
// needed for your tests.
type MockDatabase struct {
- matches []db.Match
+ matches []db.TeamMatch
stats []db.Stats
notes []db.NotesData
shiftSchedule []db.Shift
driver_ranking []db.DriverRankingData
}
-func (database *MockDatabase) AddToMatch(match db.Match) error {
+func (database *MockDatabase) AddToMatch(match db.TeamMatch) error {
database.matches = append(database.matches, match)
return nil
}
@@ -694,7 +768,7 @@
return nil
}
-func (database *MockDatabase) ReturnMatches() ([]db.Match, error) {
+func (database *MockDatabase) ReturnMatches() ([]db.TeamMatch, error) {
return database.matches, nil
}
diff --git a/scouting/www/counter_button/package.json b/scouting/www/counter_button/package.json
new file mode 100644
index 0000000..61eb83b
--- /dev/null
+++ b/scouting/www/counter_button/package.json
@@ -0,0 +1,4 @@
+{
+ "name": "@org_frc971/scouting/www/counter_button",
+ "private": true
+}
diff --git a/scouting/www/driver_ranking/driver_ranking.component.ts b/scouting/www/driver_ranking/driver_ranking.component.ts
index aadb3b0..b251938 100644
--- a/scouting/www/driver_ranking/driver_ranking.component.ts
+++ b/scouting/www/driver_ranking/driver_ranking.component.ts
@@ -1,7 +1,7 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {SubmitDriverRanking} from 'org_frc971/scouting/webserver/requests/messages/submit_driver_ranking_generated';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {SubmitDriverRanking} from '../../webserver/requests/messages/submit_driver_ranking_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
// TeamSelection: Display form to input which
// teams to rank and the match number.
diff --git a/scouting/www/driver_ranking/driver_ranking.ng.html b/scouting/www/driver_ranking/driver_ranking.ng.html
index 452359c..1fa1bc8 100644
--- a/scouting/www/driver_ranking/driver_ranking.ng.html
+++ b/scouting/www/driver_ranking/driver_ranking.ng.html
@@ -1,4 +1,6 @@
-<h2 id="page-title">Driver Ranking</h2>
+<div class="header">
+ <h2>Driver Ranking</h2>
+</div>
<ng-container [ngSwitch]="section">
<div *ngSwitchCase="'TeamSelection'">
diff --git a/scouting/www/driver_ranking/package.json b/scouting/www/driver_ranking/package.json
new file mode 100644
index 0000000..06472cf
--- /dev/null
+++ b/scouting/www/driver_ranking/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/driver_ranking",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
index 330ab47..01c9fff 100644
--- a/scouting/www/entry/entry.component.ts
+++ b/scouting/www/entry/entry.component.ts
@@ -9,12 +9,12 @@
} from '@angular/core';
import {FormsModule} from '@angular/forms';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
import {
ClimbLevel,
SubmitDataScouting,
-} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
-import {SubmitDataScoutingResponse} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_response_generated';
+} from '../../webserver/requests/messages/submit_data_scouting_generated';
+import {SubmitDataScoutingResponse} from '../../webserver/requests/messages/submit_data_scouting_response_generated';
type Section =
| 'Team Selection'
diff --git a/scouting/www/entry/entry.module.ts b/scouting/www/entry/entry.module.ts
index 38e272e..3322c01 100644
--- a/scouting/www/entry/entry.module.ts
+++ b/scouting/www/entry/entry.module.ts
@@ -5,7 +5,7 @@
import {CounterButtonModule} from '../counter_button/counter_button.module';
import {EntryComponent} from './entry.component';
-import {ClimbLevel} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
+import {ClimbLevel} from '../../webserver/requests/messages/submit_data_scouting_generated';
@Pipe({name: 'levelToString'})
export class LevelToStringPipe implements PipeTransform {
diff --git a/scouting/www/entry/package.json b/scouting/www/entry/package.json
new file mode 100644
index 0000000..5ecf57a
--- /dev/null
+++ b/scouting/www/entry/package.json
@@ -0,0 +1,8 @@
+{
+ "name": "@org_frc971/scouting/www/entry",
+ "private": true,
+ "dependencies": {
+ "@org_frc971/scouting/www/counter_button": "workspace:*",
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/import_match_list/import_match_list.component.ts b/scouting/www/import_match_list/import_match_list.component.ts
index a3fe458..0e292ae 100644
--- a/scouting/www/import_match_list/import_match_list.component.ts
+++ b/scouting/www/import_match_list/import_match_list.component.ts
@@ -1,9 +1,9 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RefreshMatchListResponse} from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_response_generated';
-import {RefreshMatchList} from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RefreshMatchListResponse} from '../../webserver/requests/messages/refresh_match_list_response_generated';
+import {RefreshMatchList} from '../../webserver/requests/messages/refresh_match_list_generated';
@Component({
selector: 'app-import-match-list',
diff --git a/scouting/www/import_match_list/package.json b/scouting/www/import_match_list/package.json
new file mode 100644
index 0000000..d80b0dc
--- /dev/null
+++ b/scouting/www/import_match_list/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/import_match_list",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/match_list/match_list.component.ts b/scouting/www/match_list/match_list.component.ts
index ab54e3e..c50cffd 100644
--- a/scouting/www/match_list/match_list.component.ts
+++ b/scouting/www/match_list/match_list.component.ts
@@ -1,11 +1,11 @@
import {Component, EventEmitter, OnInit, Output} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllMatches} from '../../webserver/requests/messages/request_all_matches_generated';
import {
Match,
RequestAllMatchesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+} from '../../webserver/requests/messages/request_all_matches_response_generated';
import {MatchListRequestor} from '../rpc/match_list_requestor';
diff --git a/scouting/www/match_list/package.json b/scouting/www/match_list/package.json
new file mode 100644
index 0000000..3a02094
--- /dev/null
+++ b/scouting/www/match_list/package.json
@@ -0,0 +1,8 @@
+{
+ "name": "@org_frc971/scouting/www/match_list",
+ "private": true,
+ "dependencies": {
+ "@org_frc971/scouting/www/rpc": "workspace:*",
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/notes/notes.component.ts b/scouting/www/notes/notes.component.ts
index f503e2d..177ad44 100644
--- a/scouting/www/notes/notes.component.ts
+++ b/scouting/www/notes/notes.component.ts
@@ -1,13 +1,13 @@
import {Component, HostListener} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestNotesForTeam} from 'org_frc971/scouting/webserver/requests/messages/request_notes_for_team_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestNotesForTeam} from '../../webserver/requests/messages/request_notes_for_team_generated';
import {
Note as NoteFb,
RequestNotesForTeamResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_notes_for_team_response_generated';
-import {SubmitNotes} from 'org_frc971/scouting/webserver/requests/messages/submit_notes_generated';
-import {SubmitNotesResponse} from 'org_frc971/scouting/webserver/requests/messages/submit_notes_response_generated';
+} from '../../webserver/requests/messages/request_notes_for_team_response_generated';
+import {SubmitNotes} from '../../webserver/requests/messages/submit_notes_generated';
+import {SubmitNotesResponse} from '../../webserver/requests/messages/submit_notes_response_generated';
/*
For new games, the keywords being used will likely need to be updated.
@@ -175,4 +175,8 @@
this.errorMessage = '';
this.section = 'TeamSelection';
}
+
+ labelToId(label: String): String {
+ return label.replaceAll(' ', '_').toLowerCase();
+ }
}
diff --git a/scouting/www/notes/notes.ng.html b/scouting/www/notes/notes.ng.html
index b51a7ce..cb5e8ef 100644
--- a/scouting/www/notes/notes.ng.html
+++ b/scouting/www/notes/notes.ng.html
@@ -1,4 +1,6 @@
-<h2 id="page-title">Notes</h2>
+<div class="header">
+ <h2>Notes</h2>
+</div>
<ng-container [ngSwitch]="section">
<div *ngSwitchCase="'TeamSelection'">
@@ -58,7 +60,7 @@
class="form-check-input"
[(ngModel)]="newData[i]['keywordsData'][key]"
type="checkbox"
- id="{{KEYWORD_CHECKBOX_LABELS[key]}}_{{i}}"
+ id="{{labelToId(KEYWORD_CHECKBOX_LABELS[key])}}_{{i}}"
name="{{KEYWORD_CHECKBOX_LABELS[key]}}"
/>
<label
@@ -81,7 +83,7 @@
class="form-check-input"
[(ngModel)]="newData[i]['keywordsData'][key]"
type="checkbox"
- id="{{KEYWORD_CHECKBOX_LABELS[key]}}"
+ id="{{labelToId(KEYWORD_CHECKBOX_LABELS[key])}}"
name="{{KEYWORD_CHECKBOX_LABELS[key]}}"
/>
<label
diff --git a/scouting/www/notes/package.json b/scouting/www/notes/package.json
new file mode 100644
index 0000000..8cbeb94
--- /dev/null
+++ b/scouting/www/notes/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/notes",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/package.json b/scouting/www/package.json
new file mode 100644
index 0000000..3ab0035
--- /dev/null
+++ b/scouting/www/package.json
@@ -0,0 +1,4 @@
+{
+ "private": true,
+ "dependencies": {}
+}
diff --git a/scouting/www/rpc/match_list_requestor.ts b/scouting/www/rpc/match_list_requestor.ts
index f97b1ca..fa2dcbd 100644
--- a/scouting/www/rpc/match_list_requestor.ts
+++ b/scouting/www/rpc/match_list_requestor.ts
@@ -1,11 +1,11 @@
import {Injectable} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllMatches} from '../../webserver/requests/messages/request_all_matches_generated';
import {
Match,
RequestAllMatchesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+} from '../../webserver/requests/messages/request_all_matches_response_generated';
const MATCH_TYPE_ORDERING = ['qm', 'ef', 'qf', 'sf', 'f'];
diff --git a/scouting/www/rpc/package.json b/scouting/www/rpc/package.json
new file mode 100644
index 0000000..6d1369a
--- /dev/null
+++ b/scouting/www/rpc/package.json
@@ -0,0 +1,4 @@
+{
+ "name": "@org_frc971/scouting/www/rpc",
+ "private": true
+}
diff --git a/scouting/www/rpc/view_data_requestor.ts b/scouting/www/rpc/view_data_requestor.ts
index 13fa788..d41bf43 100644
--- a/scouting/www/rpc/view_data_requestor.ts
+++ b/scouting/www/rpc/view_data_requestor.ts
@@ -1,21 +1,21 @@
import {Injectable} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllNotes} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllNotes} from '../../webserver/requests/messages/request_all_notes_generated';
import {
Note,
RequestAllNotesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_response_generated';
-import {RequestAllDriverRankings} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_generated';
+} from '../../webserver/requests/messages/request_all_notes_response_generated';
+import {RequestAllDriverRankings} from '../../webserver/requests/messages/request_all_driver_rankings_generated';
import {
Ranking,
RequestAllDriverRankingsResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_response_generated';
-import {RequestDataScouting} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_generated';
+} from '../../webserver/requests/messages/request_all_driver_rankings_response_generated';
+import {RequestDataScouting} from '../../webserver/requests/messages/request_data_scouting_generated';
import {
Stats,
RequestDataScoutingResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_response_generated';
+} from '../../webserver/requests/messages/request_data_scouting_response_generated';
@Injectable({providedIn: 'root'})
export class ViewDataRequestor {
diff --git a/scouting/www/shift_schedule/package.json b/scouting/www/shift_schedule/package.json
new file mode 100644
index 0000000..1d71623
--- /dev/null
+++ b/scouting/www/shift_schedule/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/shift_schedule",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/shift_schedule/shift_schedule.component.ts b/scouting/www/shift_schedule/shift_schedule.component.ts
index 2f22653..074eb97 100644
--- a/scouting/www/shift_schedule/shift_schedule.component.ts
+++ b/scouting/www/shift_schedule/shift_schedule.component.ts
@@ -1,6 +1,6 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
@Component({
selector: 'shift-schedule',
diff --git a/scouting/www/view/view.component.ts b/scouting/www/view/view.component.ts
index 30f5914..593b0f4 100644
--- a/scouting/www/view/view.component.ts
+++ b/scouting/www/view/view.component.ts
@@ -2,15 +2,15 @@
import {
Ranking,
RequestAllDriverRankingsResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_response_generated';
+} from '../../webserver/requests/messages/request_all_driver_rankings_response_generated';
import {
Stats,
RequestDataScoutingResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_response_generated';
+} from '../../webserver/requests/messages/request_data_scouting_response_generated';
import {
Note,
RequestAllNotesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_response_generated';
+} from '../../webserver/requests/messages/request_all_notes_response_generated';
import {ViewDataRequestor} from '../rpc/view_data_requestor';
diff --git a/third_party/xvfb/xvfb.BUILD b/third_party/xvfb/xvfb.BUILD
new file mode 100644
index 0000000..91332ff
--- /dev/null
+++ b/third_party/xvfb/xvfb.BUILD
@@ -0,0 +1,43 @@
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+
+write_file(
+ name = "generate_wrapper",
+ out = "wrapped_bin/Xvfb.sh",
+ content = ["""\
+#!/bin/bash
+
+# --- begin runfiles.bash initialization v2 ---
+# Copy-pasted from the Bazel Bash runfiles library v2.
+set -uo pipefail; set +e; f=bazel_tools/tools/bash/runfiles/runfiles.bash
+source "${RUNFILES_DIR:-/dev/null}/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "${RUNFILES_MANIFEST_FILE:-/dev/null}" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$0.runfiles/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.exe.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ { echo>&2 "ERROR: cannot find $f"; exit 1; }; f=; set -e
+# --- end runfiles.bash initialization v2 ---
+
+
+runfiles_export_envvars
+
+export LD_LIBRARY_PATH="${RUNFILES_DIR}/xvfb_amd64/usr/lib/x86_64-linux-gnu"
+export LD_LIBRARY_PATH+=":${RUNFILES_DIR}/xvfb_amd64/lib/x86_64-linux-gnu"
+
+exec "${RUNFILES_DIR}/xvfb_amd64/usr/bin/Xvfb" "$@"
+"""],
+ is_executable = True,
+)
+
+sh_binary(
+ name = "wrapped_bin/Xvfb",
+ srcs = ["wrapped_bin/Xvfb.sh"],
+ deps = [
+ "@bazel_tools//tools/bash/runfiles",
+ ],
+ data = glob([
+ "usr/lib/**/*",
+ "lib/**/*",
+ "usr/bin/*",
+ ]),
+ visibility = ["//visibility:public"],
+)
diff --git a/tools/build_rules/js.bzl b/tools/build_rules/js.bzl
index 5510266..d334764 100644
--- a/tools/build_rules/js.bzl
+++ b/tools/build_rules/js.bzl
@@ -3,7 +3,15 @@
load("@npm//@bazel/terser:index.bzl", "terser_minified")
load("@bazel_skylib//lib:paths.bzl", "paths")
load("@npm//@bazel/protractor:index.bzl", "protractor_web_test_suite")
-load("@npm//@bazel/typescript:index.bzl", "ts_project")
+load("@npm//@bazel/typescript:index.bzl", upstream_ts_library = "ts_library", upstream_ts_project = "ts_project")
+
+def ts_project(**kwargs):
+ """A trivial wrapper to prepare for the rules_js migration.
+
+ The intent is to change his macro to wrap the new rules_js ts_project
+ implementation.
+ """
+ upstream_ts_library(**kwargs)
def rollup_bundle(name, deps, visibility = None, **kwargs):
"""Calls the upstream rollup_bundle() and exposes a .min.js file.
@@ -72,7 +80,7 @@
See the documentation for more information:
https://bazelbuild.github.io/rules_nodejs/Protractor.html#protractor_web_test_suite
"""
- ts_project(
+ upstream_ts_project(
name = name + "__lib",
srcs = srcs,
testonly = 1,
diff --git a/tsconfig.json b/tsconfig.json
index aed3439..16fe795 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -3,8 +3,8 @@
"experimentalDecorators": true,
"strict": false,
"noImplicitAny": false,
- "target": "es6",
- "lib": ["es6", "dom", "dom.iterable"],
+ "target": "es2021",
+ "lib": ["es2021", "dom", "dom.iterable"],
"moduleResolution": "node"
},
"bazelOptions": {
diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 5704405..3bfba96 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -60,6 +60,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -76,6 +77,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -92,6 +94,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
diff --git a/y2016/control_loops/python/BUILD b/y2016/control_loops/python/BUILD
index ad3fbe9..6b54950 100644
--- a/y2016/control_loops/python/BUILD
+++ b/y2016/control_loops/python/BUILD
@@ -61,6 +61,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -94,6 +95,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -111,6 +113,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -140,6 +143,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -157,6 +161,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
diff --git a/y2017/control_loops/python/BUILD b/y2017/control_loops/python/BUILD
index 209bd70..a7b5624 100644
--- a/y2017/control_loops/python/BUILD
+++ b/y2017/control_loops/python/BUILD
@@ -58,6 +58,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -106,6 +107,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -123,6 +125,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
@@ -168,6 +171,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
diff --git a/y2018/BUILD b/y2018/BUILD
index ac59493..8feaac4 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -57,9 +57,10 @@
"//aos/network:team_number",
"//aos/stl_mutex",
"//frc971:constants",
+ "//frc971/control_loops/double_jointed_arm:dynamics",
"//frc971/shooter_interpolation:interpolation",
"//y2018/control_loops/drivetrain:polydrivetrain_plants",
- "//y2018/control_loops/superstructure/arm:dynamics",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
"//y2018/control_loops/superstructure/intake:intake_plants",
"@com_github_google_glog//:glog",
],
diff --git a/y2018/constants.h b/y2018/constants.h
index 16f1f8c..6adcb8a 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -6,7 +6,8 @@
#include "frc971/constants.h"
#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
namespace y2018 {
@@ -49,8 +50,8 @@
return (12.0 / 60.0) * (18.0 / 84.0);
}
static constexpr double kMaxProximalEncoderPulsesPerSecond() {
- return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
- (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG1 /
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g0 /
kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
}
static constexpr double kProximalPotRatio() { return (12.0 / 60.0); }
@@ -58,8 +59,8 @@
static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
static constexpr double kDistalEncoderRatio() { return (12.0 / 60.0); }
static constexpr double kMaxDistalEncoderPulsesPerSecond() {
- return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
- (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG2 /
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
}
static constexpr double kDistalPotRatio() {
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index 35f7433..fcedf40 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -94,6 +94,7 @@
"//frc971/control_loops/python:controls",
"@pip//glog",
"@pip//matplotlib",
+ "@pip//pygobject",
"@pip//python_gflags",
],
)
diff --git a/y2018/control_loops/python/graph_codegen.py b/y2018/control_loops/python/graph_codegen.py
index e7f8ce1..be267de 100644
--- a/y2018/control_loops/python/graph_codegen.py
+++ b/y2018/control_loops/python/graph_codegen.py
@@ -27,12 +27,12 @@
cc_file.append(" %s," % (alpha_unitizer))
if reverse:
cc_file.append(
- " Trajectory(Path::Reversed(%s()), 0.005));"
+ " Trajectory(dynamics, Path::Reversed(%s()), 0.005));"
% (path_function_name(str(name))))
else:
cc_file.append(
- " Trajectory(%s(), 0.005));" %
- (path_function_name(str(name))))
+ " Trajectory(dynamics, %s(), 0.005));"
+ % (path_function_name(str(name))))
start_index = None
end_index = None
@@ -68,9 +68,14 @@
cc_file.append("#include <memory>")
cc_file.append("")
cc_file.append(
- "#include \"y2018/control_loops/superstructure/arm/trajectory.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
cc_file.append(
- "#include \"y2018/control_loops/superstructure/arm/graph.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+
+ cc_file.append("using frc971::control_loops::arm::Trajectory;")
+ cc_file.append("using frc971::control_loops::arm::Path;")
+ cc_file.append("using frc971::control_loops::arm::SearchGraph;")
+
cc_file.append("")
cc_file.append("namespace y2018 {")
cc_file.append("namespace control_loops {")
@@ -86,15 +91,21 @@
h_file.append("#include <memory>")
h_file.append("")
h_file.append(
- "#include \"y2018/control_loops/superstructure/arm/trajectory.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
h_file.append(
- "#include \"y2018/control_loops/superstructure/arm/graph.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+ h_file.append(
+ "#include \"frc971/control_loops/double_jointed_arm/dynamics.h\"")
h_file.append("")
h_file.append("namespace y2018 {")
h_file.append("namespace control_loops {")
h_file.append("namespace superstructure {")
h_file.append("namespace arm {")
+ h_file.append("using frc971::control_loops::arm::Trajectory;")
+ h_file.append("using frc971::control_loops::arm::Path;")
+ h_file.append("using frc971::control_loops::arm::SearchGraph;")
+
h_file.append("")
h_file.append("struct TrajectoryAndParams {")
h_file.append(" TrajectoryAndParams(double new_vmax,")
@@ -182,11 +193,13 @@
h_file.append("")
h_file.append("// Builds a search graph.")
h_file.append("SearchGraph MakeSearchGraph("
+ "const frc971::control_loops::arm::Dynamics *dynamics, "
"::std::vector<TrajectoryAndParams> *trajectories,")
h_file.append(" "
"const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
h_file.append(" double vmax);")
cc_file.append("SearchGraph MakeSearchGraph("
+ "const frc971::control_loops::arm::Dynamics *dynamics, "
"::std::vector<TrajectoryAndParams> *trajectories,")
cc_file.append(" "
"const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 567810d..a3cb808 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -94,6 +94,7 @@
"//frc971/control_loops:control_loop_test",
"//frc971/control_loops:position_sensor_sim",
"//frc971/control_loops:team_number_test_environment",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
"//y2018/control_loops/superstructure/intake:intake_plants",
],
)
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index f90cc92..9f969ff 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -1,128 +1,4 @@
cc_library(
- name = "trajectory",
- srcs = [
- "trajectory.cc",
- ],
- hdrs = [
- "trajectory.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- ":dynamics",
- "//aos/logging",
- "//frc971/control_loops:dlqr",
- "//frc971/control_loops:jacobian",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_test(
- name = "trajectory_test",
- srcs = [
- "trajectory_test.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":demo_path",
- ":dynamics",
- ":ekf",
- ":trajectory",
- "//aos/testing:googletest",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "dynamics",
- srcs = [
- "dynamics.cc",
- ],
- hdrs = [
- "dynamics.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/control_loops:runge_kutta",
- "@com_github_gflags_gflags//:gflags",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "demo_path",
- srcs = [
- "demo_path.cc",
- ],
- hdrs = ["demo_path.h"],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [":trajectory"],
-)
-
-cc_test(
- name = "dynamics_test",
- srcs = [
- "dynamics_test.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":dynamics",
- "//aos/testing:googletest",
- ],
-)
-
-cc_binary(
- name = "trajectory_plot",
- srcs = [
- "trajectory_plot.cc",
- ],
- target_compatible_with = ["@platforms//cpu:x86_64"],
- deps = [
- ":ekf",
- ":generated_graph",
- ":trajectory",
- "//frc971/analysis:in_process_plotter",
- "@com_github_gflags_gflags//:gflags",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "ekf",
- srcs = [
- "ekf.cc",
- ],
- hdrs = [
- "ekf.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- ":dynamics",
- "//frc971/control_loops:jacobian",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "graph",
- srcs = ["graph.cc"],
- hdrs = ["graph.h"],
- target_compatible_with = ["@platforms//os:linux"],
-)
-
-cc_test(
- name = "graph_test",
- srcs = ["graph_test.cc"],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":graph",
- "//aos/testing:googletest",
- ],
-)
-
-cc_library(
name = "arm",
srcs = [
"arm.cc",
@@ -133,15 +9,16 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- ":demo_path",
- ":ekf",
":generated_graph",
- ":graph",
- ":trajectory",
+ "//frc971/control_loops/double_jointed_arm:demo_path",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
"//frc971/zeroing",
"//y2018:constants",
"//y2018/control_loops/superstructure:superstructure_position_fbs",
"//y2018/control_loops/superstructure:superstructure_status_fbs",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
],
)
@@ -170,7 +47,35 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- ":graph",
- ":trajectory",
+ ":arm_constants",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ ],
+)
+
+cc_library(
+ name = "arm_constants",
+ hdrs = ["arm_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ ],
+)
+
+cc_binary(
+ name = "trajectory_plot",
+ srcs = [
+ "trajectory_plot.cc",
+ ],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":arm_constants",
+ ":generated_graph",
+ "//frc971/analysis:in_process_plotter",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ "@com_github_gflags_gflags//:gflags",
+ "@org_tuxfamily_eigen//:eigen",
],
)
diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index 1c29157..ab5deea 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -5,8 +5,9 @@
#include "aos/logging/logging.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
namespace y2018 {
@@ -29,9 +30,12 @@
alpha_unitizer_((::Eigen::Matrix<double, 2, 2>() << 1.0 / kAlpha0Max(),
0.0, 0.0, 1.0 / kAlpha1Max())
.finished()),
- search_graph_(MakeSearchGraph(&trajectories_, alpha_unitizer_, kVMax())),
+ dynamics_(kArmConstants),
+ search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
+ kVMax())),
+ arm_ekf_(&dynamics_),
// Go to the start of the first trajectory.
- follower_(ReadyAboveBoxPoint()),
+ follower_(&dynamics_, ReadyAboveBoxPoint()),
points_(PointList()) {
int i = 0;
for (const auto &trajectory : trajectories_) {
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 7ceb001..51d6c4d 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -4,14 +4,17 @@
#include "aos/time/time.h"
#include "frc971/zeroing/zeroing.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/arm/graph.h"
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
+using frc971::control_loops::arm::TrajectoryFollower;
+using frc971::control_loops::arm::EKF;
+
namespace y2018 {
namespace control_loops {
namespace superstructure {
@@ -114,6 +117,8 @@
double vmax_ = kVMax();
+ frc971::control_loops::arm::Dynamics dynamics_;
+
::std::vector<TrajectoryAndParams> trajectories_;
SearchGraph search_graph_;
diff --git a/y2018/control_loops/superstructure/arm/arm_constants.h b/y2018/control_loops/superstructure/arm/arm_constants.h
new file mode 100644
index 0000000..1697a8e
--- /dev/null
+++ b/y2018/control_loops/superstructure/arm/arm_constants.h
@@ -0,0 +1,53 @@
+#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+constexpr double kEfficiencyTweak = 0.95;
+constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
+constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
+constexpr double kStallCurrent = 89.0;
+
+constexpr ::frc971::control_loops::arm::ArmConstants kArmConstants = {
+ .l0 = 46.25 * 0.0254,
+ .l1 = 41.80 * 0.0254,
+ .m0 = 9.34 / 2.2,
+ .m1 = 9.77 / 2.2,
+
+ // Moment of inertia of the joints in kg m^2
+ .j0 = 2957.05 * 0.0002932545454545454,
+ .j1 = 2824.70 * 0.0002932545454545454,
+
+ // Radius of the center of mass of the joints in meters.
+ .r0 = 21.64 * 0.0254,
+ .r1 = 26.70 * 0.0254,
+
+ // Gear ratios for the two joints.
+ .g0 = 140.0,
+ .g1 = 90.0,
+
+ // MiniCIM motor constants.
+ .efficiency_tweak = kEfficiencyTweak,
+ .stall_torque = kStallTorque,
+ .free_speed = kFreeSpeed,
+ .stall_current = kStallCurrent,
+ .resistance = 12.0 / kStallCurrent,
+ .Kv = kFreeSpeed / 12.0,
+ .Kt = kStallTorque / kStallCurrent,
+
+ // Number of motors on the distal joint.
+ .num_distal_motors = 2.0,
+};
+
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2018
+
+#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2018/control_loops/superstructure/arm/demo_path.h b/y2018/control_loops/superstructure/arm/demo_path.h
deleted file mode 100644
index 0c18103..0000000
--- a/y2018/control_loops/superstructure/arm/demo_path.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
-
-#include <memory>
-
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-::std::unique_ptr<Path> MakeDemoPath();
-::std::unique_ptr<Path> MakeReversedDemoPath();
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
diff --git a/y2018/control_loops/superstructure/arm/dynamics.cc b/y2018/control_loops/superstructure/arm/dynamics.cc
deleted file mode 100644
index 02a2861..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics.cc
+++ /dev/null
@@ -1,35 +0,0 @@
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-
-DEFINE_bool(gravity, true, "If true, enable gravity.");
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K3 =
- (::Eigen::Matrix<double, 2, 2>()
- << Dynamics::kG1 * Dynamics::Kt / Dynamics::kResistance,
- 0.0, 0.0, Dynamics::kG2 *Dynamics::kNumDistalMotors *Dynamics::Kt /
- Dynamics::kResistance)
- .finished();
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K3_inverse = K3.inverse();
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K4 =
- (::Eigen::Matrix<double, 2, 2>()
- << Dynamics::kG1 * Dynamics::kG1 * Dynamics::Kt /
- (Dynamics::Kv * Dynamics::kResistance),
- 0.0, 0.0,
- Dynamics::kG2 *Dynamics::kG2 *Dynamics::Kt *Dynamics::kNumDistalMotors /
- (Dynamics::Kv * Dynamics::kResistance))
- .finished();
-
-constexpr double Dynamics::kAlpha;
-constexpr double Dynamics::kBeta;
-constexpr double Dynamics::kGamma;
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
diff --git a/y2018/control_loops/superstructure/arm/dynamics.h b/y2018/control_loops/superstructure/arm/dynamics.h
deleted file mode 100644
index b1ebc97..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics.h
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
-
-#include "Eigen/Dense"
-
-#include "frc971/control_loops/runge_kutta.h"
-#include "gflags/gflags.h"
-
-DECLARE_bool(gravity);
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-// This class captures the dynamics of our system. It doesn't actually need to
-// store state yet, so everything can be constexpr and/or static.
-class Dynamics {
- public:
- // Below, 1 refers to the proximal joint, and 2 refers to the distal joint.
- // Length of the joints in meters.
- static constexpr double kL1 = 46.25 * 0.0254;
- static constexpr double kL2 = 41.80 * 0.0254;
-
- // Mass of the joints in kilograms.
- static constexpr double kM1 = 9.34 / 2.2;
- static constexpr double kM2 = 9.77 / 2.2;
-
- // Moment of inertia of the joints in kg m^2
- static constexpr double kJ1 = 2957.05 * 0.0002932545454545454;
- static constexpr double kJ2 = 2824.70 * 0.0002932545454545454;
-
- // Radius of the center of mass of the joints in meters.
- static constexpr double r1 = 21.64 * 0.0254;
- static constexpr double r2 = 26.70 * 0.0254;
-
- // Gear ratios for the two joints.
- static constexpr double kG1 = 140.0;
- static constexpr double kG2 = 90.0;
-
- // MiniCIM motor constants.
- static constexpr double kEfficiencyTweak = 0.95;
- static constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
- static constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
- static constexpr double kStallCurrent = 89.0;
- static constexpr double kResistance = 12.0 / kStallCurrent;
- static constexpr double Kv = kFreeSpeed / 12.0;
- static constexpr double Kt = kStallTorque / kStallCurrent;
-
- // Number of motors on the distal joint.
- static constexpr double kNumDistalMotors = 2.0;
-
- static constexpr double kAlpha = kJ1 + r1 * r1 * kM1 + kL1 * kL1 * kM2;
- static constexpr double kBeta = kL1 * r2 * kM2;
- static constexpr double kGamma = kJ2 + r2 * r2 * kM2;
-
- // K3, K4 matricies described below.
- static const ::Eigen::Matrix<double, 2, 2> K3;
- static const ::Eigen::Matrix<double, 2, 2> K3_inverse;
- static const ::Eigen::Matrix<double, 2, 2> K4;
-
- // Generates K1-2 for the arm ODE.
- // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
- // These matricies are missing the velocity factor for K2[1, 0], and K2[0, 1].
- // You probbaly want MatriciesForState.
- static void NormilizedMatriciesForState(
- const ::Eigen::Matrix<double, 4, 1> &X,
- ::Eigen::Matrix<double, 2, 2> *K1_result,
- ::Eigen::Matrix<double, 2, 2> *K2_result) {
- const double angle = X(0, 0) - X(2, 0);
- const double s = ::std::sin(angle);
- const double c = ::std::cos(angle);
- *K1_result << kAlpha, c * kBeta, c * kBeta, kGamma;
- *K2_result << 0.0, s * kBeta, -s * kBeta, 0.0;
- }
-
- // Generates K1-2 for the arm ODE.
- // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
- static void MatriciesForState(const ::Eigen::Matrix<double, 4, 1> &X,
- ::Eigen::Matrix<double, 2, 2> *K1_result,
- ::Eigen::Matrix<double, 2, 2> *K2_result) {
- NormilizedMatriciesForState(X, K1_result, K2_result);
- (*K2_result)(1, 0) *= X(1, 0);
- (*K2_result)(0, 1) *= X(3, 0);
- }
-
- // TODO(austin): We may want a way to provide K1 and K2 to save CPU cycles.
-
- // Calculates the acceleration given the current state and control input.
- static const ::Eigen::Matrix<double, 4, 1> Acceleration(
- const ::Eigen::Matrix<double, 4, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X, &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> velocity =
- (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
-
- const ::Eigen::Matrix<double, 2, 1> torque = K3 * U - K4 * velocity;
- const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
-
- const ::Eigen::Matrix<double, 2, 1> accel =
- K1.inverse() * (torque + gravity_torque - K2 * velocity);
-
- return (::Eigen::Matrix<double, 4, 1>() << X(1, 0), accel(0, 0), X(3, 0),
- accel(1, 0))
- .finished();
- }
-
- // Calculates the acceleration given the current augmented kalman filter state
- // and control input.
- static const ::Eigen::Matrix<double, 6, 1> EKFAcceleration(
- const ::Eigen::Matrix<double, 6, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X.block<4, 1>(0, 0), &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> velocity =
- (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
-
- const ::Eigen::Matrix<double, 2, 1> torque =
- K3 *
- (U +
- (::Eigen::Matrix<double, 2, 1>() << X(4, 0), X(5, 0)).finished()) -
- K4 * velocity;
- const ::Eigen::Matrix<double, 2, 1> gravity_torque =
- GravityTorque(X.block<4, 1>(0, 0));
-
- const ::Eigen::Matrix<double, 2, 1> accel =
- K1.inverse() * (torque + gravity_torque - K2 * velocity);
-
- return (::Eigen::Matrix<double, 6, 1>() << X(1, 0), accel(0, 0), X(3, 0),
- accel(1, 0), 0.0, 0.0)
- .finished();
- }
-
- // Calculates the voltage required to follow the trajectory. This requires
- // knowing the current state, desired angular velocity and acceleration.
- static const ::Eigen::Matrix<double, 2, 1> FF_U(
- const ::Eigen::Matrix<double, 4, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &omega_t,
- const ::Eigen::Matrix<double, 2, 1> &alpha_t) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X, &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
-
- return K3_inverse *
- (K1 * alpha_t + K2 * omega_t + K4 * omega_t - gravity_torque);
- }
-
- static ::Eigen::Matrix<double, 2, 1> GravityTorque(
- const ::Eigen::Matrix<double, 4, 1> &X) {
- constexpr double kAccelDueToGravity = 9.8 * kEfficiencyTweak;
- return (::Eigen::Matrix<double, 2, 1>() << (r1 * kM1 + kL1 * kM2) *
- ::std::sin(X(0)) *
- kAccelDueToGravity,
- r2 * kM2 * ::std::sin(X(2)) * kAccelDueToGravity)
- .finished() *
- (FLAGS_gravity ? 1.0 : 0.0);
- }
-
- 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::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::RungeKuttaU(Dynamics::EKFAcceleration, X, U,
- dt);
- }
-};
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
diff --git a/y2018/control_loops/superstructure/arm/dynamics_test.cc b/y2018/control_loops/superstructure/arm/dynamics_test.cc
deleted file mode 100644
index 23e5adc..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics_test.cc
+++ /dev/null
@@ -1,52 +0,0 @@
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-
-#include "gtest/gtest.h"
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-namespace testing {
-
-// Tests that zero inputs result in no acceleration and no motion.
-// This isn't all that rigerous, but it's a good start.
-TEST(DynamicsTest, Acceleration) {
- Dynamics dynamics;
-
- EXPECT_TRUE(dynamics
- .Acceleration(::Eigen::Matrix<double, 4, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero())
- .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
-
- EXPECT_TRUE(dynamics
- .UnboundedDiscreteDynamics(
- ::Eigen::Matrix<double, 4, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero(), 0.1)
- .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
-
- const ::Eigen::Matrix<double, 4, 1> X =
- (::Eigen::Matrix<double, 4, 1>() << M_PI / 2.0, 0.0, 0.0, 0.0).finished();
-
- ::std::cout << dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero())
- << ::std::endl;
-
- ::std::cout << dynamics.UnboundedDiscreteDynamics(
- X, dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero()),
- 0.01)
- << ::std::endl;
-
- EXPECT_TRUE(dynamics
- .UnboundedDiscreteDynamics(
- X, dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero()),
- 0.01)
- .isApprox(X));
-}
-
-} // namespace testing
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index 10b39bc..0cee664 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,10 +1,11 @@
#include "aos/init.h"
#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "gflags/gflags.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
DEFINE_bool(forwards, true, "If true, run the forwards simulation.");
DEFINE_bool(plot, true, "If true, plot");
@@ -16,10 +17,12 @@
namespace arm {
void Main() {
- Trajectory trajectory(FLAGS_forwards
- ? MakeNeutralToFrontHighPath()
- : Path::Reversed(MakeNeutralToFrontHighPath()),
- 0.001);
+ frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
+ frc971::control_loops::arm::Trajectory trajectory(
+ &dynamics,
+ FLAGS_forwards ? MakeNeutralToFrontHighPath()
+ : Path::Reversed(MakeNeutralToFrontHighPath()),
+ 0.001);
constexpr double kAlpha0Max = 30.0;
constexpr double kAlpha1Max = 50.0;
@@ -96,7 +99,7 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
.array()
.max(-20)
.min(20);
@@ -118,7 +121,7 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
.array()
.max(-20)
.min(20);
@@ -140,7 +143,7 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
.array()
.max(-20)
.min(20);
@@ -156,7 +159,8 @@
X << theta_t(0), 0.0, theta_t(1), 0.0;
}
- TrajectoryFollower follower(&trajectory);
+ frc971::control_loops::arm::TrajectoryFollower follower(&dynamics,
+ &trajectory);
::std::vector<double> t_array;
::std::vector<double> theta0_goal_t_array;
@@ -187,7 +191,7 @@
::std::vector<double> torque0_hat_t_array;
::std::vector<double> torque1_hat_t_array;
- EKF arm_ekf;
+ frc971::control_loops::arm::EKF arm_ekf(&dynamics);
arm_ekf.Reset(X);
::std::cout << "Reset P: " << arm_ekf.P_reset() << ::std::endl;
::std::cout << "Stabilized P: " << arm_ekf.P_half_converged() << ::std::endl;
@@ -236,9 +240,9 @@
actual_U(0) += 1.0;
const ::Eigen::Matrix<double, 4, 1> xdot =
- Dynamics::Acceleration(X, actual_U);
+ dynamics.Acceleration(X, actual_U);
- X = Dynamics::UnboundedDiscreteDynamics(X, actual_U, sim_dt);
+ X = dynamics.UnboundedDiscreteDynamics(X, actual_U, sim_dt);
arm_ekf.Predict(follower.U(), sim_dt);
alpha0_t_array.push_back(xdot(1));
@@ -270,10 +274,14 @@
plotter.AddLine(distance_array, alpha0_array, "alpha0");
plotter.AddLine(distance_array, alpha1_array, "alpha1");
- plotter.AddLine(integrated_distance, integrated_theta0_array, "integrated theta0");
- plotter.AddLine(integrated_distance, integrated_theta1_array, "integrated theta1");
- plotter.AddLine(integrated_distance, integrated_omega0_array, "integrated omega0");
- plotter.AddLine(integrated_distance, integrated_omega1_array, "integrated omega1");
+ plotter.AddLine(integrated_distance, integrated_theta0_array,
+ "integrated theta0");
+ plotter.AddLine(integrated_distance, integrated_theta1_array,
+ "integrated theta1");
+ plotter.AddLine(integrated_distance, integrated_omega0_array,
+ "integrated omega0");
+ plotter.AddLine(integrated_distance, integrated_omega1_array,
+ "integrated omega1");
plotter.Publish();
plotter.AddFigure();
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 285c8c3..54342c5 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -8,7 +8,8 @@
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
#include "y2018/control_loops/superstructure/superstructure.h"
@@ -129,7 +130,8 @@
constants::Values::kProximalEncoderRatio()),
distal_zeroing_constants_(distal_zeroing_constants),
distal_pot_encoder_(M_PI * 2.0 *
- constants::Values::kDistalEncoderRatio()) {
+ constants::Values::kDistalEncoderRatio()),
+ dynamics_(arm::kArmConstants) {
X_.setZero();
}
@@ -174,7 +176,7 @@
AOS_CHECK_LE(::std::abs(U(1)), voltage_check);
if (release_arm_brake) {
- X_ = arm::Dynamics::UnboundedDiscreteDynamics(X_, U, 0.00505);
+ X_ = dynamics_.UnboundedDiscreteDynamics(X_, U, 0.00505);
} else {
// Well, the brake shouldn't stop both joints, but this will get the tests
// to pass.
@@ -197,6 +199,8 @@
const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
distal_zeroing_constants_;
PositionSensorSimulator distal_pot_encoder_;
+
+ ::frc971::control_loops::arm::Dynamics dynamics_;
};
class SuperstructureSimulation {
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
index 93172b4..b0b7674 100644
--- a/y2019/vision/server/BUILD
+++ b/y2019/vision/server/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "demo",
srcs = [
"demo.ts",
diff --git a/y2019/vision/server/www/BUILD b/y2019/vision/server/www/BUILD
index 7c40eaa..2e8be80 100644
--- a/y2019/vision/server/www/BUILD
+++ b/y2019/vision/server/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
package(default_visibility = ["//visibility:public"])
@@ -10,7 +9,7 @@
]),
)
-ts_library(
+ts_project(
name = "visualizer",
srcs = glob([
"*.ts",
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 0455d0f..fa153f0 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -1,7 +1,7 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
genrule(
name = "genrule_drivetrain",
@@ -216,7 +216,7 @@
],
)
-ts_library(
+ts_project(
name = "localizer_plotter",
srcs = ["localizer_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2020/control_loops/drivetrain/localizer_plotter.ts b/y2020/control_loops/drivetrain/localizer_plotter.ts
index b2120ef..03450ef 100644
--- a/y2020/control_loops/drivetrain/localizer_plotter.ts
+++ b/y2020/control_loops/drivetrain/localizer_plotter.ts
@@ -1,10 +1,10 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {Connection} from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import {MessageHandler, TimestampedMessage} from '../../../aos/network/www/aos_plotter';
+import {Point} from '../../../aos/network/www/plotter';
+import {Table} from '../../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index 8a1f737..3833536 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -122,6 +122,7 @@
deps = [
"//frc971/control_loops/python:controls",
"@pip//matplotlib",
+ "@pip//pygobject",
],
)
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index d3f303f..d1f20a2 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -136,7 +136,7 @@
],
)
-ts_library(
+ts_project(
name = "turret_plotter",
srcs = ["turret_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -152,7 +152,7 @@
],
)
-ts_library(
+ts_project(
name = "finisher_plotter",
srcs = ["finisher_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -163,7 +163,7 @@
],
)
-ts_library(
+ts_project(
name = "accelerator_plotter",
srcs = ["accelerator_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -174,7 +174,7 @@
],
)
-ts_library(
+ts_project(
name = "hood_plotter",
srcs = ["hood_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2020/control_loops/superstructure/accelerator_plotter.ts b/y2020/control_loops/superstructure/accelerator_plotter.ts
index e1bc5bc..a5014dc 100644
--- a/y2020/control_loops/superstructure/accelerator_plotter.ts
+++ b/y2020/control_loops/superstructure/accelerator_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index f2127f5..9799e2c 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/hood_plotter.ts b/y2020/control_loops/superstructure/hood_plotter.ts
index 55b1ba8..4102464 100644
--- a/y2020/control_loops/superstructure/hood_plotter.ts
+++ b/y2020/control_loops/superstructure/hood_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/turret_plotter.ts b/y2020/control_loops/superstructure/turret_plotter.ts
index 5cb15c6..4de5e1d 100644
--- a/y2020/control_loops/superstructure/turret_plotter.ts
+++ b/y2020/control_loops/superstructure/turret_plotter.ts
@@ -1,11 +1,11 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import * as configuration from 'org_frc971/aos/configuration_generated';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import * as configuration from '../../../aos/configuration_generated';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import {MessageHandler, TimestampedMessage} from '../../../aos/network/www/aos_plotter';
+import {Point} from '../../../aos/network/www/plotter';
+import {Table} from '../../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 8467994..0c05900 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -1,8 +1,7 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
-ts_library(
+ts_project(
name = "camera_main",
srcs = [
"camera_main.ts",
@@ -21,7 +20,7 @@
],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
diff --git a/y2020/www/camera_main.ts b/y2020/www/camera_main.ts
index 58e5bed..2c47cc5 100644
--- a/y2020/www/camera_main.ts
+++ b/y2020/www/camera_main.ts
@@ -1,7 +1,7 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {ImageHandler} from './image_handler';
-import {ConfigHandler} from 'org_frc971/aos/network/www/config_handler';
+import {ConfigHandler} from '../../aos/network/www/config_handler';
const conn = new Connection();
diff --git a/y2020/www/field_main.ts b/y2020/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2020/www/field_main.ts
+++ b/y2020/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2020/www/image_handler.ts b/y2020/www/image_handler.ts
index 856ee8b..07cee10 100644
--- a/y2020/www/image_handler.ts
+++ b/y2020/www/image_handler.ts
@@ -1,8 +1,8 @@
-import {Channel, Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Channel, Configuration} from '../../aos/configuration_generated';
+import {Connection} from '../../aos/network/www/proxy';
import {ByteBuffer} from 'flatbuffers';
-import {ImageMatchResult, Feature} from 'org_frc971/y2020/vision/sift/sift_generated'
-import {CameraImage} from 'org_frc971/frc971/vision/vision_generated';
+import {ImageMatchResult, Feature} from '../vision/sift/sift_generated'
+import {CameraImage} from '../../frc971/vision/vision_generated';
export class ImageHandler {
private canvas = document.createElement('canvas');
diff --git a/y2021_bot3/control_loops/superstructure/BUILD b/y2021_bot3/control_loops/superstructure/BUILD
index f5b5b3b..be18cbe 100644
--- a/y2021_bot3/control_loops/superstructure/BUILD
+++ b/y2021_bot3/control_loops/superstructure/BUILD
@@ -1,5 +1,5 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -104,7 +104,7 @@
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
index f453d64..4fb397d 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/BUILD b/y2022/BUILD
index e978f7a..1a04c2e 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -102,7 +102,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//frc971/vision:vision_fbs",
- "//y2022/localizer:localizer_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//frc971/vision:calibration_fbs",
"//y2022/vision:target_estimate_fbs",
"//y2022/vision:ball_color_fbs",
@@ -132,7 +132,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//y2022/localizer:localizer_status_fbs",
- "//y2022/localizer:localizer_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//y2022/localizer:localizer_visualization_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2022/control_loops/drivetrain/BUILD b/y2022/control_loops/drivetrain/BUILD
index 18855a6..148a998 100644
--- a/y2022/control_loops/drivetrain/BUILD
+++ b/y2022/control_loops/drivetrain/BUILD
@@ -71,19 +71,6 @@
],
)
-cc_library(
- name = "localizer",
- srcs = ["localizer.cc"],
- hdrs = ["localizer.h"],
- deps = [
- "//aos/events:event_loop",
- "//aos/network:message_bridge_server_fbs",
- "//frc971/control_loops/drivetrain:hybrid_ekf",
- "//frc971/control_loops/drivetrain:localizer",
- "//y2022/localizer:localizer_output_fbs",
- ],
-)
-
cc_binary(
name = "drivetrain",
srcs = [
@@ -93,10 +80,10 @@
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
- ":localizer",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
+ "//frc971/control_loops/drivetrain/localization:puppet_localizer",
],
)
@@ -111,25 +98,6 @@
],
)
-cc_test(
- name = "localizer_test",
- srcs = ["localizer_test.cc"],
- data = [":simulation_config"],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":drivetrain_base",
- ":localizer",
- "//aos/events:simulated_event_loop",
- "//aos/events/logging:log_writer",
- "//aos/network:team_number",
- "//frc971/control_loops:control_loop_test",
- "//frc971/control_loops:team_number_test_environment",
- "//frc971/control_loops/drivetrain:drivetrain_lib",
- "//frc971/control_loops/drivetrain:drivetrain_test_lib",
- "//y2022/localizer:localizer_output_fbs",
- ],
-)
-
cc_binary(
name = "trajectory_generator",
srcs = [
diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index a422eaa..6e02cc7 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -3,8 +3,8 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-#include "y2022/control_loops/drivetrain/localizer.h"
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
@@ -15,10 +15,11 @@
aos::configuration::ReadConfig("aos_config.json");
aos::ShmEventLoop event_loop(&config.message());
- std::unique_ptr<::y2022::control_loops::drivetrain::Localizer> localizer =
- std::make_unique<y2022::control_loops::drivetrain::Localizer>(
- &event_loop,
- y2022::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+ localizer =
+ std::make_unique<frc971::control_loops::drivetrain::PuppetLocalizer>(
+ &event_loop,
+ y2022::control_loops::drivetrain::GetDrivetrainConfig());
std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
y2022::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
localizer.get());
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 3bc1297..e0db64c 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -193,14 +193,14 @@
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//frc971/queues:gyro_fbs",
"//third_party:phoenix",
"//third_party:wpilib",
- "//y2022/localizer:localizer_output_fbs",
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -211,7 +211,7 @@
],
)
-ts_library(
+ts_project(
name = "catapult_plotter",
srcs = ["catapult_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -222,7 +222,7 @@
],
)
-ts_library(
+ts_project(
name = "intake_plotter",
srcs = ["intake_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -233,7 +233,7 @@
],
)
-ts_library(
+ts_project(
name = "turret_plotter",
srcs = ["turret_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -244,7 +244,7 @@
],
)
-ts_library(
+ts_project(
name = "climber_plotter",
srcs = ["climber_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
index 90db40b..579aeff 100644
--- a/y2022/control_loops/superstructure/catapult_plotter.ts
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
index e24a993..127eb5a 100644
--- a/y2022/control_loops/superstructure/climber_plotter.ts
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
index 8904d8b..d66964d 100644
--- a/y2022/control_loops/superstructure/intake_plotter.ts
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/led_indicator.h b/y2022/control_loops/superstructure/led_indicator.h
index c058254..71bc73b 100644
--- a/y2022/control_loops/superstructure/led_indicator.h
+++ b/y2022/control_loops/superstructure/led_indicator.h
@@ -8,11 +8,11 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/queues/gyro_generated.h"
#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
namespace y2022::control_loops::superstructure {
diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index 8590d7b..782353e 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
index 6753880..c0b5b6f 100644
--- a/y2022/control_loops/superstructure/turret_plotter.ts
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index 2a0a9fe..dd0fb67 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "localizer_plotter",
srcs = ["localizer_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -17,33 +17,18 @@
)
flatbuffer_cc_library(
- name = "localizer_output_fbs",
- srcs = [
- "localizer_output.fbs",
- ],
- gen_reflections = True,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
-
-flatbuffer_ts_library(
- name = "localizer_output_ts_fbs",
- srcs = ["localizer_output.fbs"],
- visibility = ["//visibility:public"],
-)
-
-flatbuffer_cc_library(
name = "localizer_status_fbs",
srcs = [
"localizer_status.fbs",
],
gen_reflections = True,
- includes = [
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
- ],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/imu_reader:imu_failures_fbs",
+ ],
)
flatbuffer_ts_library(
@@ -53,6 +38,7 @@
deps = [
"//frc971/control_loops:control_loops_ts_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+ "//frc971/imu_reader:imu_failures_ts_fbs",
],
)
@@ -92,7 +78,6 @@
hdrs = ["localizer.h"],
visibility = ["//visibility:public"],
deps = [
- ":localizer_output_fbs",
":localizer_status_fbs",
":localizer_visualization_fbs",
"//aos/containers:ring_buffer",
@@ -106,12 +91,13 @@
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/control_loops/drivetrain:improved_down_estimator",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:utils",
+ "//frc971/imu_reader:imu_watcher",
"//frc971/input:joystick_state_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
- "//frc971/zeroing:imu_zeroer",
- "//frc971/zeroing:wrap",
"//y2022:constants",
"//y2022/control_loops/superstructure:superstructure_status_fbs",
"//y2022/vision:target_estimate_fbs",
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 4b0588c..ec81573 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -12,8 +12,7 @@
namespace {
constexpr double kG = 9.80665;
-constexpr std::chrono::microseconds kNominalDt(500);
-
+static constexpr std::chrono::microseconds kNominalDt = ImuWatcher::kNominalDt;
// Field position of the target (the 2022 target is conveniently in the middle
// of the field....).
constexpr double kVisionTargetX = 0.0;
@@ -480,21 +479,6 @@
}
namespace {
-// Converts a flatbuffer TransformationMatrix to an Eigen matrix. Technically,
-// this should be able to do a single memcpy, but the extra verbosity here seems
-// appropriate.
-Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
- const frc971::vision::calibration::TransformationMatrix &flatbuffer) {
- CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
- Eigen::Matrix<double, 4, 4> result;
- result.setIdentity();
- for (int row = 0; row < 4; ++row) {
- for (int col = 0; col < 4; ++col) {
- result(row, col) = (*flatbuffer.data())[row * 4 + col];
- }
- }
- return result;
-}
// Node names of the pis to listen for cameras from.
constexpr std::array<std::string_view, ModelBasedLocalizer::kNumPis> kPisToUse{
@@ -522,7 +506,8 @@
}
CHECK(calibration->has_fixed_extrinsics());
const Eigen::Matrix<double, 4, 4> fixed_extrinsics =
- FlatbufferToTransformationMatrix(*calibration->fixed_extrinsics());
+ control_loops::drivetrain::FlatbufferToTransformationMatrix(
+ *calibration->fixed_extrinsics());
// Calculate the pose of the camera relative to the robot origin.
Eigen::Matrix<double, 4, 4> H_robot_camera = fixed_extrinsics;
@@ -531,7 +516,8 @@
H_robot_camera *
frc971::control_loops::TransformationMatrixForYaw<double>(
state.turret_position) *
- FlatbufferToTransformationMatrix(*calibration->turret_extrinsics());
+ control_loops::drivetrain::FlatbufferToTransformationMatrix(
+ *calibration->turret_extrinsics());
}
return H_robot_camera;
}
@@ -863,38 +849,29 @@
}
}
-namespace {
-// Period at which the encoder readings from the IMU board wrap.
-static double DrivetrainWrapPeriod() {
- return y2022::constants::Values::DrivetrainEncoderToMeters(1 << 16);
-}
-} // namespace
-
EventLoopLocalizer::EventLoopLocalizer(
aos::EventLoop *event_loop,
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
: event_loop_(event_loop),
- dt_config_(dt_config),
model_based_(dt_config),
status_sender_(event_loop_->MakeSender<LocalizerStatus>("/localizer")),
output_sender_(event_loop_->MakeSender<LocalizerOutput>("/localizer")),
visualization_sender_(
event_loop_->MakeSender<LocalizerVisualization>("/localizer")),
- output_fetcher_(
- event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
- "/drivetrain")),
- clock_offset_fetcher_(
- event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
- "/aos")),
superstructure_fetcher_(
event_loop_
->MakeFetcher<y2022::control_loops::superstructure::Status>(
"/superstructure")),
- joystick_state_fetcher_(
- event_loop_->MakeFetcher<aos::JoystickState>("/roborio/aos")),
- zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
- left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
- right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
+ imu_watcher_(event_loop, dt_config,
+ y2022::constants::Values::DrivetrainEncoderToMeters(1),
+ [this](aos::monotonic_clock::time_point sample_time_pico,
+ aos::monotonic_clock::time_point sample_time_pi,
+ std::optional<Eigen::Vector2d> encoders,
+ Eigen::Vector3d gyro, Eigen::Vector3d accel) {
+ HandleImu(sample_time_pico, sample_time_pi, encoders, gyro,
+ accel);
+ }),
+ utils_(event_loop) {
event_loop->SetRuntimeRealtimePriority(10);
event_loop_->MakeWatcher(
"/drivetrain",
@@ -932,10 +909,7 @@
absl::StrCat("/", kPisToUse[camera_index], "/camera"));
}
aos::TimerHandler *estimate_timer = event_loop_->AddTimer([this]() {
- joystick_state_fetcher_.Fetch();
- const bool maybe_in_auto = (joystick_state_fetcher_.get() != nullptr)
- ? joystick_state_fetcher_->autonomous()
- : true;
+ const bool maybe_in_auto = utils_.MaybeInAutonomous();
model_based_.set_use_aggressive_image_corrections(!maybe_in_auto);
for (size_t camera_index = 0; camera_index < kPisToUse.size();
++camera_index) {
@@ -949,8 +923,10 @@
}
if (target_estimate_fetchers_[camera_index].Fetch()) {
const std::optional<aos::monotonic_clock::duration> monotonic_offset =
- ClockOffset(kPisToUse[camera_index]);
+ utils_.ClockOffset(kPisToUse[camera_index]);
if (!monotonic_offset.has_value()) {
+ model_based_.TallyRejection(
+ RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
continue;
}
// TODO(james): Get timestamp from message contents.
@@ -965,7 +941,7 @@
model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
continue;
}
- capture_time -= pico_offset_error_;
+ capture_time -= imu_watcher_.pico_offset_error();
model_based_.HandleImageMatch(
capture_time, target_estimate_fetchers_[camera_index].get(),
camera_index);
@@ -976,179 +952,74 @@
estimate_timer->Setup(event_loop_->monotonic_now(),
std::chrono::milliseconds(100));
});
- event_loop_->MakeWatcher(
- "/localizer", [this](const frc971::IMUValuesBatch &values) {
- CHECK(values.has_readings());
- output_fetcher_.Fetch();
- for (const IMUValues *value : *values.readings()) {
- zeroer_.InsertAndProcessMeasurement(*value);
- if (zeroer_.Faulted()) {
- if (value->checksum_failed()) {
- imu_fault_tracker_.pico_to_pi_checksum_mismatch++;
- } else if (value->previous_reading_diag_stat()->checksum_mismatch()) {
- imu_fault_tracker_.imu_to_pico_checksum_mismatch++;
- } else {
- imu_fault_tracker_.other_zeroing_faults++;
- }
- } else {
- if (!first_valid_data_counter_.has_value()) {
- first_valid_data_counter_ = value->data_counter();
- }
- }
- if (first_valid_data_counter_.has_value()) {
- total_imu_messages_received_++;
- // Only update when we have good checksums, since the data counter
- // could get corrupted.
- if (!zeroer_.Faulted()) {
- if (value->data_counter() < last_data_counter_) {
- data_counter_offset_ += 1 << 16;
- }
- imu_fault_tracker_.missed_messages =
- (1 + value->data_counter() + data_counter_offset_ -
- first_valid_data_counter_.value()) -
- total_imu_messages_received_;
- last_data_counter_ = value->data_counter();
- }
- }
- const std::optional<Eigen::Vector2d> encoders =
- zeroer_.Faulted()
- ? std::nullopt
- : std::make_optional(Eigen::Vector2d{
- left_encoder_.Unwrap(value->left_encoder()),
- right_encoder_.Unwrap(value->right_encoder())});
- {
- // If we can't trust the imu reading, just naively increment the
- // pico timestamp.
- const aos::monotonic_clock::time_point pico_timestamp =
- zeroer_.Faulted()
- ? (last_pico_timestamp_.has_value()
- ? last_pico_timestamp_.value() + kNominalDt
- : aos::monotonic_clock::epoch())
- : aos::monotonic_clock::time_point(
- std::chrono::microseconds(
- value->pico_timestamp_us()));
- // TODO(james): If we get large enough drift off of the pico,
- // actually do something about it.
- if (!pico_offset_.has_value()) {
- pico_offset_ =
- event_loop_->context().monotonic_event_time - pico_timestamp;
- last_pico_timestamp_ = pico_timestamp;
- }
- if (pico_timestamp < last_pico_timestamp_) {
- pico_offset_.value() += std::chrono::microseconds(1ULL << 32);
- }
- const aos::monotonic_clock::time_point sample_timestamp =
- pico_offset_.value() + pico_timestamp;
- pico_offset_error_ =
- event_loop_->context().monotonic_event_time - sample_timestamp;
- const bool disabled =
- (output_fetcher_.get() == nullptr) ||
- (output_fetcher_.context().monotonic_event_time +
- std::chrono::milliseconds(10) <
- event_loop_->context().monotonic_event_time);
- const bool zeroed = zeroer_.Zeroed();
- // For gyros, use the most recent gyro reading if we aren't zeroed,
- // to avoid missing integration cycles.
- model_based_.HandleImu(
- sample_timestamp,
- zeroed ? zeroer_.ZeroedGyro().value() : last_gyro_,
- zeroed ? zeroer_.ZeroedAccel().value()
- : dt_config_.imu_transform.transpose() *
- Eigen::Vector3d::UnitZ(),
- encoders,
- disabled ? Eigen::Vector2d::Zero()
- : Eigen::Vector2d{output_fetcher_->left_voltage(),
- output_fetcher_->right_voltage()});
- last_pico_timestamp_ = pico_timestamp;
-
- if (zeroed) {
- last_gyro_ = zeroer_.ZeroedGyro().value();
- }
- }
- {
- auto builder = status_sender_.MakeBuilder();
- const flatbuffers::Offset<ModelBasedStatus> model_based_status =
- model_based_.PopulateStatus(builder.fbb());
- const flatbuffers::Offset<control_loops::drivetrain::ImuZeroerState>
- zeroer_status = zeroer_.PopulateStatus(builder.fbb());
- const flatbuffers::Offset<ImuFailures> imu_failures =
- ImuFailures::Pack(*builder.fbb(), &imu_fault_tracker_);
- LocalizerStatus::Builder status_builder =
- builder.MakeBuilder<LocalizerStatus>();
- status_builder.add_model_based(model_based_status);
- status_builder.add_zeroed(zeroer_.Zeroed());
- status_builder.add_faulted_zero(zeroer_.Faulted());
- status_builder.add_zeroing(zeroer_status);
- status_builder.add_imu_failures(imu_failures);
- if (encoders.has_value()) {
- status_builder.add_left_encoder(encoders.value()(0));
- status_builder.add_right_encoder(encoders.value()(1));
- }
- if (pico_offset_.has_value()) {
- status_builder.add_pico_offset_ns(pico_offset_.value().count());
- status_builder.add_pico_offset_error_ns(
- pico_offset_error_.count());
- }
- builder.CheckOk(builder.Send(status_builder.Finish()));
- }
- if (last_output_send_ + std::chrono::milliseconds(5) <
- event_loop_->context().monotonic_event_time) {
- auto builder = output_sender_.MakeBuilder();
-
- const auto led_outputs_offset =
- builder.fbb()->CreateVector(model_based_.led_outputs().data(),
- model_based_.led_outputs().size());
-
- LocalizerOutput::Builder output_builder =
- builder.MakeBuilder<LocalizerOutput>();
- // TODO(james): Should we bother to try to estimate time offsets for
- // the pico?
- output_builder.add_monotonic_timestamp_ns(
- value->monotonic_timestamp_ns());
- output_builder.add_x(model_based_.xytheta()(0));
- output_builder.add_y(model_based_.xytheta()(1));
- output_builder.add_theta(model_based_.xytheta()(2));
- output_builder.add_zeroed(zeroer_.Zeroed());
- output_builder.add_image_accepted_count(model_based_.total_accepted());
- const Eigen::Quaterniond &orientation = model_based_.orientation();
- Quaternion quaternion;
- quaternion.mutate_x(orientation.x());
- quaternion.mutate_y(orientation.y());
- quaternion.mutate_z(orientation.z());
- quaternion.mutate_w(orientation.w());
- output_builder.add_orientation(&quaternion);
- output_builder.add_led_outputs(led_outputs_offset);
- builder.CheckOk(builder.Send(output_builder.Finish()));
- last_output_send_ = event_loop_->monotonic_now();
- }
- }
- });
}
-std::optional<aos::monotonic_clock::duration> EventLoopLocalizer::ClockOffset(
- std::string_view pi) {
- std::optional<aos::monotonic_clock::duration> monotonic_offset;
- clock_offset_fetcher_.Fetch();
- if (clock_offset_fetcher_.get() != nullptr) {
- for (const auto connection : *clock_offset_fetcher_->connections()) {
- if (connection->has_node() && connection->node()->has_name() &&
- connection->node()->name()->string_view() == pi) {
- if (connection->has_monotonic_offset()) {
- monotonic_offset =
- std::chrono::nanoseconds(connection->monotonic_offset());
- } else {
- // If we don't have a monotonic offset, that means we aren't
- // connected.
- model_based_.TallyRejection(
- RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
- return std::nullopt;
- }
- break;
- }
+void EventLoopLocalizer::HandleImu(
+ aos::monotonic_clock::time_point sample_time_pico,
+ aos::monotonic_clock::time_point sample_time_pi,
+ std::optional<Eigen::Vector2d> encoders, Eigen::Vector3d gyro,
+ Eigen::Vector3d accel) {
+
+ model_based_.HandleImu(
+ sample_time_pico, gyro, accel, encoders,
+ utils_.VoltageOrZero(event_loop_->context().monotonic_event_time));
+
+ {
+ auto builder = status_sender_.MakeBuilder();
+ const flatbuffers::Offset<ModelBasedStatus> model_based_status =
+ model_based_.PopulateStatus(builder.fbb());
+ const flatbuffers::Offset<control_loops::drivetrain::ImuZeroerState>
+ zeroer_status = imu_watcher_.zeroer().PopulateStatus(builder.fbb());
+ const flatbuffers::Offset<ImuFailures> imu_failures =
+ imu_watcher_.PopulateImuFailures(builder.fbb());
+ LocalizerStatus::Builder status_builder =
+ builder.MakeBuilder<LocalizerStatus>();
+ status_builder.add_model_based(model_based_status);
+ status_builder.add_zeroed(imu_watcher_.zeroer().Zeroed());
+ status_builder.add_faulted_zero(imu_watcher_.zeroer().Faulted());
+ status_builder.add_zeroing(zeroer_status);
+ status_builder.add_imu_failures(imu_failures);
+ if (encoders.has_value()) {
+ status_builder.add_left_encoder(encoders.value()(0));
+ status_builder.add_right_encoder(encoders.value()(1));
}
+ if (imu_watcher_.pico_offset().has_value()) {
+ status_builder.add_pico_offset_ns(
+ imu_watcher_.pico_offset().value().count());
+ status_builder.add_pico_offset_error_ns(
+ imu_watcher_.pico_offset_error().count());
+ }
+ builder.CheckOk(builder.Send(status_builder.Finish()));
}
- CHECK(monotonic_offset.has_value());
- return monotonic_offset;
+ if (last_output_send_ + std::chrono::milliseconds(5) <
+ event_loop_->context().monotonic_event_time) {
+ auto builder = output_sender_.MakeBuilder();
+
+ const auto led_outputs_offset = builder.fbb()->CreateVector(
+ model_based_.led_outputs().data(), model_based_.led_outputs().size());
+
+ LocalizerOutput::Builder output_builder =
+ builder.MakeBuilder<LocalizerOutput>();
+ output_builder.add_monotonic_timestamp_ns(
+ std::chrono::duration_cast<std::chrono::nanoseconds>(
+ sample_time_pi.time_since_epoch())
+ .count());
+ output_builder.add_x(model_based_.xytheta()(0));
+ output_builder.add_y(model_based_.xytheta()(1));
+ output_builder.add_theta(model_based_.xytheta()(2));
+ output_builder.add_zeroed(imu_watcher_.zeroer().Zeroed());
+ output_builder.add_image_accepted_count(model_based_.total_accepted());
+ const Eigen::Quaterniond &orientation = model_based_.orientation();
+ Quaternion quaternion;
+ quaternion.mutate_x(orientation.x());
+ quaternion.mutate_y(orientation.y());
+ quaternion.mutate_z(orientation.z());
+ quaternion.mutate_w(orientation.w());
+ output_builder.add_orientation(&quaternion);
+ output_builder.add_led_outputs(led_outputs_offset);
+ builder.CheckOk(builder.Send(output_builder.Finish()));
+ last_output_send_ = event_loop_->monotonic_now();
+ }
}
} // namespace frc971::controls
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index fc15e9f..59ad75c 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -9,13 +9,15 @@
#include "aos/network/message_bridge_server_generated.h"
#include "aos/time/time.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
-#include "frc971/input/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/control_loops/drivetrain/localization/utils.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/imu_reader/imu_watcher.h"
+#include "frc971/input/joystick_state_generated.h"
#include "frc971/zeroing/imu_zeroer.h"
#include "frc971/zeroing/wrap.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
#include "y2022/localizer/localizer_status_generated.h"
#include "y2022/localizer/localizer_visualization_generated.h"
#include "y2022/vision/target_estimate_generated.h"
@@ -58,10 +60,6 @@
// until the branches stop diverging--this will indicate that the model
// matches the accelerometer readings again, and so we will swap back to
// the model-based state.
-//
-// TODO:
-// * Implement paying attention to camera readings.
-// * Tune for ADIS16505/real robot.
class ModelBasedLocalizer {
public:
static constexpr size_t kNumPis = 4;
@@ -329,43 +327,27 @@
ModelBasedLocalizer *localizer() { return &model_based_; }
private:
- std::optional<aos::monotonic_clock::duration> ClockOffset(
- std::string_view pi);
+ void HandleImu(aos::monotonic_clock::time_point sample_time_pico,
+ aos::monotonic_clock::time_point sample_time_pi,
+ std::optional<Eigen::Vector2d> encoders, Eigen::Vector3d gyro,
+ Eigen::Vector3d accel);
aos::EventLoop *event_loop_;
- const control_loops::drivetrain::DrivetrainConfig<double> &dt_config_;
ModelBasedLocalizer model_based_;
aos::Sender<LocalizerStatus> status_sender_;
aos::Sender<LocalizerOutput> output_sender_;
aos::Sender<LocalizerVisualization> visualization_sender_;
- aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
- aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
std::array<aos::Fetcher<y2022::vision::TargetEstimate>,
ModelBasedLocalizer::kNumPis>
target_estimate_fetchers_;
aos::Fetcher<y2022::control_loops::superstructure::Status>
superstructure_fetcher_;
- aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
- zeroing::ImuZeroer zeroer_;
aos::monotonic_clock::time_point last_output_send_ =
aos::monotonic_clock::min_time;
aos::monotonic_clock::time_point last_visualization_send_ =
aos::monotonic_clock::min_time;
- std::optional<aos::monotonic_clock::time_point> last_pico_timestamp_;
- aos::monotonic_clock::duration pico_offset_error_;
- // t = pico_offset_ + pico_timestamp.
- // Note that this can drift over sufficiently long time periods!
- std::optional<std::chrono::nanoseconds> pico_offset_;
- ImuFailuresT imu_fault_tracker_;
- std::optional<size_t> first_valid_data_counter_;
- size_t total_imu_messages_received_ = 0;
- size_t data_counter_offset_ = 0;
- int last_data_counter_ = 0;
-
- Eigen::Vector3d last_gyro_ = Eigen::Vector3d::Zero();
-
- zeroing::UnwrapSensor left_encoder_;
- zeroing::UnwrapSensor right_encoder_;
+ ImuWatcher imu_watcher_;
+ control_loops::drivetrain::LocalizationUtils utils_;
};
} // namespace frc971::controls
#endif // Y2022_LOCALIZER_LOCALIZER_H_
diff --git a/y2022/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
index bcd8894..8344eb8 100644
--- a/y2022/localizer/localizer_plotter.ts
+++ b/y2022/localizer/localizer_plotter.ts
@@ -1,8 +1,8 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/localizer/localizer_status.fbs b/y2022/localizer/localizer_status.fbs
index 05cfc73..9e5081d 100644
--- a/y2022/localizer/localizer_status.fbs
+++ b/y2022/localizer/localizer_status.fbs
@@ -1,4 +1,5 @@
include "frc971/control_loops/drivetrain/drivetrain_status.fbs";
+include "frc971/imu_reader/imu_failures.fbs";
namespace frc971.controls;
@@ -92,13 +93,6 @@
statistics:CumulativeStatistics (id: 18);
}
-table ImuFailures {
- imu_to_pico_checksum_mismatch:uint (id: 0);
- pico_to_pi_checksum_mismatch:uint (id: 1);
- missed_messages:uint (id: 2);
- other_zeroing_faults:uint (id: 3);
-}
-
table LocalizerStatus {
model_based:ModelBasedStatus (id: 0);
// Whether the IMU is zeroed or not.
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 31644e4..99fb95d 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -1,8 +1,8 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "vision_plotter",
srcs = ["vision_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -98,11 +98,11 @@
"//aos/events:event_loop",
"//aos/events:shm_event_loop",
"//aos/network:team_number",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/vision:v4l2_reader",
"//frc971/vision:vision_fbs",
"//third_party:opencv",
- "//y2022/localizer:localizer_output_fbs",
],
)
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index c2d4f5f..7f07704 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -11,10 +11,10 @@
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
#include "frc971/vision/calibration_generated.h"
#include "frc971/vision/v4l2_reader.h"
#include "frc971/vision/vision_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
#include "y2022/vision/calibration_data.h"
#include "y2022/vision/gpio.h"
#include "y2022/vision/target_estimate_generated.h"
diff --git a/y2022/vision/vision_plotter.ts b/y2022/vision/vision_plotter.ts
index adbf900..d557a36 100644
--- a/y2022/vision/vision_plotter.ts
+++ b/y2022/vision/vision_plotter.ts
@@ -1,11 +1,11 @@
import {ByteBuffer} from 'flatbuffers';
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
+import {Connection} from '../../aos/network/www/proxy';
+import {Table} from '../../aos/network/www/reflection';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
-import {TargetEstimate} from 'org_frc971/y2022/vision/target_estimate_generated';
+import {TargetEstimate} from './target_estimate_generated';
const TIME = AosPlotter.TIME;
diff --git a/y2022/www/BUILD b/y2022/www/BUILD
index 957045d..e806404 100644
--- a/y2022/www/BUILD
+++ b/y2022/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
filegroup(
@@ -12,7 +11,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
@@ -25,8 +24,8 @@
"//aos/network:web_proxy_ts_fbs",
"//aos/network/www:proxy",
"//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_ts_fbs",
"//y2022/control_loops/superstructure:superstructure_status_ts_fbs",
- "//y2022/localizer:localizer_output_ts_fbs",
"//y2022/localizer:localizer_status_ts_fbs",
"//y2022/localizer:localizer_visualization_ts_fbs",
"@com_github_google_flatbuffers//ts:flatbuffers_ts",
diff --git a/y2022/www/field_handler.ts b/y2022/www/field_handler.ts
index ec25607..d20637f 100644
--- a/y2022/www/field_handler.ts
+++ b/y2022/www/field_handler.ts
@@ -1,7 +1,7 @@
import {ByteBuffer} from 'flatbuffers';
import {Connection} from '../../aos/network/www/proxy';
import {IntakeState, Status as SuperstructureStatus, SuperstructureState} from '../control_loops/superstructure/superstructure_status_generated'
-import {LocalizerOutput} from '../localizer/localizer_output_generated';
+import {LocalizerOutput} from '../../frc971/control_loops/drivetrain/localization/localizer_output_generated';
import {RejectionReason} from '../localizer/localizer_status_generated';
import {Status as DrivetrainStatus} from '../../frc971/control_loops/drivetrain/drivetrain_status_generated';
import {LocalizerVisualization, TargetEstimateDebug} from '../localizer/localizer_visualization_generated';
diff --git a/y2022/www/field_main.ts b/y2022/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2022/www/field_main.ts
+++ b/y2022/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2023/BUILD b/y2023/BUILD
index f5a3d57..1c4ef71 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -3,9 +3,41 @@
load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
+ binaries = [
+ "//aos/network:web_proxy_main",
+ "//aos/events/logging:log_cat",
+ ],
+ data = [
+ ":aos_config",
+ "//aos/starter:roborio_irq_config.json",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
+ "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenixpro_tools_athena//:shared_libraries",
+ ],
+ dirs = [
+ "//y2023/www:www_files",
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ ":joystick_reader",
+ ":wpilib_interface",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//y2023/control_loops/drivetrain:drivetrain",
+ "//y2023/control_loops/drivetrain:trajectory_generator",
+ "//y2023/control_loops/superstructure:superstructure",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
name = "pi_download",
binaries = [
"//frc971/vision:intrinsics_calibration",
+ "//aos/starter:irq_affinity",
"//aos/util:foxglove_websocket",
"//y2023/vision:viewer",
"//y2023/vision:aprilrobotics",
@@ -19,6 +51,7 @@
],
data = [
":aos_config",
+ "//frc971/rockpi:rockpi_config.json",
"//y2023/constants:constants.json",
"//y2023/vision:image_streamer_start",
"//y2023/www:www_files",
@@ -73,7 +106,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//y2023/constants:constants_fbs",
- "//y2022/localizer:localizer_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/vision:target_map_fbs",
"//frc971/vision:vision_fbs",
@@ -106,7 +139,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//y2022/localizer:localizer_status_fbs",
- "//y2022/localizer:localizer_output_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//y2022/localizer:localizer_visualization_fbs",
"//frc971/vision:target_map_fbs",
],
@@ -151,6 +184,7 @@
"//aos/network:timestamp_fbs",
"//y2019/control_loops/drivetrain:target_selector_fbs",
"//y2023/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure:superstructure_output_fbs",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
@@ -192,6 +226,9 @@
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
"//y2023/control_loops/drivetrain:polydrivetrain_plants",
+ "//y2023/control_loops/superstructure/arm:arm_constants",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
+ "//y2023/control_loops/superstructure/wrist:wrist_plants",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/base",
],
@@ -207,6 +244,7 @@
":constants",
"//aos:init",
"//aos:math",
+ "//aos/containers:sized_array",
"//aos/events:shm_event_loop",
"//aos/logging",
"//aos/stl_mutex",
@@ -233,7 +271,9 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:phoenix",
+ "//third_party:phoenixpro",
"//third_party:wpilib",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure:superstructure_output_fbs",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
],
@@ -258,6 +298,7 @@
"//y2023/control_loops/drivetrain:drivetrain_base",
"//y2023/control_loops/superstructure:superstructure_goal_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
+ "//y2023/control_loops/superstructure/arm:generated_graph",
],
)
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 843af2b..e2e8522 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -11,33 +11,124 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "glog/logging.h"
+#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
+#include "y2023/control_loops/superstructure/wrist/integral_wrist_plant.h"
namespace y2023 {
namespace constants {
-const int Values::kZeroingSampleSize;
-
Values MakeValues(uint16_t team) {
LOG(INFO) << "creating a Constants for team: " << team;
Values r;
+ auto *const arm_proximal = &r.arm_proximal;
+ auto *const arm_distal = &r.arm_distal;
+ auto *const wrist = &r.wrist;
+ auto *const roll_joint = &r.roll_joint;
+
+ arm_proximal->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ arm_proximal->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kProximalEncoderRatio();
+ arm_proximal->zeroing.zeroing_threshold = 0.0005;
+ arm_proximal->zeroing.moving_buffer_size = 20;
+ arm_proximal->zeroing.allowable_encoder_error = 0.9;
+
+ arm_distal->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ arm_distal->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
+ arm_distal->zeroing.zeroing_threshold = 0.0005;
+ arm_distal->zeroing.moving_buffer_size = 20;
+ arm_distal->zeroing.allowable_encoder_error = 0.9;
+
+ roll_joint->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ roll_joint->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kRollJointEncoderRatio();
+ roll_joint->zeroing.zeroing_threshold = 0.0005;
+ roll_joint->zeroing.moving_buffer_size = 20;
+ roll_joint->zeroing.allowable_encoder_error = 0.9;
+
+ wrist->zeroing_voltage = 3.0;
+ wrist->operating_voltage = 12.0;
+ wrist->zeroing_profile_params = {0.5, 3.0};
+ wrist->default_profile_params = {6.0, 30.0};
+ wrist->range = Values::kWristRange();
+ wrist->make_integral_loop =
+ control_loops::superstructure::wrist::MakeIntegralWristLoop;
+ wrist->zeroing_constants.average_filter_size = Values::kZeroingSampleSize;
+ wrist->zeroing_constants.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kWristEncoderRatio();
+ wrist->zeroing_constants.zeroing_threshold = 0.0005;
+ wrist->zeroing_constants.moving_buffer_size = 20;
+ wrist->zeroing_constants.allowable_encoder_error = 0.9;
+ wrist->zeroing_constants.middle_position = Values::kWristRange().middle();
switch (team) {
// A set of constants for tests.
case 1:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
+
+ roll_joint->zeroing.measured_absolute_position = 0.0;
+ roll_joint->potentiometer_offset = 0.0;
+
+ wrist->zeroing_constants.measured_absolute_position = 0.0;
+
break;
case kCompTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.908708932890508;
+ arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382;
+
+ arm_distal->zeroing.measured_absolute_position = 0.560320674747198;
+ arm_distal->potentiometer_offset = 0.436664933370656 + 0.49457213779426 +
+ 6.78213223139724 - 0.0220711555235029 -
+ 0.0162945074111813;
+
+ roll_joint->zeroing.measured_absolute_position = 0.779367181558787;
+ roll_joint->potentiometer_offset =
+ 3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
+ 0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
+ 0.0208958996127179;
+
+ wrist->zeroing_constants.measured_absolute_position = 0.0;
+
break;
case kPracticeTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
+
+ roll_joint->zeroing.measured_absolute_position = 0.0;
+ roll_joint->potentiometer_offset = 0.0;
+
+ wrist->zeroing_constants.measured_absolute_position = 0.0;
+
break;
case kCodingRobotTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
+
+ roll_joint->zeroing.measured_absolute_position = 0.0;
+ roll_joint->potentiometer_offset = 0.0;
+
+ wrist->zeroing_constants.measured_absolute_position = 0.0;
+
break;
default:
LOG(FATAL) << "unknown team: " << team;
+
+ // TODO(milind): add pot range checks once we add ranges
}
return r;
diff --git a/y2023/constants.h b/y2023/constants.h
index 03a6cae..598a7d3 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -9,6 +9,9 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2023/control_loops/superstructure/arm/arm_constants.h"
+#include "y2023/control_loops/superstructure/roll/roll_plant.h"
+#include "y2023/control_loops/superstructure/wrist/wrist_plant.h"
namespace y2023 {
namespace constants {
@@ -20,6 +23,10 @@
struct Values {
static const int kZeroingSampleSize = 200;
+ static const int kDrivetrainWriterPriority = 35;
+ static const int kDrivetrainTxPriority = 36;
+ static const int kDrivetrainRxPriority = 36;
+
static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
static constexpr double kDrivetrainEncoderCountsPerRevolution() {
return kDrivetrainCyclesPerRevolution() * 4;
@@ -32,6 +39,9 @@
kDrivetrainEncoderCountsPerRevolution();
}
+ static constexpr double kDrivetrainSupplyCurrentLimit() { return 35.0; }
+ static constexpr double kDrivetrainStatorCurrentLimit() { return 40.0; }
+
static double DrivetrainEncoderToMeters(int32_t in) {
return ((static_cast<double>(in) /
kDrivetrainEncoderCountsPerRevolution()) *
@@ -39,6 +49,100 @@
kDrivetrainEncoderRatio() * control_loops::drivetrain::kWheelRadius;
}
+ static double DrivetrainCANEncoderToMeters(double rotations) {
+ return (rotations * (2.0 * M_PI)) *
+ control_loops::drivetrain::kHighOutputRatio *
+ control_loops::drivetrain::kWheelRadius;
+ }
+ static constexpr double kProximalEncoderCountsPerRevolution() {
+ return 4096.0;
+ }
+ static constexpr double kProximalEncoderRatio() { return (15.0 / 95.0); }
+ static constexpr double kMaxProximalEncoderPulsesPerSecond() {
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g0 /
+ kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
+ }
+ static constexpr double kProximalPotRatio() {
+ return (36.0 / 24.0) * (15.0 / 95.0);
+ }
+
+ static constexpr double kProximalPotRadiansPerVolt() {
+ return kProximalPotRatio() * (10.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+ }
+
+ static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
+ static constexpr double kDistalEncoderRatio() { return (15.0 / 95.0); }
+ static constexpr double kMaxDistalEncoderPulsesPerSecond() {
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
+ kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
+ }
+ static constexpr double kDistalPotRatio() {
+ return (36.0 / 24.0) * (15.0 / 95.0);
+ }
+
+ static constexpr double kDistalPotRadiansPerVolt() {
+ return kDistalPotRatio() * (10.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+ }
+
+ // Roll joint
+ static constexpr double kRollJointEncoderCountsPerRevolution() {
+ return 4096.0;
+ }
+
+ static constexpr double kRollJointEncoderRatio() { return (18.0 / 48.0); }
+
+ static constexpr double kRollJointPotRatio() { return (18.0 / 48.0); }
+
+ static constexpr double kRollJointPotRadiansPerVolt() {
+ return kRollJointPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+ }
+
+ static constexpr double kMaxRollJointEncoderPulsesPerSecond() {
+ return control_loops::superstructure::roll::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::superstructure::roll::kOutputRatio /
+ kRollJointEncoderRatio() * kRollJointEncoderCountsPerRevolution();
+ }
+
+ static constexpr ::frc971::constants::Range kRollJointRange() {
+ return ::frc971::constants::Range{
+ -1.05, // Back Hard
+ 1.44, // Front Hard
+ -0.89, // Back Soft
+ 1.26 // Front Soft
+ };
+ }
+
+ // Wrist
+ static constexpr double kWristEncoderCountsPerRevolution() { return 4096.0; }
+
+ static constexpr double kWristEncoderRatio() {
+ return (24.0 / 36.0) * (36.0 / 60.0);
+ }
+
+ static constexpr double kMaxWristEncoderPulsesPerSecond() {
+ return control_loops::superstructure::wrist::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::superstructure::wrist::kOutputRatio /
+ kWristEncoderRatio() * kWristEncoderCountsPerRevolution();
+ }
+
+ static constexpr ::frc971::constants::Range kWristRange() {
+ return ::frc971::constants::Range{
+ -1.05, // Back Hard
+ 1.44, // Front Hard
+ -0.89, // Back Soft
+ 1.26 // Front Soft
+ };
+ }
+
+ // Rollers
+ static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
+ static constexpr double kRollerStatorCurrentLimit() { return 60.0; }
+
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
::frc971::zeroing::RelativeEncoderZeroingEstimator>
@@ -52,6 +156,19 @@
subsystem_params;
double potentiometer_offset;
};
+
+ struct ArmJointConstants {
+ ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants zeroing;
+ double potentiometer_offset;
+ };
+
+ ArmJointConstants arm_proximal;
+ ArmJointConstants arm_distal;
+ ArmJointConstants roll_joint;
+
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
+ wrist;
};
// Creates and returns a Values instance for the constants.
diff --git a/y2023/constants/7971.json b/y2023/constants/7971.json
index fcc58a3..d9bb4a0 100644
--- a/y2023/constants/7971.json
+++ b/y2023/constants/7971.json
@@ -1,17 +1,17 @@
{
"cameras": [
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json' %}
}
],
"target_map": {% include 'y2023/vision/maps/target_map.json' %}
-}
\ No newline at end of file
+}
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
new file mode 100644
index 0000000..9ac8c8b
--- /dev/null
+++ b/y2023/constants/971.json
@@ -0,0 +1,17 @@
+{
+ "cameras": [
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json' %}
+ }
+ ],
+ "target_map": {% include 'y2023/vision/maps/target_map.json' %}
+}
diff --git a/y2023/constants/9971.json b/y2023/constants/9971.json
new file mode 100644
index 0000000..6d5cbf9
--- /dev/null
+++ b/y2023/constants/9971.json
@@ -0,0 +1,17 @@
+{
+ "cameras": [
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json' %}
+ }
+ ],
+ "target_map": {% include 'y2023/vision/maps/target_map.json' %}
+}
diff --git a/y2023/constants/BUILD b/y2023/constants/BUILD
index 9022cf7..09e57c7 100644
--- a/y2023/constants/BUILD
+++ b/y2023/constants/BUILD
@@ -20,6 +20,8 @@
src = "constants.jinja2.json",
includes = [
"7971.json",
+ "971.json",
+ "9971.json",
"//y2023/vision/calib_files",
"//y2023/vision/maps",
],
diff --git a/y2023/constants/constants.jinja2.json b/y2023/constants/constants.jinja2.json
index 6a8cde9..4fb9df7 100644
--- a/y2023/constants/constants.jinja2.json
+++ b/y2023/constants/constants.jinja2.json
@@ -6,11 +6,11 @@
},
{
"team": 971,
- "data": {}
+ "data": {% include 'y2023/constants/971.json' %}
},
{
"team": 9971,
- "data": {}
+ "data": {% include 'y2023/constants/9971.json' %}
}
]
}
diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 8a06d00..ac00e2b 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -1,4 +1,5 @@
load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
genrule(
name = "genrule_drivetrain",
@@ -111,3 +112,12 @@
"//frc971/control_loops/drivetrain:trajectory_generator",
],
)
+
+flatbuffer_cc_library(
+ name = "drivetrain_can_position_fbs",
+ srcs = [
+ "drivetrain_can_position.fbs",
+ ],
+ gen_reflections = 1,
+ visibility = ["//visibility:public"],
+)
diff --git a/y2023/control_loops/drivetrain/drivetrain_can_position.fbs b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
new file mode 100644
index 0000000..10d7c9a
--- /dev/null
+++ b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
@@ -0,0 +1,39 @@
+namespace y2023.control_loops.drivetrain;
+
+table CANFalcon {
+ // The CAN id of the falcon
+ id:int (id: 0);
+
+ // In Amps
+ supply_current:float (id: 1);
+
+ // In Amps
+ // Stator current where positive current means torque is applied in
+ // the motor's forward direction as determined by its Inverted setting.
+ torque_current:float (id: 2);
+
+ // In Volts
+ supply_voltage:float (id: 3);
+
+ // In degrees Celsius
+ device_temp:float (id: 4);
+
+ // In meters traveled on the drivetrain
+ position:float (id: 5);
+}
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+ falcons: [CANFalcon] (id: 0);
+
+ // The timestamp of the measurement on the canivore clock in nanoseconds
+ // This will have less jitter than the
+ // timestamp of the message being sent out.
+ timestamp:int64 (id: 1);
+
+ // The ctre::phoenix::StatusCode of the measurement
+ // Should be OK = 0
+ status:int (id: 2);
+}
+
+root_type CANPosition;
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index cf8aa8a..0817b3d 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,9 @@
std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
&event_loop,
::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
event_loop.Run();
diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
index 9b1746a..561bb77 100644
--- a/y2023/control_loops/python/BUILD
+++ b/y2023/control_loops/python/BUILD
@@ -44,12 +44,30 @@
":python_init",
"//frc971/control_loops/python:basic_window",
"//frc971/control_loops/python:color",
+ "@pip//matplotlib",
"@pip//numpy",
"@pip//pygobject",
"@pip//shapely",
],
)
+py_binary(
+ name = "graph_codegen",
+ srcs = [
+ "graph_codegen.py",
+ "graph_paths.py",
+ "graph_tools.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:basic_window",
+ "//frc971/control_loops/python:color",
+ "@pip//numpy",
+ ],
+)
+
py_library(
name = "polydrivetrain_lib",
srcs = [
@@ -74,3 +92,51 @@
visibility = ["//visibility:public"],
deps = ["//y2023/control_loops:python_init"],
)
+
+py_binary(
+ name = "roll",
+ srcs = [
+ "roll.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ "@pip//glog",
+ "@pip//python_gflags",
+ ],
+)
+
+py_binary(
+ name = "wrist",
+ srcs = [
+ "wrist.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ "@pip//glog",
+ "@pip//python_gflags",
+ ],
+)
+
+py_binary(
+ name = "turret",
+ srcs = [
+ "turret.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ "@pip//glog",
+ "@pip//python_gflags",
+ ],
+)
diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
new file mode 100644
index 0000000..054a32d
--- /dev/null
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -0,0 +1,293 @@
+from __future__ import print_function
+import sys
+import numpy as np
+import y2023.control_loops.python.graph_paths as graph_paths
+
+
+def index_function_name(name):
+ return "%sIndex" % name
+
+
+def path_function_name(name):
+ return "Make%sPath" % name
+
+
+def add_edge(cc_file, name, segment, index, reverse):
+ segment.VerifyPoints()
+
+ cc_file.append(" // Adding edge %d" % index)
+ vmax = "vmax"
+ if segment.vmax:
+ vmax = "::std::min(vmax, %f)" % segment.vmax
+
+ alpha_unitizer = "alpha_unitizer"
+ if segment.alpha_unitizer is not None:
+ alpha_unitizer = "(::Eigen::Matrix<double, 3, 3>() << %f, %f, %f, %f, %f, %f, %f, %f, %f).finished()" % (
+ segment.alpha_unitizer[0, 0],
+ segment.alpha_unitizer[0, 1],
+ segment.alpha_unitizer[0, 2],
+ segment.alpha_unitizer[1, 0],
+ segment.alpha_unitizer[1, 1],
+ segment.alpha_unitizer[1, 2],
+ segment.alpha_unitizer[2, 0],
+ segment.alpha_unitizer[2, 1],
+ segment.alpha_unitizer[2, 2],
+ )
+ cc_file.append(" trajectories->emplace_back(%s," % (vmax))
+ cc_file.append(" %s," % (alpha_unitizer))
+ if reverse:
+ cc_file.append(
+ " Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), Path::Reversed(%s()), 0.005));"
+ % (path_function_name(str(name))))
+ else:
+ cc_file.append(
+ " Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), %s(), 0.005));"
+ % (path_function_name(str(name))))
+
+ start_index = None
+ end_index = None
+ for point, name in graph_paths.points:
+ if (point[:2] == segment.start
+ ).all() and point[2] == segment.alpha_rolls[0][1]:
+ start_index = name
+ if (point[:2] == segment.end
+ ).all() and point[2] == segment.alpha_rolls[-1][1]:
+ end_index = name
+
+ if reverse:
+ start_index, end_index = end_index, start_index
+
+ cc_file.append(
+ " edges.push_back(SearchGraph::Edge{%s(), %s()," %
+ (index_function_name(start_index), index_function_name(end_index)))
+ cc_file.append(
+ " (trajectories->back().trajectory.path().length() + 0.2)});"
+ )
+
+ # TODO(austin): Allow different vmaxes for different paths.
+ cc_file.append(" trajectories->back().trajectory.OptimizeTrajectory(")
+ cc_file.append(" trajectories->back().alpha_unitizer,")
+ cc_file.append(" trajectories->back().vmax);")
+ cc_file.append("")
+
+
+def main(argv):
+ cc_file = []
+ cc_file.append("#include <memory>")
+ cc_file.append("")
+ cc_file.append(
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+ cc_file.append(
+ "#include \"y2023/control_loops/superstructure/arm/generated_graph.h\""
+ )
+ cc_file.append(
+ "#include \"y2023/control_loops/superstructure/arm/trajectory.h\"")
+ cc_file.append(
+ "#include \"y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h\""
+ )
+ cc_file.append("")
+
+ cc_file.append("using frc971::control_loops::arm::SearchGraph;")
+ cc_file.append(
+ "using y2023::control_loops::superstructure::arm::Trajectory;")
+ cc_file.append("using y2023::control_loops::superstructure::arm::Path;")
+ cc_file.append("using y2023::control_loops::superstructure::arm::NSpline;")
+ cc_file.append(
+ "using y2023::control_loops::superstructure::arm::CosSpline;")
+
+ cc_file.append("")
+ cc_file.append("namespace y2023 {")
+ cc_file.append("namespace control_loops {")
+ cc_file.append("namespace superstructure {")
+ cc_file.append("namespace arm {")
+
+ h_file = []
+ h_file.append(
+ "#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+ h_file.append(
+ "#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+ h_file.append("")
+ h_file.append("#include <memory>")
+ h_file.append("")
+ h_file.append(
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+ h_file.append(
+ "#include \"y2023/control_loops/superstructure/arm/arm_constants.h\"")
+ h_file.append(
+ "#include \"y2023/control_loops/superstructure/arm/trajectory.h\"")
+
+ h_file.append("")
+ h_file.append("namespace y2023 {")
+ h_file.append("namespace control_loops {")
+ h_file.append("namespace superstructure {")
+ h_file.append("namespace arm {")
+
+ h_file.append("using frc971::control_loops::arm::SearchGraph;")
+ h_file.append(
+ "using y2023::control_loops::superstructure::arm::Trajectory;")
+ h_file.append("using y2023::control_loops::superstructure::arm::Path;")
+ h_file.append(
+ "using y2023::control_loops::superstructure::arm::kArmConstants;")
+
+ h_file.append("")
+ h_file.append("struct TrajectoryAndParams {")
+ h_file.append(" TrajectoryAndParams(double new_vmax,")
+ h_file.append(
+ " const ::Eigen::Matrix<double, 3, 3> &new_alpha_unitizer,"
+ )
+ h_file.append(" Trajectory &&new_trajectory)")
+ h_file.append(" : vmax(new_vmax),")
+ h_file.append(" alpha_unitizer(new_alpha_unitizer),")
+ h_file.append(" trajectory(::std::move(new_trajectory)) {}")
+ h_file.append(" double vmax;")
+ h_file.append(" ::Eigen::Matrix<double, 3, 3> alpha_unitizer;")
+ h_file.append(" Trajectory trajectory;")
+ h_file.append("};")
+ h_file.append("")
+
+ # Now dump out the vertices and associated constexpr vertex name functions.
+ for index, point in enumerate(graph_paths.points):
+ h_file.append("")
+ h_file.append("constexpr uint32_t %s() { return %d; }" %
+ (index_function_name(point[1]), index))
+ h_file.append("inline ::Eigen::Matrix<double, 3, 1> %sPoint() {" %
+ point[1])
+ h_file.append(
+ " return (::Eigen::Matrix<double, 3, 1>() << %f, %f, %f).finished();"
+ % (point[0][0], point[0][1], point[0][2]))
+ h_file.append("}")
+
+ front_points = [
+ index_function_name(point[1]) + "()"
+ for point in graph_paths.front_points
+ ]
+ h_file.append("")
+ h_file.append("constexpr ::std::array<uint32_t, %d> FrontPoints() {" %
+ len(front_points))
+ h_file.append(" return ::std::array<uint32_t, %d>{{%s}};" %
+ (len(front_points), ", ".join(front_points)))
+ h_file.append("}")
+
+ back_points = [
+ index_function_name(point[1]) + "()"
+ for point in graph_paths.back_points
+ ]
+ h_file.append("")
+ h_file.append("constexpr ::std::array<uint32_t, %d> BackPoints() {" %
+ len(back_points))
+ h_file.append(" return ::std::array<uint32_t, %d>{{%s}};" %
+ (len(back_points), ", ".join(back_points)))
+ h_file.append("}")
+
+ # Add the Make*Path functions.
+ h_file.append("")
+ cc_file.append("")
+ for name, segment in list(enumerate(graph_paths.unnamed_segments)) + [
+ (x.name, x) for x in graph_paths.named_segments
+ ]:
+ h_file.append("::std::unique_ptr<Path> %s();" %
+ path_function_name(name))
+ cc_file.append("::std::unique_ptr<Path> %s() {" %
+ path_function_name(name))
+ cc_file.append(" return ::std::unique_ptr<Path>(new Path(CosSpline{")
+ cc_file.append(" NSpline<4, 2>((Eigen::Matrix<double, 2, 4>() <<")
+ points = [
+ segment.start, segment.control1, segment.control2, segment.end
+ ]
+ cc_file.append(" " +
+ " ".join(["%.12f," % (p[0]) for p in points]))
+ cc_file.append(" " +
+ ", ".join(["%.12f" % (p[1]) for p in points]))
+
+ cc_file.append(" ).finished()), {")
+ for alpha, roll in segment.alpha_rolls:
+ cc_file.append(
+ " CosSpline::AlphaTheta{.alpha = %.12f, .theta = %.12f},"
+ % (alpha, roll))
+ cc_file.append(" }}));")
+ cc_file.append("}")
+ cc_file.append("")
+
+ # Matrix of nodes
+ h_file.append("::std::vector<::Eigen::Matrix<double, 3, 1>> PointList();")
+
+ cc_file.append(
+ "::std::vector<::Eigen::Matrix<double, 3, 1>> PointList() {")
+ cc_file.append(" ::std::vector<::Eigen::Matrix<double, 3, 1>> points;")
+ for point in graph_paths.points:
+ cc_file.append(
+ " points.push_back((::Eigen::Matrix<double, 3, 1>() << %.12s, %.12s, %.12s).finished());"
+ % (point[0][0], point[0][1], point[0][2]))
+ cc_file.append(" return points;")
+ cc_file.append("}")
+
+ # Now create the MakeSearchGraph function.
+ h_file.append("")
+ h_file.append("// Builds a search graph.")
+ h_file.append("SearchGraph MakeSearchGraph("
+ "const frc971::control_loops::arm::Dynamics *dynamics, "
+ "::std::vector<TrajectoryAndParams> *trajectories,")
+ h_file.append(
+ " const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer,"
+ )
+ h_file.append(" double vmax,")
+ h_file.append(
+ "const StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>, HybridKalman<3, 1, 1>> *hybrid_roll_joint_loop);"
+ )
+ cc_file.append("")
+ cc_file.append("SearchGraph MakeSearchGraph(")
+ cc_file.append(" const frc971::control_loops::arm::Dynamics *dynamics,")
+ cc_file.append(" std::vector<TrajectoryAndParams> *trajectories,")
+ cc_file.append(
+ " const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double vmax,"
+ )
+ cc_file.append(
+ " const StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,"
+ )
+ cc_file.append(
+ " HybridKalman<3, 1, 1>> *hybrid_roll_joint_loop) {"
+ )
+ cc_file.append(" ::std::vector<SearchGraph::Edge> edges;")
+
+ index = 0
+ segments_and_names = list(enumerate(graph_paths.unnamed_segments)) + [
+ (x.name, x) for x in graph_paths.named_segments
+ ]
+
+ for name, segment in segments_and_names:
+ add_edge(cc_file, name, segment, index, False)
+ index += 1
+ add_edge(cc_file, name, segment, index, True)
+ index += 1
+
+ cc_file.append(" return SearchGraph(%d, ::std::move(edges));" %
+ len(graph_paths.points))
+ cc_file.append("}")
+
+ h_file.append("")
+ h_file.append("} // namespace arm")
+ h_file.append("} // namespace superstructure")
+ h_file.append("} // namespace control_loops")
+ h_file.append("} // namespace y2023")
+ h_file.append("")
+ h_file.append(
+ "#endif // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GENERATED_GRAPH_H_")
+
+ cc_file.append("} // namespace arm")
+ cc_file.append("} // namespace superstructure")
+ cc_file.append("} // namespace control_loops")
+ cc_file.append("} // namespace y2023")
+
+ if len(argv) == 3:
+ with open(argv[1], "w") as hfd:
+ hfd.write("\n".join(h_file))
+
+ with open(argv[2], "w") as ccfd:
+ ccfd.write("\n".join(cc_file))
+ else:
+ print("\n".join(h_file))
+ print("\n".join(cc_file))
+
+
+if __name__ == '__main__':
+ main(sys.argv)
diff --git a/y2023/control_loops/python/graph_edit.py b/y2023/control_loops/python/graph_edit.py
index 448103b..b9e29d0 100644
--- a/y2023/control_loops/python/graph_edit.py
+++ b/y2023/control_loops/python/graph_edit.py
@@ -6,21 +6,36 @@
from frc971.control_loops.python.color import Color, palette
import random
import gi
-import numpy
+import numpy as np
gi.require_version('Gtk', '3.0')
from gi.repository import Gdk, Gtk
import cairo
-from graph_tools import XYSegment, AngleSegment, to_theta, to_xy, alpha_blend, draw_lines
-from graph_tools import back_to_xy_loop, subdivide_theta, to_theta_loop, px
-from graph_tools import l1, l2, joint_center
-import graph_paths
+from y2023.control_loops.python.graph_tools import to_theta, to_xy, alpha_blend, shift_angles
+from y2023.control_loops.python.graph_tools import l1, l2, joint_center
+from y2023.control_loops.python.graph_tools import DRIVER_CAM_POINTS
+from y2023.control_loops.python import graph_paths
-from frc971.control_loops.python.basic_window import quit_main_loop, set_color
+from frc971.control_loops.python.basic_window import quit_main_loop, set_color, OverrideMatrix, identity
import shapely
from shapely.geometry import Polygon
+import matplotlib.pyplot as plt
+
+
+def px(cr):
+ return OverrideMatrix(cr, identity)
+
+
+# Draw lines to cr + stroke.
+def draw_lines(cr, lines):
+ cr.move_to(lines[0][0], lines[0][1])
+ for pt in lines[1:]:
+ cr.line_to(pt[0], pt[1])
+ with px(cr):
+ cr.stroke()
+
def draw_px_cross(cr, length_px):
"""Draws a cross with fixed dimensions in pixel space."""
@@ -42,39 +57,13 @@
# Find the highest y position that intersects the vertical line defined by x.
def inter_y(x):
- return numpy.sqrt((l2 + l1)**2 -
- (x - joint_center[0])**2) + joint_center[1]
-
-
-# This is the x position where the inner (hyperextension) circle intersects the horizontal line
-derr = numpy.sqrt((l1 - l2)**2 - (joint_center[1] - 0.3048)**2)
+ return np.sqrt((l2 + l1)**2 - (x - joint_center[0])**2) + joint_center[1]
# Define min and max l1 angles based on vertical constraints.
def get_angle(boundary):
- h = numpy.sqrt((l1)**2 - (boundary - joint_center[0])**2) + joint_center[1]
- return numpy.arctan2(h, boundary - joint_center[0])
-
-
-# left hand side lines
-lines1 = [
- (-0.826135, inter_y(-0.826135)),
- (-0.826135, 0.1397),
- (-23.025 * 0.0254, 0.1397),
- (-23.025 * 0.0254, 0.3048),
- (joint_center[0] - derr, 0.3048),
-]
-
-# right hand side lines
-lines2 = [(joint_center[0] + derr, 0.3048), (0.422275, 0.3048),
- (0.422275, 0.1397), (0.826135, 0.1397),
- (0.826135, inter_y(0.826135))]
-
-t1_min = get_angle((32.525 - 4.0) * 0.0254)
-t2_min = -7.0 / 4.0 * numpy.pi
-
-t1_max = get_angle((-32.525 + 4.0) * 0.0254)
-t2_max = numpy.pi * 3.0 / 4.0
+ h = np.sqrt((l1)**2 - (boundary - joint_center[0])**2) + joint_center[1]
+ return np.arctan2(h, boundary - joint_center[0])
# Rotate a rasterized loop such that it aligns to when the parameters loop
@@ -83,7 +72,7 @@
for pt_i in range(1, len(points)):
pt = points[pt_i]
delta = last_pt[1] - pt[1]
- if abs(delta) > numpy.pi:
+ if abs(delta) > np.pi:
return points[pt_i:] + points[:pt_i]
last_pt = pt
return points
@@ -94,39 +83,14 @@
return [(x, y + dy) for x, y in points]
-lines1_theta_part = rotate_to_jump_point(to_theta_loop(lines1, 0))
-lines2_theta_part = rotate_to_jump_point(to_theta_loop(lines2))
-
-# Some hacks here to make a single polygon by shifting to get an extra copy of the contraints.
-lines1_theta = y_shift(lines1_theta_part, -numpy.pi * 2) + lines1_theta_part + \
- y_shift(lines1_theta_part, numpy.pi * 2)
-lines2_theta = y_shift(lines2_theta_part, numpy.pi * 2) + lines2_theta_part + \
- y_shift(lines2_theta_part, -numpy.pi * 2)
-
-lines_theta = lines1_theta + lines2_theta
-
-p1 = Polygon(lines_theta)
-
-p2 = Polygon([(t1_min, t2_min), (t1_max, t2_min), (t1_max, t2_max),
- (t1_min, t2_max)])
-
-# Fully computed theta constrints.
-lines_theta = list(p1.intersection(p2).exterior.coords)
-
-lines1_theta_back = back_to_xy_loop(lines1_theta)
-lines2_theta_back = back_to_xy_loop(lines2_theta)
-
-lines_theta_back = back_to_xy_loop(lines_theta)
-
-
# Get the closest point to a line from a test pt.
def get_closest(prev, cur, pt):
dx_ang = (cur[0] - prev[0])
dy_ang = (cur[1] - prev[1])
- d = numpy.sqrt(dx_ang**2 + dy_ang**2)
+ d = np.sqrt(dx_ang**2 + dy_ang**2)
if (d < 0.000001):
- return prev, numpy.sqrt((prev[0] - pt[0])**2 + (prev[1] - pt[1])**2)
+ return prev, np.sqrt((prev[0] - pt[0])**2 + (prev[1] - pt[1])**2)
pdx = -dy_ang / d
pdy = dx_ang / d
@@ -137,9 +101,9 @@
alpha = (dx_ang * dpx + dy_ang * dpy) / d / d
if (alpha < 0):
- return prev, numpy.sqrt((prev[0] - pt[0])**2 + (prev[1] - pt[1])**2)
+ return prev, np.sqrt((prev[0] - pt[0])**2 + (prev[1] - pt[1])**2)
elif (alpha > 1):
- return cur, numpy.sqrt((cur[0] - pt[0])**2 + (cur[1] - pt[1])**2)
+ return cur, np.sqrt((cur[0] - pt[0])**2 + (cur[1] - pt[1])**2)
else:
return (alpha_blend(prev[0], cur[0], alpha), alpha_blend(prev[1], cur[1], alpha)), \
abs(dpx * pdx + dpy * pdy)
@@ -158,10 +122,10 @@
# Create a GTK+ widget on which we will draw using Cairo
-class Silly(basic_window.BaseWindow):
+class ArmUi(basic_window.BaseWindow):
def __init__(self):
- super(Silly, self).__init__()
+ super(ArmUi, self).__init__()
self.window = Gtk.Window()
self.window.set_title("DrawingArea")
@@ -172,6 +136,7 @@
| Gdk.EventMask.SCROLL_MASK
| Gdk.EventMask.KEY_PRESS_MASK)
self.method_connect("key-press-event", self.do_key_press)
+ self.method_connect("motion-notify-event", self.do_motion)
self.method_connect("button-press-event",
self._do_button_press_internal)
self.method_connect("configure-event", self._do_configure)
@@ -181,8 +146,8 @@
self.theta_version = False
self.reinit_extents()
- self.last_pos = (numpy.pi / 2.0, 1.0)
- self.circular_index_select = -1
+ self.last_pos = to_xy(*graph_paths.neutral[:2])
+ self.circular_index_select = 1
# Extra stuff for drawing lines.
self.segments = []
@@ -191,6 +156,12 @@
self.spline_edit = 0
self.edit_control1 = True
+ self.roll_joint_thetas = None
+ self.roll_joint_point = None
+ self.fig = plt.figure()
+ self.ax = self.fig.add_subplot(111)
+ plt.show(block=False)
+
def do_key_press(self, event):
pass
@@ -223,10 +194,10 @@
def reinit_extents(self):
if self.theta_version:
- self.extents_x_min = -numpy.pi * 2
- self.extents_x_max = numpy.pi * 2
- self.extents_y_min = -numpy.pi * 2
- self.extents_y_max = numpy.pi * 2
+ self.extents_x_min = -np.pi * 2
+ self.extents_x_max = np.pi * 2
+ self.extents_y_min = -np.pi * 2
+ self.extents_y_max = np.pi * 2
else:
self.extents_x_min = -40.0 * 0.0254
self.extents_x_max = 40.0 * 0.0254
@@ -257,19 +228,96 @@
if self.theta_version:
# Draw a filled white rectangle.
set_color(cr, palette["WHITE"])
- cr.rectangle(-numpy.pi, -numpy.pi, numpy.pi * 2.0, numpy.pi * 2.0)
+ cr.rectangle(-np.pi, -np.pi, np.pi * 2.0, np.pi * 2.0)
cr.fill()
set_color(cr, palette["BLUE"])
for i in range(-6, 6):
- cr.move_to(-40, -40 + i * numpy.pi)
- cr.line_to(40, 40 + i * numpy.pi)
+ cr.move_to(-40, -40 + i * np.pi)
+ cr.line_to(40, 40 + i * np.pi)
with px(cr):
cr.stroke()
- set_color(cr, Color(0.5, 0.5, 1.0))
- draw_lines(cr, lines_theta)
+ set_color(cr, Color(0.0, 1.0, 0.2))
+ cr.move_to(self.last_pos[0], self.last_pos[1])
+ draw_px_cross(cr, 5)
+ else:
+ # Draw a filled white rectangle.
+ set_color(cr, palette["WHITE"])
+ cr.rectangle(-2.0, -2.0, 4.0, 4.0)
+ cr.fill()
+
+ # Draw top of drivetrain (including bumpers)
+ DRIVETRAIN_X = -0.490
+ DRIVETRAIN_Y = 0.184
+ DRIVETRAIN_WIDTH = 0.980
+ set_color(cr, palette["BLUE"])
+ cr.move_to(DRIVETRAIN_X, DRIVETRAIN_Y)
+ cr.line_to(DRIVETRAIN_X + DRIVETRAIN_WIDTH, DRIVETRAIN_Y)
+ with px(cr):
+ cr.stroke()
+
+ # Draw joint center
+ JOINT_CENTER_RADIUS = 0.173 / 2
+ cr.arc(joint_center[0], joint_center[1], JOINT_CENTER_RADIUS, 0,
+ 2.0 * np.pi)
+ with px(cr):
+ cr.stroke()
+
+ JOINT_TOWER_X = -0.252
+ JOINT_TOWER_Y = DRIVETRAIN_Y
+ JOINT_TOWER_WIDTH = 0.098
+ JOINT_TOWER_HEIGHT = 0.864
+ cr.rectangle(JOINT_TOWER_X, JOINT_TOWER_Y, JOINT_TOWER_WIDTH,
+ JOINT_TOWER_HEIGHT)
+ with px(cr):
+ cr.stroke()
+
+ # Draw driver cam
+ cr.set_source_rgba(1, 0, 0, 0.5)
+ DRIVER_CAM_X = DRIVER_CAM_POINTS[0][0]
+ DRIVER_CAM_Y = DRIVER_CAM_POINTS[0][1]
+ DRIVER_CAM_WIDTH = DRIVER_CAM_POINTS[-1][0] - DRIVER_CAM_POINTS[0][
+ 0]
+ DRIVER_CAM_HEIGHT = DRIVER_CAM_POINTS[-1][1] - DRIVER_CAM_POINTS[
+ 0][1]
+ cr.rectangle(DRIVER_CAM_X, DRIVER_CAM_Y, DRIVER_CAM_WIDTH,
+ DRIVER_CAM_HEIGHT)
+ with px(cr):
+ cr.fill()
+
+ # Draw max radius
+ set_color(cr, palette["BLUE"])
+ cr.arc(joint_center[0], joint_center[1], l2 + l1, 0, 2.0 * np.pi)
+ with px(cr):
+ cr.stroke()
+ cr.arc(joint_center[0], joint_center[1], l1 - l2, 0, 2.0 * np.pi)
+ with px(cr):
+ cr.stroke()
+
+ set_color(cr, Color(0.5, 1.0, 1))
+
+ if not self.theta_version:
+ theta1, theta2 = to_theta(self.last_pos,
+ self.circular_index_select)
+ x, y = joint_center[0], joint_center[1]
+ cr.move_to(x, y)
+
+ x += np.cos(theta1) * l1
+ y += np.sin(theta1) * l1
+ cr.line_to(x, y)
+ x += np.cos(theta2) * l2
+ y += np.sin(theta2) * l2
+ cr.line_to(x, y)
+ with px(cr):
+ cr.stroke()
+
+ cr.move_to(self.last_pos[0], self.last_pos[1])
+ set_color(cr, Color(0.0, 1.0, 0.2))
+ draw_px_cross(cr, 20)
+
+ if self.theta_version:
set_color(cr, Color(0.0, 1.0, 0.2))
cr.move_to(self.last_pos[0], self.last_pos[1])
draw_px_cross(cr, 5)
@@ -279,69 +327,6 @@
set_color(cr, palette["CYAN"])
cr.move_to(c_pt[0], c_pt[1])
draw_px_cross(cr, 5)
- else:
- # Draw a filled white rectangle.
- set_color(cr, palette["WHITE"])
- cr.rectangle(-2.0, -2.0, 4.0, 4.0)
- cr.fill()
-
- set_color(cr, palette["BLUE"])
- cr.arc(joint_center[0], joint_center[1], l2 + l1, 0,
- 2.0 * numpy.pi)
- with px(cr):
- cr.stroke()
- cr.arc(joint_center[0], joint_center[1], l1 - l2, 0,
- 2.0 * numpy.pi)
- with px(cr):
- cr.stroke()
-
- set_color(cr, Color(0.5, 1.0, 1.0))
- draw_lines(cr, lines1)
- draw_lines(cr, lines2)
-
- def get_circular_index(pt):
- theta1, theta2 = pt
- circular_index = int(numpy.floor((theta2 - theta1) / numpy.pi))
- return circular_index
-
- set_color(cr, palette["BLUE"])
- lines = subdivide_theta(lines_theta)
- o_circular_index = circular_index = get_circular_index(lines[0])
- p_xy = to_xy(lines[0][0], lines[0][1])
- if circular_index == self.circular_index_select:
- cr.move_to(p_xy[0] + circular_index * 0, p_xy[1])
- for pt in lines[1:]:
- p_xy = to_xy(pt[0], pt[1])
- circular_index = get_circular_index(pt)
- if o_circular_index == self.circular_index_select:
- cr.line_to(p_xy[0] + o_circular_index * 0, p_xy[1])
- if circular_index != o_circular_index:
- o_circular_index = circular_index
- with px(cr):
- cr.stroke()
- if circular_index == self.circular_index_select:
- cr.move_to(p_xy[0] + circular_index * 0, p_xy[1])
-
- with px(cr):
- cr.stroke()
-
- theta1, theta2 = to_theta(self.last_pos,
- self.circular_index_select)
- x, y = joint_center[0], joint_center[1]
- cr.move_to(x, y)
-
- x += numpy.cos(theta1) * l1
- y += numpy.sin(theta1) * l1
- cr.line_to(x, y)
- x += numpy.cos(theta2) * l2
- y += numpy.sin(theta2) * l2
- cr.line_to(x, y)
- with px(cr):
- cr.stroke()
-
- cr.move_to(self.last_pos[0], self.last_pos[1])
- set_color(cr, Color(0.0, 1.0, 0.2))
- draw_px_cross(cr, 20)
set_color(cr, Color(0.0, 0.5, 1.0))
for segment in self.segments:
@@ -353,25 +338,60 @@
cr.stroke()
set_color(cr, Color(0.0, 1.0, 0.5))
- segment = self.current_seg()
- if segment:
- print(segment)
- segment.DrawTo(cr, self.theta_version)
- with px(cr):
- cr.stroke()
+
+ # Create the roll joint plot
+ if self.roll_joint_thetas:
+ self.ax.clear()
+ self.ax.plot(*self.roll_joint_thetas)
+ if self.roll_joint_point:
+ self.ax.scatter([self.roll_joint_point[0]],
+ [self.roll_joint_point[1]],
+ s=10,
+ c="red")
+ plt.title("Roll Joint Angle")
+ plt.xlabel("t (0 to 1)")
+ plt.ylabel("theta (rad)")
+
+ self.fig.canvas.draw()
def cur_pt_in_theta(self):
- if self.theta_version: return numpy.asarray(self.last_pos)
- return to_theta(self.last_pos, self.circular_index_select)
+ if self.theta_version: return self.last_pos
+ return to_theta(self.last_pos,
+ self.circular_index_select,
+ cross_point=-np.pi,
+ die=False)
- # Current segment based on which mode the drawing system is in.
- def current_seg(self):
- if self.prev_segment_pt is not None and (self.prev_segment_pt.any() and
- self.now_segment_pt.any()):
- if self.theta_version:
- return AngleSegment(self.prev_segment_pt, self.now_segment_pt)
- else:
- return XYSegment(self.prev_segment_pt, self.now_segment_pt)
+ def do_motion(self, event):
+ o_x = event.x
+ o_y = event.y
+ x = event.x - self.window_shape[0] / 2
+ y = self.window_shape[1] / 2 - event.y
+ scale = self.get_current_scale()
+ event.x = x / scale + self.center[0]
+ event.y = y / scale + self.center[1]
+
+ for segment in self.segments:
+ self.roll_joint_thetas = segment.roll_joint_thetas()
+
+ hovered_t = segment.intersection(event)
+ if hovered_t:
+ min_diff = np.inf
+ closest_t = None
+ closest_theta = None
+ for i in range(len(self.roll_joint_thetas[0])):
+ t = self.roll_joint_thetas[0][i]
+ diff = abs(t - hovered_t)
+ if diff < min_diff:
+ min_diff = diff
+ closest_t = t
+ closest_theta = self.roll_joint_thetas[1][i]
+ self.roll_joint_point = (closest_t, closest_theta)
+ break
+
+ event.x = o_x
+ event.y = o_y
+
+ self.redraw()
def do_key_press(self, event):
keyval = Gdk.keyval_to_lower(event.keyval)
@@ -387,11 +407,6 @@
# Decrement which arm solution we render
self.circular_index_select -= 1
print(self.circular_index_select)
- elif keyval == Gdk.KEY_w:
- # Add this segment to the segment list.
- segment = self.current_seg()
- if segment: self.segments.append(segment)
- self.prev_segment_pt = self.now_segment_pt
elif keyval == Gdk.KEY_r:
self.prev_segment_pt = self.now_segment_pt
@@ -423,7 +438,7 @@
theta1, theta2 = self.last_pos
data = to_xy(theta1, theta2)
self.circular_index_select = int(
- numpy.floor((theta2 - theta1) / numpy.pi))
+ np.floor((theta2 - theta1) / np.pi))
self.last_pos = (data[0], data[1])
else:
self.last_pos = self.cur_pt_in_theta()
@@ -449,8 +464,14 @@
self.redraw()
def do_button_press(self, event):
+ last_pos = self.last_pos
self.last_pos = (event.x, event.y)
- self.now_segment_pt = self.cur_pt_in_theta()
+ pt_theta = self.cur_pt_in_theta()
+ if pt_theta is None:
+ self.last_pos = last_pos
+ return
+
+ self.now_segment_pt = np.array(shift_angles(pt_theta))
if self.edit_control1:
self.segments[0].control1 = self.now_segment_pt
@@ -463,14 +484,14 @@
(self.last_pos[0], self.last_pos[1],
self.circular_index_select))
- print('c1: numpy.array([%f, %f])' %
+ print('c1: np.array([%f, %f])' %
(self.segments[0].control1[0], self.segments[0].control1[1]))
- print('c2: numpy.array([%f, %f])' %
+ print('c2: np.array([%f, %f])' %
(self.segments[0].control2[0], self.segments[0].control2[1]))
self.redraw()
-silly = Silly()
-silly.segments = graph_paths.segments
+arm_ui = ArmUi()
+arm_ui.segments = graph_paths.segments
basic_window.RunApp()
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index da0ad4f..87ced83 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -1,26 +1,42 @@
-import numpy
+import numpy as np
-from graph_tools import *
+from y2023.control_loops.python.graph_tools import *
-neutral = to_theta_with_circular_index(-0.2, 0.33, circular_index=-1)
-zero = to_theta_with_circular_index(0.0, 0.0, circular_index=-1)
+neutral = to_theta_with_circular_index_and_roll(joint_center[0],
+ joint_center[1] + l2 - l1,
+ 0.0,
+ circular_index=1)
+neutral_to_pickup_1 = np.array([2.396694, 0.508020])
+neutral_to_pickup_2 = np.array([2.874513, 0.933160])
+pickup_pos = to_theta_with_circular_index_and_roll(0.6,
+ 0.4,
+ np.pi / 2.0,
+ circular_index=0)
-neutral_to_cone_1 = to_theta_with_circular_index(0.0, 0.7, circular_index=-1)
-neutral_to_cone_2 = to_theta_with_circular_index(0.2, 0.5, circular_index=-1)
-cone_pos = to_theta_with_circular_index(1.0, 0.4, circular_index=-1)
+neutral_to_pickup_control_alpha_rolls = [(0.33, 0.0), (.95, np.pi / 2.0)]
-neutral_to_cone_perch_pos_1 = to_theta_with_circular_index(0.4,
- 1.0,
- circular_index=-1)
-neutral_to_cone_perch_pos_2 = to_theta_with_circular_index(0.7,
- 1.5,
- circular_index=-1)
-cone_perch_pos = to_theta_with_circular_index(1.0, 2.0, circular_index=-1)
+neutral_to_score_1 = np.array([0.994244, -1.417442])
+neutral_to_score_2 = np.array([1.711325, -0.679748])
-segments = [
- ThetaSplineSegment(neutral, neutral_to_cone_1, neutral_to_cone_2, cone_pos,
- "NeutralToCone"),
- ThetaSplineSegment(neutral, neutral_to_cone_perch_pos_1,
- neutral_to_cone_perch_pos_2, cone_perch_pos,
- "NeutralToPerchedCone"),
+score_pos = to_theta_with_circular_index_and_roll(-1.0,
+ 1.2,
+ np.pi / 2.0,
+ circular_index=0)
+neutral_to_score_control_alpha_rolls = [(0.40, 0.0), (.95, np.pi / 2.0)]
+
+# TODO(Max): Add real paths for arm.
+points = [(neutral, "NeutralPos"), (pickup_pos, "PickupPos"),
+ (score_pos, "ScorePos")]
+front_points = []
+back_points = []
+unnamed_segments = []
+named_segments = [
+ ThetaSplineSegment("NeutralToPickup", neutral, neutral_to_pickup_1,
+ neutral_to_pickup_2, pickup_pos,
+ neutral_to_pickup_control_alpha_rolls),
+ ThetaSplineSegment("NeutralToScore", neutral, neutral_to_score_1,
+ neutral_to_score_2, score_pos,
+ neutral_to_score_control_alpha_rolls),
]
+
+segments = named_segments + unnamed_segments
diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index 3ddfb37..fef1083 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -1,23 +1,29 @@
-import numpy
-import cairo
-
-from frc971.control_loops.python.basic_window import OverrideMatrix, identity
+import abc
+import numpy as np
+import sys
+import traceback
# joint_center in x-y space.
-joint_center = (-0.299, 0.299)
+IN_TO_M = 0.0254
+joint_center = (-0.203, 0.787)
# Joint distances (l1 = "proximal", l2 = "distal")
-l1 = 46.25 * 0.0254
-l2 = 43.75 * 0.0254
+l1 = 20.0 * IN_TO_M
+l2 = 31.5 * IN_TO_M
max_dist = 0.01
-max_dist_theta = numpy.pi / 64
+max_dist_theta = np.pi / 64
xy_end_circle_size = 0.01
theta_end_circle_size = 0.07
-def px(cr):
- return OverrideMatrix(cr, identity)
+# Shift the angle between the convention used for input/output and the convention we use for some computations here
+def shift_angle(theta):
+ return np.pi / 2 - theta
+
+
+def shift_angles(thetas):
+ return [shift_angle(theta) for theta in thetas]
# Convert from x-y coordinates to theta coordinates.
@@ -25,43 +31,202 @@
# where circular_index is the circular index, or the position in the
# "hyperextension" zones. "cross_point" allows shifting the place where
# it rounds the result so that it draws nicer (no other functional differences).
-def to_theta(pt, circular_index, cross_point=-numpy.pi):
+def to_theta(pt, circular_index, cross_point=-np.pi, die=True):
orient = (circular_index % 2) == 0
x = pt[0]
y = pt[1]
x -= joint_center[0]
y -= joint_center[1]
- l3 = numpy.hypot(x, y)
- t3 = numpy.arctan2(y, x)
- theta1 = numpy.arccos((l1**2 + l3**2 - l2**2) / (2 * l1 * l3))
+ l3 = np.hypot(x, y)
+ t3 = np.arctan2(y, x)
+ theta1 = np.arccos((l1**2 + l3**2 - l2**2) / (2 * l1 * l3))
+ if np.isnan(theta1):
+ print(("Couldn't fit triangle to %f, %f, %f" % (l1, l2, l3)))
+ if die:
+ traceback.print_stack()
+ sys.exit(1)
+ return None
if orient:
theta1 = -theta1
theta1 += t3
- theta1 = (theta1 - cross_point) % (2 * numpy.pi) + cross_point
- theta2 = numpy.arctan2(y - l1 * numpy.sin(theta1),
- x - l1 * numpy.cos(theta1))
- return numpy.array((theta1, theta2))
+ theta1 = (theta1 - cross_point) % (2 * np.pi) + cross_point
+ theta2 = np.arctan2(y - l1 * np.sin(theta1), x - l1 * np.cos(theta1))
+ return np.array((theta1, theta2))
# Simple trig to go back from theta1, theta2 to x-y
def to_xy(theta1, theta2):
- x = numpy.cos(theta1) * l1 + numpy.cos(theta2) * l2 + joint_center[0]
- y = numpy.sin(theta1) * l1 + numpy.sin(theta2) * l2 + joint_center[1]
- orient = ((theta2 - theta1) % (2.0 * numpy.pi)) < numpy.pi
+ x = np.cos(theta1) * l1 + np.cos(theta2) * l2 + joint_center[0]
+ y = np.sin(theta1) * l1 + np.sin(theta2) * l2 + joint_center[1]
+ orient = ((theta2 - theta1) % (2.0 * np.pi)) < np.pi
return (x, y, orient)
+END_EFFECTOR_X_LEN = (-1.0 * IN_TO_M, 10.425 * IN_TO_M)
+END_EFFECTOR_Y_LEN = (-4.875 * IN_TO_M, 7.325 * IN_TO_M)
+END_EFFECTOR_Z_LEN = (-11.0 * IN_TO_M, 11.0 * IN_TO_M)
+
+
+def abs_sum(l):
+ result = 0
+ for e in l:
+ result += abs(e)
+ return result
+
+
+def affine_3d(R, T):
+ H = np.eye(4)
+ H[:3, 3] = T
+ H[:3, :3] = R
+ return H
+
+
+# Simple trig to go back from theta1, theta2, and theta3 to
+# the 8 corners on the roll joint x-y-z
+def to_end_effector_points(theta1, theta2, theta3):
+ x, y, _ = to_xy(theta1, theta2)
+ # Homogeneous end effector points relative to the end_effector
+ # ee = end effector
+ endpoints_ee = []
+ for i in range(2):
+ for j in range(2):
+ for k in range(2):
+ endpoints_ee.append(
+ np.array((END_EFFECTOR_X_LEN[i], END_EFFECTOR_Y_LEN[j],
+ END_EFFECTOR_Z_LEN[k], 1.0)))
+
+ # Only roll.
+ # rj = roll joint
+ roll = theta3
+ T_rj_ee = np.zeros(3)
+ R_rj_ee = np.array([[1.0, 0.0, 0.0], [0.0,
+ np.cos(roll), -np.sin(roll)],
+ [0.0, np.sin(roll), np.cos(roll)]])
+ H_rj_ee = affine_3d(R_rj_ee, T_rj_ee)
+
+ # Roll joint pose relative to the origin
+ # o = origin
+ T_o_rj = np.array((x, y, 0))
+ # Only yaw
+ yaw = theta1 + theta2
+ R_o_rj = [[np.cos(yaw), -np.sin(yaw), 0.0],
+ [np.sin(yaw), np.cos(yaw), 0.0], [0.0, 0.0, 1.0]]
+ H_o_rj = affine_3d(R_o_rj, T_o_rj)
+
+ # Now compute the pose of the end effector relative to the origin
+ H_o_ee = H_o_rj @ H_rj_ee
+
+ # Get the translation from these transforms
+ endpoints_o = [(H_o_ee @ endpoint_ee)[:3] for endpoint_ee in endpoints_ee]
+
+ diagonal_distance = np.linalg.norm(
+ np.array(endpoints_o[0]) - np.array(endpoints_o[-1]))
+ actual_diagonal_distance = np.linalg.norm(
+ np.array((abs_sum(END_EFFECTOR_X_LEN), abs_sum(END_EFFECTOR_Y_LEN),
+ abs_sum(END_EFFECTOR_Z_LEN))))
+ assert abs(diagonal_distance - actual_diagonal_distance) < 1e-5
+
+ return np.array(endpoints_o)
+
+
+# Returns all permutations of rectangle points given two opposite corners.
+# x is the two x values, y is the two y values, z is the two z values
+def rect_points(x, y, z):
+ points = []
+ for i in range(2):
+ for j in range(2):
+ for k in range(2):
+ points.append((x[i], y[j], z[k]))
+ return np.array(points)
+
+
+DRIVER_CAM_Z_OFFSET = 3.225 * IN_TO_M
+DRIVER_CAM_POINTS = rect_points(
+ (-5.126 * IN_TO_M + joint_center[0], 0.393 * IN_TO_M + joint_center[0]),
+ (5.125 * IN_TO_M + joint_center[1], 17.375 * IN_TO_M + joint_center[1]),
+ (-8.475 * IN_TO_M - DRIVER_CAM_Z_OFFSET,
+ -4.350 * IN_TO_M - DRIVER_CAM_Z_OFFSET))
+
+
+def compute_face_normals(points):
+ # Return the normal vectors of all the faces
+ normals = []
+ for i in range(points.shape[0]):
+ v1 = points[i]
+ v2 = points[(i + 1) % points.shape[0]]
+ normal = np.cross(v1, v2)
+ normals.append(normal)
+ return np.array(normals)
+
+
+def project_points_onto_axis(points, axis):
+ projections = np.dot(points, axis)
+ return np.min(projections), np.max(projections)
+
+
+def roll_joint_collision(theta1, theta2, theta3):
+ theta1 = shift_angle(theta1)
+ theta2 = shift_angle(theta2)
+ theta3 = shift_angle(theta3)
+
+ end_effector_points = to_end_effector_points(theta1, theta2, theta3)
+
+ assert len(end_effector_points) == 8 and len(end_effector_points[0]) == 3
+ assert len(DRIVER_CAM_POINTS) == 8 and len(DRIVER_CAM_POINTS[0]) == 3
+
+ # Use the Separating Axis Theorem to check for collision
+ end_effector_normals = compute_face_normals(end_effector_points)
+ driver_cam_normals = compute_face_normals(DRIVER_CAM_POINTS)
+
+ collision = True
+ # Check for separating axes
+ for normal in np.concatenate((end_effector_normals, driver_cam_normals)):
+ min_ee, max_ee = project_points_onto_axis(end_effector_points, normal)
+ min_dc, max_dc = project_points_onto_axis(DRIVER_CAM_POINTS, normal)
+ if max_ee < min_dc or min_ee > max_dc:
+ # Separating axis found, rectangles don't intersect
+ collision = False
+ break
+
+ return collision
+
+
+# Delta limit means theta2 - theta1.
+# The limit for the proximal and distal is relative,
+# so define constraints for this delta.
+UPPER_DELTA_LIMIT = 0.0
+LOWER_DELTA_LIMIT = -1.9 * np.pi
+
+# TODO(milind): put actual proximal limits
+UPPER_PROXIMAL_LIMIT = np.pi * 1.5
+LOWER_PROXIMAL_LIMIT = -np.pi
+
+UPPER_DISTAL_LIMIT = 0.75 * np.pi
+LOWER_DISTAL_LIMIT = -0.75 * np.pi
+
+UPPER_ROLL_JOINT_LIMIT = 0.75 * np.pi
+LOWER_ROLL_JOINT_LIMIT = -0.75 * np.pi
+
+
+def arm_past_limit(theta1, theta2, theta3):
+ delta = theta2 - theta1
+ return delta > UPPER_DELTA_LIMIT or delta < LOWER_DELTA_LIMIT or \
+ theta1 > UPPER_PROXIMAL_LIMIT or theta1 < LOWER_PROXIMAL_LIMIT or \
+ theta2 > UPPER_DISTAL_LIMIT or theta2 < LOWER_DISTAL_LIMIT or \
+ theta3 > UPPER_ROLL_JOINT_LIMIT or theta3 < LOWER_ROLL_JOINT_LIMIT
+
+
def get_circular_index(theta):
- return int(numpy.floor((theta[1] - theta[0]) / numpy.pi))
+ return int(np.floor((theta[1] - theta[0]) / np.pi))
def get_xy(theta):
- theta1 = theta[0]
- theta2 = theta[1]
- x = numpy.cos(theta1) * l1 + numpy.cos(theta2) * l2 + joint_center[0]
- y = numpy.sin(theta1) * l1 + numpy.sin(theta2) * l2 + joint_center[1]
- return numpy.array((x, y))
+ theta1 = shift_angle(theta[0])
+ theta2 = shift_angle(theta[1])
+ x = np.cos(theta1) * l1 + np.cos(theta2) * l2 + joint_center[0]
+ y = np.sin(theta1) * l1 + np.sin(theta2) * l2 + joint_center[1]
+ return np.array((x, y))
# Subdivide in theta space.
@@ -77,29 +242,23 @@
return out
-# subdivide in xy space.
-def subdivide_xy(lines, max_dist=max_dist):
- out = []
- last_pt = lines[0]
- out.append(last_pt)
- for n_pt in lines[1:]:
- for pt in subdivide(last_pt, n_pt, max_dist):
- out.append(pt)
- last_pt = n_pt
-
- return out
-
-
def to_theta_with_ci(pt, circular_index):
- return to_theta_with_circular_index(pt[0], pt[1], circular_index)
+ return (to_theta_with_circular_index(pt[0], pt[1], circular_index))
# to_theta, but distinguishes between
def to_theta_with_circular_index(x, y, circular_index):
theta1, theta2 = to_theta((x, y), circular_index)
- n_circular_index = int(numpy.floor((theta2 - theta1) / numpy.pi))
- theta2 = theta2 + ((circular_index - n_circular_index)) * numpy.pi
- return numpy.array((theta1, theta2))
+ n_circular_index = int(np.floor((theta2 - theta1) / np.pi))
+ theta2 = theta2 + ((circular_index - n_circular_index)) * np.pi
+ return np.array((shift_angle(theta1), shift_angle(theta2)))
+
+
+# to_theta, but distinguishes between
+def to_theta_with_circular_index_and_roll(x, y, roll, circular_index):
+ theta12 = to_theta_with_circular_index(x, y, circular_index)
+ theta3 = roll
+ return np.array((theta12[0], theta12[1], theta3))
# alpha is in [0, 1] and is the weight to merge a and b.
@@ -115,83 +274,24 @@
def normalize(v):
"""Normalize a vector while handling 0 length vectors."""
- norm = numpy.linalg.norm(v)
+ norm = np.linalg.norm(v)
if norm == 0:
return v
return v / norm
-# CI is circular index and allows selecting between all the stats that map
-# to the same x-y state (by giving them an integer index).
-# This will compute approximate first and second derivatives with respect
-# to path length.
-def to_theta_with_circular_index_and_derivs(x, y, dx, dy,
- circular_index_select):
- a = to_theta_with_circular_index(x, y, circular_index_select)
- b = to_theta_with_circular_index(x + dx * 0.0001, y + dy * 0.0001,
- circular_index_select)
- c = to_theta_with_circular_index(x - dx * 0.0001, y - dy * 0.0001,
- circular_index_select)
- d1 = normalize(b - a)
- d2 = normalize(c - a)
- accel = (d1 + d2) / numpy.linalg.norm(a - b)
- return (a[0], a[1], d1[0], d1[1], accel[0], accel[1])
-
-
-def to_theta_with_ci_and_derivs(p_prev, p, p_next, c_i_select):
- a = to_theta(p, c_i_select)
- b = to_theta(p_next, c_i_select)
- c = to_theta(p_prev, c_i_select)
- d1 = normalize(b - a)
- d2 = normalize(c - a)
- accel = (d1 + d2) / numpy.linalg.norm(a - b)
- return (a[0], a[1], d1[0], d1[1], accel[0], accel[1])
-
-
# Generic subdivision algorithm.
def subdivide(p1, p2, max_dist):
dx = p2[0] - p1[0]
dy = p2[1] - p1[1]
- dist = numpy.sqrt(dx**2 + dy**2)
- n = int(numpy.ceil(dist / max_dist))
+ dist = np.sqrt(dx**2 + dy**2)
+ n = int(np.ceil(dist / max_dist))
return [(alpha_blend(p1[0], p2[0],
float(i) / n), alpha_blend(p1[1], p2[1],
float(i) / n))
for i in range(1, n + 1)]
-# convert from an xy space loop into a theta loop.
-# All segements are expected go from one "hyper-extension" boundary
-# to another, thus we must go backwards over the "loop" to get a loop in
-# x-y space.
-def to_theta_loop(lines, cross_point=-numpy.pi):
- out = []
- last_pt = lines[0]
- for n_pt in lines[1:]:
- for pt in subdivide(last_pt, n_pt, max_dist):
- out.append(to_theta(pt, 0, cross_point))
- last_pt = n_pt
- for n_pt in reversed(lines[:-1]):
- for pt in subdivide(last_pt, n_pt, max_dist):
- out.append(to_theta(pt, 1, cross_point))
- last_pt = n_pt
- return out
-
-
-# Convert a loop (list of line segments) into
-# The name incorrectly suggests that it is cyclic.
-def back_to_xy_loop(lines):
- out = []
- last_pt = lines[0]
- out.append(to_xy(last_pt[0], last_pt[1]))
- for n_pt in lines[1:]:
- for pt in subdivide(last_pt, n_pt, max_dist_theta):
- out.append(to_xy(pt[0], pt[1]))
- last_pt = n_pt
-
- return out
-
-
def spline_eval(start, control1, control2, end, alpha):
a = alpha_blend(start, control1, alpha)
b = alpha_blend(control1, control2, alpha)
@@ -200,261 +300,181 @@
alpha)
-def subdivide_spline(start, control1, control2, end):
+SPLINE_SUBDIVISIONS = 100
+
+
+def subdivide_multistep():
# TODO: pick N based on spline parameters? or otherwise change it to be more evenly spaced?
- n = 100
- for i in range(0, n + 1):
- yield i / float(n)
+ for i in range(0, SPLINE_SUBDIVISIONS + 1):
+ yield i / float(SPLINE_SUBDIVISIONS)
-def get_derivs(t_prev, t, t_next):
- c, a, b = t_prev, t, t_next
- d1 = normalize(b - a)
- d2 = normalize(c - a)
- accel = (d1 + d2) / numpy.linalg.norm(a - b)
- return (a[0], a[1], d1[0], d1[1], accel[0], accel[1])
+def get_proximal_distal_derivs(t_prev, t, t_next):
+ d_prev = normalize(t - t_prev)
+ d_next = normalize(t_next - t)
+ accel = (d_next - d_prev) / np.linalg.norm(t - t_next)
+ return (ThetaPoint(t[0], d_next[0],
+ accel[0]), ThetaPoint(t[1], d_next[1], accel[1]))
-# Draw lines to cr + stroke.
+def get_roll_joint_theta(theta_i, theta_f, t):
+ # Fit a theta(t) = (1 - cos(pi*t)) / 2,
+ # so that theta(0) = theta_i, and theta(1) = theta_f
+ offset = theta_i
+ scalar = (theta_f - theta_i) / 2.0
+ freq = np.pi
+ theta_curve = lambda t: scalar * (1 - np.cos(freq * t)) + offset
+
+ return theta_curve(t)
+
+
+def get_roll_joint_theta_multistep(alpha_rolls, alpha):
+ # Figure out which segment in the motion we're in
+ theta_i = None
+ theta_f = None
+ t = None
+
+ for i in range(len(alpha_rolls) - 1):
+ # Find the alpha segment we're in
+ if alpha_rolls[i][0] <= alpha <= alpha_rolls[i + 1][0]:
+ theta_i = alpha_rolls[i][1]
+ theta_f = alpha_rolls[i + 1][1]
+
+ total_dalpha = alpha_rolls[-1][0] - alpha_rolls[0][0]
+ assert total_dalpha == 1.0
+ dalpha = alpha_rolls[i + 1][0] - alpha_rolls[i][0]
+ t = (alpha - alpha_rolls[i][0]) * (total_dalpha / dalpha)
+ break
+ assert theta_i is not None
+ assert theta_f is not None
+ assert t is not None
+
+ return get_roll_joint_theta(theta_i, theta_f, t)
+
+
+# Draw a list of lines to a cairo context.
def draw_lines(cr, lines):
cr.move_to(lines[0][0], lines[0][1])
for pt in lines[1:]:
cr.line_to(pt[0], pt[1])
- with px(cr):
- cr.stroke()
-# Segment in angle space.
-class AngleSegment:
+class Path(abc.ABC):
- def __init__(self, start, end, name=None, alpha_unitizer=None, vmax=None):
- """Creates an angle segment.
-
- Args:
- start: (double, double), The start of the segment in theta1, theta2
- coordinates in radians
- end: (double, double), The end of the segment in theta1, theta2
- coordinates in radians
- """
- self.start = start
- self.end = end
+ def __init__(self, name):
self.name = name
- self.alpha_unitizer = alpha_unitizer
- self.vmax = vmax
- def __repr__(self):
- return "AngleSegment(%s, %s)" % (repr(self.start), repr(self.end))
+ @abc.abstractmethod
+ def DoToThetaPoints(self):
+ pass
+
+ @abc.abstractmethod
+ def DoDrawTo(self):
+ pass
+
+ @abc.abstractmethod
+ def roll_joint_thetas(self):
+ pass
+
+ @abc.abstractmethod
+ def intersection(self, event):
+ pass
+
+ def roll_joint_collision(self, points, verbose=False):
+ for point in points:
+ if roll_joint_collision(*point):
+ if verbose:
+ print("Roll joint collision for path %s in point %s" %
+ (self.name, point))
+ return True
+ return False
+
+ def arm_past_limit(self, points, verbose=True):
+ for point in points:
+ if arm_past_limit(*point):
+ if verbose:
+ print("Arm past limit for path %s in point %s" %
+ (self.name, point))
+ return True
+ return False
def DrawTo(self, cr, theta_version):
- if theta_version:
- cr.move_to(self.start[0], self.start[1] + theta_end_circle_size)
- cr.arc(self.start[0], self.start[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- cr.move_to(self.end[0], self.end[1] + theta_end_circle_size)
- cr.arc(self.end[0], self.end[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- cr.move_to(self.start[0], self.start[1])
- cr.line_to(self.end[0], self.end[1])
- else:
- start_xy = to_xy(self.start[0], self.start[1])
- end_xy = to_xy(self.end[0], self.end[1])
- draw_lines(cr, back_to_xy_loop([self.start, self.end]))
- cr.move_to(start_xy[0] + xy_end_circle_size, start_xy[1])
- cr.arc(start_xy[0], start_xy[1], xy_end_circle_size, 0,
- 2.0 * numpy.pi)
- cr.move_to(end_xy[0] + xy_end_circle_size, end_xy[1])
- cr.arc(end_xy[0], end_xy[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
+ points = self.DoToThetaPoints()
+ if self.roll_joint_collision(points):
+ # Draw the spline red
+ cr.set_source_rgb(1.0, 0.0, 0.0)
+ elif self.arm_past_limit(points):
+ # Draw the spline orange
+ cr.set_source_rgb(1.0, 0.5, 0.0)
- def ToThetaPoints(self):
- dx = self.end[0] - self.start[0]
- dy = self.end[1] - self.start[1]
- mag = numpy.hypot(dx, dy)
- dx /= mag
- dy /= mag
+ self.DoDrawTo(cr, theta_version)
- return [(self.start[0], self.start[1], dx, dy, 0.0, 0.0),
- (self.end[0], self.end[1], dx, dy, 0.0, 0.0)]
+ def VerifyPoints(self):
+ points = self.DoToThetaPoints()
+ if self.roll_joint_collision(points, verbose=True) or \
+ self.arm_past_limit(points, verbose=True):
+ sys.exit(1)
-class XYSegment:
- """Straight line in XY space."""
+class SplineSegmentBase(Path):
- def __init__(self, start, end, name=None, alpha_unitizer=None, vmax=None):
- """Creates an XY segment.
+ def __init__(self, name):
+ super().__init__(name)
- Args:
- start: (double, double), The start of the segment in theta1, theta2
- coordinates in radians
- end: (double, double), The end of the segment in theta1, theta2
- coordinates in radians
- """
- self.start = start
- self.end = end
- self.name = name
- self.alpha_unitizer = alpha_unitizer
- self.vmax = vmax
+ @abc.abstractmethod
+ # Returns (start, control1, control2, end), each in the form
+ # (theta1, theta2, theta3)
+ def get_controls_theta(self):
+ pass
- def __repr__(self):
- return "XYSegment(%s, %s)" % (repr(self.start), repr(self.end))
-
- def DrawTo(self, cr, theta_version):
- if theta_version:
- theta1, theta2 = self.start
- circular_index_select = int(
- numpy.floor((self.start[1] - self.start[0]) / numpy.pi))
- start = get_xy(self.start)
- end = get_xy(self.end)
-
- ln = [(start[0], start[1]), (end[0], end[1])]
- draw_lines(cr, [
- to_theta_with_circular_index(x, y, circular_index_select)
- for x, y in subdivide_xy(ln)
- ])
- cr.move_to(self.start[0] + theta_end_circle_size, self.start[1])
- cr.arc(self.start[0], self.start[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- cr.move_to(self.end[0] + theta_end_circle_size, self.end[1])
- cr.arc(self.end[0], self.end[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- else:
- start = get_xy(self.start)
- end = get_xy(self.end)
- cr.move_to(start[0], start[1])
- cr.line_to(end[0], end[1])
- cr.move_to(start[0] + xy_end_circle_size, start[1])
- cr.arc(start[0], start[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
- cr.move_to(end[0] + xy_end_circle_size, end[1])
- cr.arc(end[0], end[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
-
- def ToThetaPoints(self):
- """ Converts to points in theta space via to_theta_with_circular_index_and_derivs"""
- theta1, theta2 = self.start
- circular_index_select = int(
- numpy.floor((self.start[1] - self.start[0]) / numpy.pi))
- start = get_xy(self.start)
- end = get_xy(self.end)
-
- ln = [(start[0], start[1]), (end[0], end[1])]
-
- dx = end[0] - start[0]
- dy = end[1] - start[1]
- mag = numpy.hypot(dx, dy)
- dx /= mag
- dy /= mag
-
- return [
- to_theta_with_circular_index_and_derivs(x, y, dx, dy,
- circular_index_select)
- for x, y in subdivide_xy(ln, 0.01)
- ]
+ def intersection(self, event):
+ start, control1, control2, end = self.get_controls_theta()
+ for alpha in subdivide_multistep():
+ x, y = get_xy(spline_eval(start, control1, control2, end, alpha))
+ spline_point = np.array([x, y])
+ hovered_point = np.array([event.x, event.y])
+ if np.linalg.norm(hovered_point - spline_point) < 0.03:
+ return alpha
+ return None
-class SplineSegment:
+class ThetaSplineSegment(SplineSegmentBase):
+ # start and end are [theta1, theta2, theta3].
+ # controls are just [theta1, theta2].
+ # control_alpha_rolls are a list of [alpha, roll]
def __init__(self,
+ name,
start,
control1,
control2,
end,
- name=None,
+ control_alpha_rolls=[],
alpha_unitizer=None,
vmax=None):
- self.start = start
+ super().__init__(name)
+ self.start = start[:2]
self.control1 = control1
self.control2 = control2
- self.end = end
- self.name = name
+ self.end = end[:2]
+ # There will always be roll at alpha = 0 and 1
+ self.alpha_rolls = [[0.0, start[2]]
+ ] + control_alpha_rolls + [[1.0, end[2]]]
self.alpha_unitizer = alpha_unitizer
self.vmax = vmax
def __repr__(self):
- return "SplineSegment(%s, %s, %s, %s)" % (repr(
+ return "ThetaSplineSegment(%s, %s, %s, %s)" % (repr(
self.start), repr(self.control1), repr(
self.control2), repr(self.end))
- def DrawTo(self, cr, theta_version):
- if theta_version:
- c_i_select = get_circular_index(self.start)
- start = get_xy(self.start)
- control1 = get_xy(self.control1)
- control2 = get_xy(self.control2)
- end = get_xy(self.end)
-
- draw_lines(cr, [
- to_theta(spline_eval(start, control1, control2, end, alpha),
- c_i_select)
- for alpha in subdivide_spline(start, control1, control2, end)
- ])
- cr.move_to(self.start[0] + theta_end_circle_size, self.start[1])
- cr.arc(self.start[0], self.start[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- cr.move_to(self.end[0] + theta_end_circle_size, self.end[1])
- cr.arc(self.end[0], self.end[1], theta_end_circle_size, 0,
- 2.0 * numpy.pi)
- else:
- start = get_xy(self.start)
- control1 = get_xy(self.control1)
- control2 = get_xy(self.control2)
- end = get_xy(self.end)
-
- draw_lines(cr, [
- spline_eval(start, control1, control2, end, alpha)
- for alpha in subdivide_spline(start, control1, control2, end)
- ])
-
- cr.move_to(start[0] + xy_end_circle_size, start[1])
- cr.arc(start[0], start[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
- cr.move_to(end[0] + xy_end_circle_size, end[1])
- cr.arc(end[0], end[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
-
- def ToThetaPoints(self):
- t1, t2 = self.start
- c_i_select = get_circular_index(self.start)
- start = get_xy(self.start)
- control1 = get_xy(self.control1)
- control2 = get_xy(self.control2)
- end = get_xy(self.end)
-
- return [
- to_theta_with_ci_and_derivs(
- spline_eval(start, control1, control2, end, alpha - 0.00001),
- spline_eval(start, control1, control2, end, alpha),
- spline_eval(start, control1, control2, end, alpha + 0.00001),
- c_i_select)
- for alpha in subdivide_spline(start, control1, control2, end)
- ]
-
-
-class ThetaSplineSegment:
-
- def __init__(self,
- start,
- control1,
- control2,
- end,
- name=None,
- alpha_unitizer=None,
- vmax=None):
- self.start = start
- self.control1 = control1
- self.control2 = control2
- self.end = end
- self.name = name
- self.alpha_unitizer = alpha_unitizer
- self.vmax = vmax
-
- def __repr__(self):
- return "ThetaSplineSegment(%s, %s, &s, %s)" % (repr(
- self.start), repr(self.control1), repr(
- self.control2), repr(self.end))
-
- def DrawTo(self, cr, theta_version):
+ def DoDrawTo(self, cr, theta_version):
if (theta_version):
draw_lines(cr, [
- spline_eval(self.start, self.control1, self.control2, self.end,
- alpha)
- for alpha in subdivide_spline(self.start, self.control1,
- self.control2, self.end)
+ shift_angles(
+ spline_eval(self.start, self.control1, self.control2,
+ self.end, alpha))
+ for alpha in subdivide_multistep()
])
else:
start = get_xy(self.start)
@@ -464,70 +484,34 @@
get_xy(
spline_eval(self.start, self.control1, self.control2,
self.end, alpha))
- for alpha in subdivide_spline(self.start, self.control1,
- self.control2, self.end)
+ for alpha in subdivide_multistep()
])
cr.move_to(start[0] + xy_end_circle_size, start[1])
- cr.arc(start[0], start[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
+ cr.arc(start[0], start[1], xy_end_circle_size, 0, 2.0 * np.pi)
cr.move_to(end[0] + xy_end_circle_size, end[1])
- cr.arc(end[0], end[1], xy_end_circle_size, 0, 2.0 * numpy.pi)
+ cr.arc(end[0], end[1], xy_end_circle_size, 0, 2.0 * np.pi)
- def ToThetaPoints(self):
- return [
- get_derivs(
- spline_eval(self.start, self.control1, self.control2, self.end,
- alpha - 0.00001),
- spline_eval(self.start, self.control1, self.control2, self.end,
- alpha),
- spline_eval(self.start, self.control1, self.control2, self.end,
- alpha + 0.00001))
- for alpha in subdivide_spline(self.start, self.control1,
- self.control2, self.end)
- ]
+ def DoToThetaPoints(self):
+ points = []
+ for alpha in subdivide_multistep():
+ proximal, distal = spline_eval(self.start, self.control1,
+ self.control2, self.end, alpha)
+ roll_joint = get_roll_joint_theta_multistep(
+ self.alpha_rolls, alpha)
+ points.append((proximal, distal, roll_joint))
+ return points
-def expand_points(points, max_distance):
- """Expands a list of points to be at most max_distance apart
+ def get_controls_theta(self):
+ return (self.start, self.control1, self.control2, self.end)
- Generates the paths to connect the new points to the closest input points,
- and the paths connecting the points.
-
- Args:
- points, list of tuple of point, name, The points to start with and fill
- in.
- max_distance, float, The max distance between two points when expanding
- the graph.
-
- Return:
- points, edges
- """
- result_points = [points[0]]
- result_paths = []
- for point, name in points[1:]:
- previous_point = result_points[-1][0]
- previous_point_xy = get_xy(previous_point)
- circular_index = get_circular_index(previous_point)
-
- point_xy = get_xy(point)
- norm = numpy.linalg.norm(point_xy - previous_point_xy)
- num_points = int(numpy.ceil(norm / max_distance))
- last_iteration_point = previous_point
- for subindex in range(1, num_points):
- subpoint = to_theta(alpha_blend(previous_point_xy, point_xy,
- float(subindex) / num_points),
- circular_index=circular_index)
- result_points.append(
- (subpoint, '%s%dof%d' % (name, subindex, num_points)))
- result_paths.append(
- XYSegment(last_iteration_point, subpoint, vmax=6.0))
- if (last_iteration_point != previous_point).any():
- result_paths.append(XYSegment(previous_point, subpoint))
- if subindex == num_points - 1:
- result_paths.append(XYSegment(subpoint, point, vmax=6.0))
- else:
- result_paths.append(XYSegment(subpoint, point))
- last_iteration_point = subpoint
- result_points.append((point, name))
-
- return result_points, result_paths
+ def roll_joint_thetas(self):
+ ts = []
+ thetas = []
+ for alpha in subdivide_multistep():
+ roll_joint = get_roll_joint_theta_multistep(
+ self.alpha_rolls, alpha)
+ thetas.append(roll_joint)
+ ts.append(alpha)
+ return ts, thetas
diff --git a/y2023/control_loops/python/roll.py b/y2023/control_loops/python/roll.py
new file mode 100644
index 0000000..ce0fac0
--- /dev/null
+++ b/y2023/control_loops/python/roll.py
@@ -0,0 +1,68 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_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.')
+
+kRoll = angular_system.AngularSystemParams(
+ name='Roll',
+ motor=control_loop.BAG(),
+ G=18.0 / 48.0 * 1.0 / 36.0,
+ # 598.006 in^2 lb
+ J=0.175,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=13 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kRoll, R)
+ angular_system.PlotMotion(kRoll, R)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the intake and integral intake.'
+ )
+ else:
+ namespaces = ['y2023', 'control_loops', 'superstructure', 'roll']
+ if FLAGS.hybrid:
+ kRoll.name = 'HybridRoll'
+ angular_system.WriteAngularSystem(
+ kRoll,
+ argv[1:3],
+ argv[3:5],
+ namespaces,
+ plant_type='StateFeedbackHybridPlant',
+ observer_type='HybridKalman')
+ else:
+ angular_system.WriteAngularSystem(kRoll, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2023/control_loops/python/turret.py b/y2023/control_loops/python/turret.py
new file mode 100644
index 0000000..4e8f117
--- /dev/null
+++ b/y2023/control_loops/python/turret.py
@@ -0,0 +1,54 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_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
+
+kTurret = angular_system.AngularSystemParams(name='Turret',
+ motor=control_loop.Falcon(),
+ G=0.01,
+ J=3.1,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=25 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kTurret, R)
+ angular_system.PlotMotion(kTurret, R)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the wrist and integral wrist.'
+ )
+ else:
+ namespaces = ['y2023', 'control_loops', 'superstructure', 'turret']
+ angular_system.WriteAngularSystem(kTurret, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2023/control_loops/python/wrist.py b/y2023/control_loops/python/wrist.py
new file mode 100644
index 0000000..1970c5b
--- /dev/null
+++ b/y2023/control_loops/python/wrist.py
@@ -0,0 +1,57 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_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
+
+kWrist = angular_system.AngularSystemParams(
+ name='Wrist',
+ motor=control_loop.BAG(),
+ G=(6.0 / 48.0) * (20.0 / 100.0) * (24.0 / 36.0) * (36.0 / 60.0),
+ # Use parallel axis theorem to get the moment of inertia around
+ # the joint (I = I_cm + mh^2 = 0.001877 + 0.8332 * 0.0407162^2)
+ J=0.003258,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=5.71 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kWrist, R)
+ angular_system.PlotMotion(kWrist, R)
+ return
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the wrist and integral wrist.'
+ )
+ else:
+ namespaces = ['y2023', 'control_loops', 'superstructure', 'wrist']
+ angular_system.WriteAngularSystem(kWrist, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 5246b3e..52254e4 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -68,7 +68,6 @@
"superstructure.h",
],
deps = [
- # ":collision_avoidance_lib",
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
@@ -78,6 +77,7 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2023:constants",
+ "//y2023/control_loops/superstructure/arm",
],
)
@@ -117,6 +117,7 @@
"//frc971/control_loops:subsystem_simulator",
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
],
)
@@ -133,7 +134,7 @@
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
new file mode 100644
index 0000000..ce226d1
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -0,0 +1,129 @@
+cc_library(
+ name = "arm",
+ srcs = [
+ "arm.cc",
+ ],
+ hdrs = [
+ "arm.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":generated_graph",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/zeroing",
+ "//y2023:constants",
+ "//y2023/control_loops/superstructure:superstructure_position_fbs",
+ "//y2023/control_loops/superstructure:superstructure_status_fbs",
+ "//y2023/control_loops/superstructure/arm:arm_constants",
+ "//y2023/control_loops/superstructure/arm:trajectory",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
+ ],
+)
+
+genrule(
+ name = "generated_graph_genrule",
+ outs = [
+ "generated_graph.h",
+ "generated_graph.cc",
+ ],
+ cmd = "$(location //y2023/control_loops/python:graph_codegen) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023/control_loops/python:graph_codegen",
+ ],
+)
+
+cc_library(
+ name = "generated_graph",
+ srcs = [
+ "generated_graph.cc",
+ ],
+ hdrs = ["generated_graph.h"],
+ copts = [
+ "-O1",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":arm_constants",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//y2023/control_loops/superstructure/arm:trajectory",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
+ ],
+)
+
+cc_library(
+ name = "arm_constants",
+ hdrs = ["arm_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ ],
+)
+
+cc_binary(
+ name = "arm_design",
+ srcs = [
+ "arm_design.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":arm_constants",
+ "//aos:init",
+ "//frc971/analysis:in_process_plotter",
+ "//frc971/control_loops:dlqr",
+ "//frc971/control_loops:jacobian",
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ ],
+)
+
+cc_library(
+ name = "trajectory",
+ srcs = ["trajectory.cc"],
+ hdrs = ["trajectory.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//frc971/control_loops:binomial",
+ "//frc971/control_loops:dlqr",
+ "//frc971/control_loops:fixed_quadrature",
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_test(
+ name = "trajectory_test",
+ srcs = ["trajectory_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":arm_constants",
+ ":trajectory",
+ "//aos/testing:googletest",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
+ ],
+)
+
+cc_binary(
+ name = "trajectory_plot",
+ srcs = [
+ "trajectory_plot.cc",
+ ],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":arm_constants",
+ ":generated_graph",
+ ":trajectory",
+ "//frc971/analysis:in_process_plotter",
+ "//frc971/control_loops:binomial",
+ "//frc971/control_loops:fixed_quadrature",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//y2023/control_loops/superstructure/roll:roll_plants",
+ "@com_github_gflags_gflags//:gflags",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
new file mode 100644
index 0000000..5417dc8
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -0,0 +1,322 @@
+#include "y2023/control_loops/superstructure/arm/arm.h"
+
+#include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
+#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+namespace {
+
+namespace chrono = ::std::chrono;
+using ::aos::monotonic_clock;
+
+constexpr int kMaxBrownoutCount = 4;
+
+} // namespace
+
+Arm::Arm(std::shared_ptr<const constants::Values> values)
+ : values_(values),
+ state_(ArmState::UNINITIALIZED),
+ proximal_zeroing_estimator_(values_->arm_proximal.zeroing),
+ distal_zeroing_estimator_(values_->arm_distal.zeroing),
+ roll_joint_zeroing_estimator_(values_->roll_joint.zeroing),
+ proximal_offset_(0.0),
+ distal_offset_(0.0),
+ roll_joint_offset_(0.0),
+ alpha_unitizer_((::Eigen::DiagonalMatrix<double, 3>().diagonal()
+ << (1.0 / kAlpha0Max()),
+ (1.0 / kAlpha1Max()), (1.0 / kAlpha2Max()))
+ .finished()),
+ dynamics_(kArmConstants),
+ close_enough_for_full_power_(false),
+ brownout_count_(0),
+ roll_joint_loop_(roll::MakeIntegralRollLoop()),
+ hybrid_roll_joint_loop_(roll::MakeIntegralHybridRollLoop()),
+ arm_ekf_(&dynamics_),
+ search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
+ kVMax(), &hybrid_roll_joint_loop_)),
+ // Go to the start of the first trajectory.
+ follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPosPoint()),
+ points_(PointList()),
+ current_node_(0) {
+ int i = 0;
+ for (const auto &trajectory : trajectories_) {
+ AOS_LOG(INFO, "trajectory length for edge node %d: %f\n", i,
+ trajectory.trajectory.path().length());
+ ++i;
+ }
+}
+
+void Arm::Reset() { state_ = ArmState::UNINITIALIZED; }
+
+flatbuffers::Offset<superstructure::ArmStatus> Arm::Iterate(
+ const ::aos::monotonic_clock::time_point /*monotonic_now*/,
+ const uint32_t *unsafe_goal, const superstructure::ArmPosition *position,
+ bool trajectory_override, double *proximal_output, double *distal_output,
+ double *roll_joint_output, bool /*intake*/, bool /*spit*/,
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const bool outputs_disabled =
+ ((proximal_output == nullptr) || (distal_output == nullptr) ||
+ (roll_joint_output == nullptr));
+ if (outputs_disabled) {
+ ++brownout_count_;
+ } else {
+ brownout_count_ = 0;
+ }
+
+ // TODO(milind): should we default to the closest position?
+ uint32_t filtered_goal = arm::NeutralPosIndex();
+ if (unsafe_goal != nullptr) {
+ filtered_goal = *unsafe_goal;
+ }
+
+ ::Eigen::Matrix<double, 2, 1> Y_arm;
+ Y_arm << position->proximal()->encoder() + proximal_offset_,
+ position->distal()->encoder() + distal_offset_;
+ ::Eigen::Matrix<double, 1, 1> Y_roll_joint;
+ Y_roll_joint << position->roll_joint()->encoder() + roll_joint_offset_;
+
+ proximal_zeroing_estimator_.UpdateEstimate(*position->proximal());
+ distal_zeroing_estimator_.UpdateEstimate(*position->distal());
+ roll_joint_zeroing_estimator_.UpdateEstimate(*position->roll_joint());
+
+ if (proximal_output != nullptr) {
+ *proximal_output = 0.0;
+ }
+ if (distal_output != nullptr) {
+ *distal_output = 0.0;
+ }
+ if (roll_joint_output != nullptr) {
+ *roll_joint_output = 0.0;
+ }
+
+ arm_ekf_.Correct(Y_arm, kDt());
+ roll_joint_loop_.Correct(Y_roll_joint);
+
+ if (::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) <= 0.05 &&
+ ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) <= 0.05 &&
+ ::std::abs(roll_joint_loop_.X_hat(0) - follower_.theta(2)) <= 0.05) {
+ close_enough_for_full_power_ = true;
+ }
+ if (::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) >= 1.10 ||
+ ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) >= 1.10 ||
+ ::std::abs(roll_joint_loop_.X_hat(0) - follower_.theta(2)) >= 0.50) {
+ close_enough_for_full_power_ = false;
+ }
+
+ switch (state_) {
+ case ArmState::UNINITIALIZED:
+ // Wait in the uninitialized state until the intake is initialized.
+ AOS_LOG(DEBUG, "Uninitialized, waiting for intake\n");
+ state_ = ArmState::ZEROING;
+ proximal_zeroing_estimator_.Reset();
+ distal_zeroing_estimator_.Reset();
+ roll_joint_zeroing_estimator_.Reset();
+ break;
+
+ case ArmState::ZEROING:
+ // Zero by not moving.
+ if (zeroed()) {
+ state_ = ArmState::DISABLED;
+
+ proximal_offset_ = proximal_zeroing_estimator_.offset();
+ distal_offset_ = distal_zeroing_estimator_.offset();
+ roll_joint_offset_ = roll_joint_zeroing_estimator_.offset();
+
+ Y_arm << position->proximal()->encoder() + proximal_offset_,
+ position->distal()->encoder() + distal_offset_;
+ Y_roll_joint << position->roll_joint()->encoder() + roll_joint_offset_;
+
+ // TODO(austin): Offset ekf rather than reset it. Since we aren't
+ // moving at this point, it's pretty safe to do this.
+ ::Eigen::Matrix<double, 4, 1> X_arm;
+ X_arm << Y_arm(0), 0.0, Y_arm(1), 0.0;
+ arm_ekf_.Reset(X_arm);
+
+ ::Eigen::Matrix<double, 3, 1> X_roll_joint;
+ X_roll_joint << Y_roll_joint(0), 0.0, 0.0;
+ roll_joint_loop_.mutable_X_hat() = X_roll_joint;
+ } else {
+ break;
+ }
+ [[fallthrough]];
+
+ case ArmState::DISABLED: {
+ follower_.SwitchTrajectory(nullptr);
+ close_enough_for_full_power_ = false;
+
+ const ::Eigen::Matrix<double, 3, 1> current_theta =
+ (::Eigen::Matrix<double, 3, 1>() << arm_ekf_.X_hat(0),
+ arm_ekf_.X_hat(2), roll_joint_loop_.X_hat(0))
+ .finished();
+ uint32_t best_index = 0;
+ double best_distance = (points_[0] - current_theta).norm();
+ uint32_t current_index = 0;
+ for (const ::Eigen::Matrix<double, 3, 1> &point : points_) {
+ const double new_distance = (point - current_theta).norm();
+ if (new_distance < best_distance) {
+ best_distance = new_distance;
+ best_index = current_index;
+ }
+ ++current_index;
+ }
+ follower_.set_theta(points_[best_index]);
+ current_node_ = best_index;
+
+ if (!outputs_disabled) {
+ state_ = ArmState::GOTO_PATH;
+ } else {
+ break;
+ }
+ }
+ [[fallthrough]];
+
+ case ArmState::GOTO_PATH:
+ if (outputs_disabled) {
+ state_ = ArmState::DISABLED;
+ } else if (trajectory_override) {
+ follower_.SwitchTrajectory(nullptr);
+ current_node_ = filtered_goal;
+ follower_.set_theta(points_[current_node_]);
+ state_ = ArmState::GOTO_PATH;
+ } else if (close_enough_for_full_power_) {
+ state_ = ArmState::RUNNING;
+ }
+ break;
+
+ case ArmState::RUNNING:
+ // ESTOP if we hit the hard limits.
+ // TODO(austin): Pick some sane limits.
+ if (proximal_zeroing_estimator_.error() ||
+ distal_zeroing_estimator_.error() ||
+ roll_joint_zeroing_estimator_.error()) {
+ AOS_LOG(ERROR, "Zeroing error ESTOP\n");
+ state_ = ArmState::ESTOP;
+ } else if (outputs_disabled && brownout_count_ > kMaxBrownoutCount) {
+ state_ = ArmState::DISABLED;
+ } else if (trajectory_override) {
+ follower_.SwitchTrajectory(nullptr);
+ current_node_ = filtered_goal;
+ follower_.set_theta(points_[current_node_]);
+ state_ = ArmState::GOTO_PATH;
+ }
+ break;
+
+ case ArmState::ESTOP:
+ AOS_LOG(ERROR, "Estop\n");
+ break;
+ }
+
+ const bool disable = outputs_disabled || (state_ != ArmState::RUNNING &&
+ state_ != ArmState::GOTO_PATH);
+ if (disable) {
+ close_enough_for_full_power_ = false;
+ }
+
+ if (state_ == ArmState::RUNNING && unsafe_goal != nullptr) {
+ if (current_node_ != filtered_goal) {
+ AOS_LOG(INFO, "Goal is different\n");
+ if (filtered_goal >= search_graph_.num_vertexes()) {
+ AOS_LOG(ERROR, "goal node out of range ESTOP\n");
+ state_ = ArmState::ESTOP;
+ } else if (follower_.path_distance_to_go() > 1e-3) {
+ // Still on the old path segment. Can't change yet.
+ } else {
+ search_graph_.SetGoal(filtered_goal);
+
+ size_t min_edge = 0;
+ double min_cost = ::std::numeric_limits<double>::infinity();
+ for (const SearchGraph::HalfEdge &edge :
+ search_graph_.Neighbors(current_node_)) {
+ const double cost = search_graph_.GetCostToGoal(edge.dest);
+ if (cost < min_cost) {
+ min_edge = edge.edge_id;
+ min_cost = cost;
+ }
+ }
+ // Ok, now we know which edge we are on. Figure out the path and
+ // trajectory.
+ const SearchGraph::Edge &next_edge = search_graph_.edges()[min_edge];
+ AOS_LOG(INFO, "Switching from node %d to %d along edge %d\n",
+ static_cast<int>(current_node_),
+ static_cast<int>(next_edge.end), static_cast<int>(min_edge));
+ vmax_ = trajectories_[min_edge].vmax;
+ follower_.SwitchTrajectory(&trajectories_[min_edge].trajectory);
+ current_node_ = next_edge.end;
+ }
+ }
+ }
+
+ const double max_operating_voltage =
+ close_enough_for_full_power_
+ ? kOperatingVoltage()
+ : (state_ == ArmState::GOTO_PATH ? kGotoPathVMax() : kPathlessVMax());
+ ::Eigen::Matrix<double, 9, 1> X_hat;
+ X_hat.block<6, 1>(0, 0) = arm_ekf_.X_hat();
+ X_hat.block<3, 1>(6, 0) = roll_joint_loop_.X_hat();
+
+ follower_.Update(X_hat, disable, kDt(), vmax_, max_operating_voltage);
+ AOS_LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
+
+ arm_ekf_.Predict(follower_.U().head<2>(), kDt());
+ roll_joint_loop_.UpdateObserver(follower_.U().tail<1>(), kDtDuration());
+
+ flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+ proximal_estimator_state_offset =
+ proximal_zeroing_estimator_.GetEstimatorState(fbb);
+ flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+ distal_estimator_state_offset =
+ distal_zeroing_estimator_.GetEstimatorState(fbb);
+ flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+ roll_joint_estimator_state_offset =
+ roll_joint_zeroing_estimator_.GetEstimatorState(fbb);
+
+ superstructure::ArmStatus::Builder status_builder(*fbb);
+ status_builder.add_proximal_estimator_state(proximal_estimator_state_offset);
+ status_builder.add_distal_estimator_state(distal_estimator_state_offset);
+ status_builder.add_roll_joint_estimator_state(
+ roll_joint_estimator_state_offset);
+
+ status_builder.add_goal_theta0(follower_.theta(0));
+ status_builder.add_goal_theta1(follower_.theta(1));
+ status_builder.add_goal_theta2(follower_.theta(2));
+ status_builder.add_goal_omega0(follower_.omega(0));
+ status_builder.add_goal_omega1(follower_.omega(1));
+ status_builder.add_goal_omega2(follower_.omega(2));
+
+ status_builder.add_theta0(arm_ekf_.X_hat(0));
+ status_builder.add_theta1(arm_ekf_.X_hat(2));
+ status_builder.add_theta2(roll_joint_loop_.X_hat(0));
+ status_builder.add_omega0(arm_ekf_.X_hat(1));
+ status_builder.add_omega1(arm_ekf_.X_hat(3));
+ status_builder.add_omega2(roll_joint_loop_.X_hat(1));
+ status_builder.add_voltage_error0(arm_ekf_.X_hat(4));
+ status_builder.add_voltage_error1(arm_ekf_.X_hat(5));
+ status_builder.add_voltage_error2(roll_joint_loop_.X_hat(2));
+
+ if (!disable) {
+ *proximal_output = ::std::max(
+ -kOperatingVoltage(), ::std::min(kOperatingVoltage(), follower_.U(0)));
+ *distal_output = ::std::max(
+ -kOperatingVoltage(), ::std::min(kOperatingVoltage(), follower_.U(1)));
+ *roll_joint_output = ::std::max(
+ -kOperatingVoltage(), ::std::min(kOperatingVoltage(), follower_.U(2)));
+ }
+
+ status_builder.add_path_distance_to_go(follower_.path_distance_to_go());
+ status_builder.add_current_node(current_node_);
+
+ status_builder.add_zeroed(zeroed());
+ status_builder.add_estopped(estopped());
+ status_builder.add_state(state_);
+ status_builder.add_failed_solutions(follower_.failed_solutions());
+
+ return status_builder.Finish();
+}
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
new file mode 100644
index 0000000..9cda7fc
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -0,0 +1,126 @@
+#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
+#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
+
+#include "aos/time/time.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/zeroing/zeroing.h"
+#include "y2023/constants.h"
+#include "y2023/control_loops/superstructure/arm/generated_graph.h"
+#include "y2023/control_loops/superstructure/arm/trajectory.h"
+#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
+
+using frc971::control_loops::arm::EKF;
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+class Arm {
+ public:
+ Arm(std::shared_ptr<const constants::Values> values);
+
+ // if true, tune down all the constants for testing.
+ static constexpr bool kGrannyMode() { return false; }
+
+ // the operating voltage.
+ static constexpr double kOperatingVoltage() {
+ return kGrannyMode() ? 5.0 : 12.0;
+ }
+ static constexpr double kDt() { return 0.00505; }
+ static constexpr std::chrono::nanoseconds kDtDuration() {
+ return std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(kDt()));
+ }
+ static constexpr double kAlpha0Max() { return kGrannyMode() ? 5.0 : 15.0; }
+ static constexpr double kAlpha1Max() { return kGrannyMode() ? 5.0 : 15.0; }
+ static constexpr double kAlpha2Max() { return kGrannyMode() ? 5.0 : 15.0; }
+
+ static constexpr double kVMax() { return kGrannyMode() ? 5.0 : 11.5; }
+ static constexpr double kPathlessVMax() { return 5.0; }
+ static constexpr double kGotoPathVMax() { return 6.0; }
+
+ flatbuffers::Offset<superstructure::ArmStatus> Iterate(
+ const ::aos::monotonic_clock::time_point /*monotonic_now*/,
+ const uint32_t *unsafe_goal, const superstructure::ArmPosition *position,
+ bool trajectory_override, double *proximal_output, double *distal_output,
+ double *roll_joint_output, bool /*intake*/, bool /*spit*/,
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ void Reset();
+
+ ArmState state() const { return state_; }
+
+ bool estopped() const { return state_ == ArmState::ESTOP; }
+ bool zeroed() const {
+ return (proximal_zeroing_estimator_.zeroed() &&
+ distal_zeroing_estimator_.zeroed() &&
+ roll_joint_zeroing_estimator_.zeroed());
+ }
+
+ uint32_t current_node() const { return current_node_; }
+
+ double path_distance_to_go() { return follower_.path_distance_to_go(); }
+
+ private:
+ bool AtState(uint32_t state) const { return current_node_ == state; }
+ bool NearEnd(double threshold = 0.03) const {
+ return ::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) <= threshold &&
+ ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) <= threshold &&
+ follower_.path_distance_to_go() < 1e-3;
+ }
+
+ std::shared_ptr<const constants::Values> values_;
+
+ ArmState state_;
+
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+ proximal_zeroing_estimator_;
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+ distal_zeroing_estimator_;
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+ roll_joint_zeroing_estimator_;
+
+ double proximal_offset_;
+ double distal_offset_;
+ double roll_joint_offset_;
+
+ const ::Eigen::DiagonalMatrix<double, 3> alpha_unitizer_;
+
+ double vmax_ = kVMax();
+
+ frc971::control_loops::arm::Dynamics dynamics_;
+
+ ::std::vector<TrajectoryAndParams> trajectories_;
+
+ bool close_enough_for_full_power_;
+
+ size_t brownout_count_;
+
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackPlant<3, 1, 1>,
+ StateFeedbackObserver<3, 1, 1>>
+ roll_joint_loop_;
+ const StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>>
+ hybrid_roll_joint_loop_;
+ EKF arm_ekf_;
+ SearchGraph search_graph_;
+ TrajectoryFollower follower_;
+
+ const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
+
+ // Start at the 0th index.
+ uint32_t current_node_;
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
+
+#endif // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
diff --git a/y2023/control_loops/superstructure/arm/arm_constants.h b/y2023/control_loops/superstructure/arm/arm_constants.h
new file mode 100644
index 0000000..6151027
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm_constants.h
@@ -0,0 +1,53 @@
+#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+constexpr double kEfficiencyTweak = 0.95;
+constexpr double kStallTorque = 4.69 * kEfficiencyTweak;
+constexpr double kFreeSpeed = (6380.0 / 60.0) * 2.0 * M_PI;
+constexpr double kStallCurrent = 257.0;
+
+constexpr ::frc971::control_loops::arm::ArmConstants kArmConstants = {
+ .l0 = 20 * 0.0254,
+ .l1 = 38 * 0.0254,
+
+ .m0 = 4.5 / 2.2,
+ .m1 = 15.5 / 2.2,
+
+ // Moment of inertia of the joints in kg m^2
+ .j0 = 0.092,
+ .j1 = 1.6,
+
+ // Radius of the center of mass of the joints in meters.
+ .r0 = 4.5 * 0.0254,
+ .r1 = 20 * 0.0254,
+
+ // Gear ratios for the two joints.
+ .g0 = 55.0,
+ .g1 = 106.0,
+
+ // Falcon motor constants.
+ .efficiency_tweak = kEfficiencyTweak,
+ .stall_torque = kStallTorque,
+ .free_speed = kFreeSpeed,
+ .stall_current = kStallCurrent,
+ .resistance = 12.0 / kStallCurrent,
+ .Kv = kFreeSpeed / 12.0,
+ .Kt = kStallTorque / kStallCurrent,
+
+ // Number of motors on the distal joint.
+ .num_distal_motors = 1.0,
+};
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
+
+#endif // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2023/control_loops/superstructure/arm/arm_design.cc b/y2023/control_loops/superstructure/arm/arm_design.cc
new file mode 100644
index 0000000..99ffa2c
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm_design.cc
@@ -0,0 +1,193 @@
+#include "aos/init.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/dlqr.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/jacobian.h"
+#include "y2023/control_loops/superstructure/arm/arm_constants.h"
+
+DEFINE_double(lqr_proximal_pos, 0.15, "Position LQR gain");
+DEFINE_double(lqr_proximal_vel, 4.0, "Velocity LQR gain");
+DEFINE_double(lqr_distal_pos, 0.20, "Position LQR gain");
+DEFINE_double(lqr_distal_vel, 4.0, "Velocity LQR gain");
+DEFINE_double(fx, 0.0, "X force");
+DEFINE_double(fy, 0.0, "y force");
+
+DEFINE_double(start0, 0.0, "starting position on proximal");
+DEFINE_double(start1, 0.0, "starting position on distal");
+DEFINE_double(goal0, 0.0, "goal position on proximal");
+DEFINE_double(goal1, 0.0, "goal position on distal");
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+int Main() {
+ frc971::analysis::Plotter plotter;
+
+ frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
+
+ ::Eigen::Matrix<double, 4, 1> X = ::Eigen::Matrix<double, 4, 1>::Zero();
+ ::Eigen::Matrix<double, 4, 1> goal = ::Eigen::Matrix<double, 4, 1>::Zero();
+ goal(0, 0) = FLAGS_goal0;
+ goal(1, 0) = 0;
+ goal(2, 0) = FLAGS_goal1;
+ goal(3, 0) = 0;
+
+ X(0, 0) = FLAGS_start0;
+ X(1, 0) = 0;
+ X(2, 0) = FLAGS_start1;
+ X(3, 0) = 0;
+ ::Eigen::Matrix<double, 2, 1> U = ::Eigen::Matrix<double, 2, 1>::Zero();
+
+ constexpr double kDt = 0.00505;
+
+ std::vector<double> t;
+ std::vector<double> x0;
+ std::vector<double> x1;
+ std::vector<double> x2;
+ std::vector<double> x3;
+ std::vector<double> u0;
+ std::vector<double> u1;
+
+ std::vector<double> current0;
+ std::vector<double> current1;
+ std::vector<double> torque0;
+ std::vector<double> torque1;
+
+ const double kProximalPosLQR = FLAGS_lqr_proximal_pos;
+ const double kProximalVelLQR = FLAGS_lqr_proximal_vel;
+ const double kDistalPosLQR = FLAGS_lqr_distal_pos;
+ const double kDistalVelLQR = FLAGS_lqr_distal_vel;
+ const ::Eigen::DiagonalMatrix<double, 4> Q =
+ (::Eigen::DiagonalMatrix<double, 4>().diagonal()
+ << 1.0 / ::std::pow(kProximalPosLQR, 2),
+ 1.0 / ::std::pow(kProximalVelLQR, 2), 1.0 / ::std::pow(kDistalPosLQR, 2),
+ 1.0 / ::std::pow(kDistalVelLQR, 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();
+
+ {
+ const ::Eigen::Matrix<double, 2, 1> torque =
+ dynamics
+ .TorqueFromForce(X,
+ ::Eigen::Matrix<double, 2, 1>(FLAGS_fx, FLAGS_fy))
+ .transpose();
+ LOG(INFO) << "Torque (N m): " << torque.transpose();
+ const ::Eigen::Matrix<double, 2, 1> current =
+ dynamics.CurrentFromTorque(torque);
+
+ LOG(INFO) << "Current (Amps): " << current.transpose();
+
+ ::Eigen::Matrix<double, 2, 1> battery_current;
+ battery_current(0) =
+ current(0) * current(0) * kArmConstants.resistance / 12.0;
+ battery_current(1) =
+ current(1) * current(1) * kArmConstants.resistance / 12.0;
+
+ LOG(INFO) << "Battery current (Amps): " << battery_current.transpose();
+ }
+
+ ::Eigen::Matrix<double, 2, 4> last_K = ::Eigen::Matrix<double, 2, 4>::Zero();
+ for (int i = 0; i < 400; ++i) {
+ t.push_back(i * kDt);
+ x0.push_back(X(0));
+ x1.push_back(X(1));
+ x2.push_back(X(2));
+ x3.push_back(X(3));
+
+ const auto x_blocked = X.block<4, 1>(0, 0);
+
+ const ::Eigen::Matrix<double, 4, 4> final_A =
+ ::frc971::control_loops::NumericalJacobianX<4, 2>(
+ [dynamics](const auto &x_blocked, const auto &U, double kDt) {
+ return dynamics.UnboundedDiscreteDynamics(x_blocked, U, kDt);
+ },
+ x_blocked, U, 0.00505);
+ const ::Eigen::Matrix<double, 4, 2> final_B =
+ ::frc971::control_loops::NumericalJacobianU<4, 2>(
+ [dynamics](const auto &x_blocked, const auto &U, double kDt) {
+ return dynamics.UnboundedDiscreteDynamics(x_blocked, U, kDt);
+ },
+ x_blocked, U, 0.00505);
+
+ ::Eigen::Matrix<double, 2, 1> U_ff =
+ dynamics.FF_U(x_blocked, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero());
+
+ ::Eigen::Matrix<double, 4, 4> S;
+ ::Eigen::Matrix<double, 2, 4> K;
+ if (::frc971::controls::dlqr<4, 2>(final_A, final_B, Q, R, &K, &S) == 0) {
+ ::Eigen::EigenSolver<::Eigen::Matrix<double, 4, 4>> eigensolver(
+ final_A - final_B * K);
+
+ last_K = K;
+ } else {
+ LOG(INFO) << "Failed to solve for K at " << i;
+ }
+ U = U_ff + last_K * (goal - X);
+ if (std::abs(U(0)) > 12.0) {
+ U /= std::abs(U(0)) / 12.0;
+ }
+ if (std::abs(U(1)) > 12.0) {
+ U /= std::abs(U(1)) / 12.0;
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> torque =
+ dynamics.TorqueFromCommand(X, U);
+ const ::Eigen::Matrix<double, 2, 1> current_per_motor =
+ dynamics.CurrentFromCommand(X, U);
+
+ current0.push_back(current_per_motor(0));
+ current1.push_back(current_per_motor(1));
+ torque0.push_back(torque(0));
+ torque1.push_back(torque(1));
+
+ u0.push_back(U(0));
+ u1.push_back(U(1));
+
+ X = dynamics.UnboundedDiscreteDynamics(X, U, kDt);
+ }
+
+ plotter.Title("Arm motion");
+ plotter.AddFigure("State");
+ plotter.AddLine(t, x0, "X 0");
+ plotter.AddLine(t, x1, "X 1");
+ plotter.AddLine(t, x2, "X 2");
+ plotter.AddLine(t, x3, "X 3");
+
+ plotter.AddLine(t, u0, "U 0");
+ plotter.AddLine(t, u1, "U 1");
+ plotter.Publish();
+
+ plotter.AddFigure("Command");
+ plotter.AddLine(t, u0, "U 0");
+ plotter.AddLine(t, u1, "U 1");
+
+ plotter.AddLine(t, current0, "current 0");
+ plotter.AddLine(t, current1, "current 1");
+ plotter.AddLine(t, torque0, "torque 0");
+ plotter.AddLine(t, torque1, "torque 1");
+ plotter.Publish();
+
+ plotter.Spin();
+
+ return 0;
+}
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
+
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
+ return y2023::control_loops::superstructure::arm::Main();
+}
diff --git a/y2023/control_loops/superstructure/arm/trajectory.cc b/y2023/control_loops/superstructure/arm/trajectory.cc
new file mode 100644
index 0000000..565f497
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/trajectory.cc
@@ -0,0 +1,959 @@
+#include "y2023/control_loops/superstructure/arm/trajectory.h"
+
+#include "Eigen/Dense"
+#include "aos/logging/logging.h"
+#include "frc971/control_loops/dlqr.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/jacobian.h"
+#include "frc971/control_loops/runge_kutta.h"
+#include "gflags/gflags.h"
+
+DEFINE_double(lqr_proximal_pos, 0.5, "Position LQR gain");
+DEFINE_double(lqr_proximal_vel, 5, "Velocity LQR gain");
+DEFINE_double(lqr_distal_pos, 0.5, "Position LQR gain");
+DEFINE_double(lqr_distal_vel, 5, "Velocity LQR gain");
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+::Eigen::Matrix<double, 3, 1> CosSpline::Theta(double alpha) const {
+ ::Eigen::Matrix<double, 3, 1> result;
+ result.block<2, 1>(0, 0) = spline_.Theta(alpha);
+
+ const std::pair<AlphaTheta, AlphaTheta> roll_points = RollPoints(alpha);
+ const double alpha_percent =
+ (alpha - roll_points.first.alpha) /
+ (roll_points.second.alpha - roll_points.first.alpha);
+
+ result(2) = (0.5 - 0.5 * std::cos(alpha_percent * M_PI)) *
+ (roll_points.second.theta - roll_points.first.theta) +
+ roll_points.first.theta;
+ return result;
+}
+
+::Eigen::Matrix<double, 3, 1> CosSpline::Omega(double alpha) const {
+ ::Eigen::Matrix<double, 3, 1> result;
+ result.block<2, 1>(0, 0) = spline_.Omega(alpha);
+
+ const std::pair<AlphaTheta, AlphaTheta> roll_points = RollPoints(alpha);
+ const double dalpha = (roll_points.second.alpha - roll_points.first.alpha);
+ const double alpha_percent = (alpha - roll_points.first.alpha) / dalpha;
+
+ result(2) = 0.5 * std::sin(alpha_percent * M_PI) *
+ (roll_points.second.theta - roll_points.first.theta) * M_PI /
+ dalpha;
+ return result;
+}
+
+::Eigen::Matrix<double, 3, 1> CosSpline::Alpha(double alpha) const {
+ ::Eigen::Matrix<double, 3, 1> result;
+ result.block<2, 1>(0, 0) = spline_.Alpha(alpha);
+
+ const std::pair<AlphaTheta, AlphaTheta> roll_points = RollPoints(alpha);
+ const double dalpha = (roll_points.second.alpha - roll_points.first.alpha);
+ const double alpha_percent = (alpha - roll_points.first.alpha) / dalpha;
+
+ result(2) = 0.5 * std::cos(alpha_percent * M_PI) *
+ (roll_points.second.theta - roll_points.first.theta) * M_PI *
+ M_PI / dalpha / dalpha;
+ return result;
+}
+
+std::pair<CosSpline::AlphaTheta, CosSpline::AlphaTheta> CosSpline::RollPoints(
+ double alpha) const {
+ if (alpha <= 0.0) {
+ return std::make_pair(roll_[0], roll_[1]);
+ }
+ if (alpha >= 1.0) {
+ return std::make_pair(roll_[roll_.size() - 2], roll_[roll_.size() - 1]);
+ }
+
+ // Find the distance right below our number using a binary search.
+ size_t after = ::std::distance(
+ roll_.begin(), ::std::lower_bound(roll_.begin(), roll_.end(), alpha,
+ [](AlphaTheta at, double alpha) {
+ return at.alpha < alpha;
+ }));
+ DCHECK_GT(after, 0u);
+ size_t before = after - 1;
+ DCHECK_LT(before, roll_.size());
+ return std::make_pair(roll_[before], roll_[after]);
+}
+
+CosSpline CosSpline::Reversed() const {
+ std::vector<AlphaTheta> new_roll(roll_.size());
+ for (size_t i = 0; i < roll_.size(); ++i) {
+ new_roll[roll_.size() - 1 - i] = {1.0 - roll_[i].alpha, roll_[i].theta};
+ }
+
+ Eigen::Matrix<double, 2, 4> new_control_points;
+ new_control_points = spline_.control_points().rowwise().reverse();
+ return CosSpline(NSpline<4, 2>(new_control_points), std::move(new_roll));
+}
+
+::Eigen::Matrix<double, 3, 1> Path::Theta(double distance) const {
+ const double alpha = DistanceToAlpha(distance);
+ return spline_.Theta(alpha);
+}
+
+::Eigen::Matrix<double, 3, 1> Path::Omega(double distance) const {
+ const double alpha = DistanceToAlpha(distance);
+ return spline_.Omega(alpha).normalized();
+}
+
+::Eigen::Matrix<double, 3, 1> Path::Alpha(double distance) const {
+ const double alpha = DistanceToAlpha(distance);
+ const ::Eigen::Matrix<double, 3, 1> dspline_point = spline_.Omega(alpha);
+ const ::Eigen::Matrix<double, 3, 1> ddspline_point = spline_.Alpha(alpha);
+
+ const double squared_norm = dspline_point.squaredNorm();
+
+ return ddspline_point / squared_norm -
+ dspline_point * (dspline_point.transpose() * ddspline_point) /
+ ::std::pow(squared_norm, 2);
+}
+
+std::vector<float> Path::BuildDistances(size_t num_alpha) {
+ num_alpha = num_alpha ? num_alpha : 100;
+ std::vector<float> distances;
+ distances.push_back(0.0);
+
+ const double dalpha = 1.0 / static_cast<double>(num_alpha - 1);
+ double last_alpha = 0.0;
+ for (size_t i = 1; i < num_alpha; ++i) {
+ const double alpha = dalpha * i;
+ distances.push_back(
+ distances.back() +
+ GaussianQuadrature5(
+ [this](double alpha) { return this->spline_.Omega(alpha).norm(); },
+ last_alpha, alpha));
+ last_alpha = alpha;
+ }
+ return distances;
+}
+
+double Path::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));
+
+ const double alpha = (distance - distances()[before]) /
+ (distances()[after] - distances()[before]) *
+ distance_step_size +
+ static_cast<double>(before) * distance_step_size;
+ CHECK_GT(alpha, 0.0);
+ CHECK_LT(alpha, 1.0);
+ return alpha;
+}
+
+Path Path::Reversed() const { return Path(spline_.Reversed()); }
+
+::std::unique_ptr<Path> Path::Reversed(::std::unique_ptr<Path> p) {
+ return ::std::make_unique<Path>(p->Reversed());
+}
+
+double Trajectory::MaxCurvatureSpeed(
+ double goal_distance, const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer,
+ double plan_vmax) {
+ // TODO(austin): We are looking up the index in the path 3 times here.
+ const ::Eigen::Matrix<double, 3, 1> theta = path().Theta(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> omega = path().Omega(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> alpha = path().Alpha(goal_distance);
+
+ const ::Eigen::Matrix<double, 4, 1> X =
+ (::Eigen::Matrix<double, 4, 1>() << theta(0, 0), 0.0, theta(1, 0), 0.0)
+ .finished();
+
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ const ::Eigen::Matrix<double, 2, 1> gravity_volts =
+ dynamics_->K3_inverse() * dynamics_->GravityTorque(X);
+
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
+ const ::Eigen::Matrix<double, 2, 2> omega_square =
+ (::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
+ .finished();
+
+ // Here, we can say that
+ // d^2/dt^2 theta = d^2/dd^2 theta(d) * (d d/dt)^2
+ // Normalize so that the max accel is 1, and take magnitudes. This
+ // gives us the max velocity we can be at each point due to
+ // curvature.
+ double min_good_ddot =
+ ::std::sqrt(1.0 / ::std::max(0.001, (alpha_unitizer * alpha).norm()));
+
+ // Now, solve for the max speed we can follow the path without hitting the
+ // vmax limit. This makes it such that we can always hold vmax and follow
+ // the path. This helps when there are cases where holding constant speed
+ // into a reducing radius turn will saturate our voltage limit. Technically,
+ // there are cases where faster paths exist, but they are a lot harder to
+ // solve due to the nonlinearities.
+ const ::Eigen::Matrix<double, 2, 1> vk1 =
+ dynamics_->K3_inverse() * (K1 * alpha.block<2, 1>(0, 0) +
+ K2 * omega_square * omega.block<2, 1>(0, 0));
+ const ::Eigen::Matrix<double, 2, 1> vk2 =
+ dynamics_->K3_inverse() * dynamics_->K4() * omega.block<2, 1>(0, 0);
+
+ // Loop through all the various vmin, plan_vmax combinations.
+ for (const double c : {-plan_vmax, plan_vmax}) {
+ // Also loop through saturating theta0 and theta1
+ for (const ::std::tuple<double, double, double> &abgravity :
+ {::std::tuple<double, double, double>{vk1(0), vk2(0),
+ gravity_volts(0)},
+ ::std::tuple<double, double, double>{vk1(1), vk2(1),
+ gravity_volts(1)}}) {
+ const double a = ::std::get<0>(abgravity);
+ const double b = ::std::get<1>(abgravity);
+ const double gravity = ::std::get<2>(abgravity);
+ const double sqrt_number = b * b - 4.0 * a * (c - gravity);
+
+ // Throw out imaginary solutions to the quadratic.
+ if (sqrt_number > 0) {
+ const double sqrt_result = ::std::sqrt(sqrt_number);
+ const double ddot1 = (-b + sqrt_result) / (2.0 * a);
+ const double ddot2 = (-b - sqrt_result) / (2.0 * a);
+ // Loop through both solutions.
+ for (const double ddot : {ddot1, ddot2}) {
+ const ::Eigen::Matrix<double, 2, 1> U =
+ vk1 * ddot * ddot + vk2 * ddot - gravity_volts;
+
+ // Finally, make sure the velocity is positive and valid.
+ if ((U.array().abs() <= plan_vmax + 1e-6).all() && ddot > 0.0) {
+ min_good_ddot = ::std::min(min_good_ddot, ddot);
+ }
+ }
+ }
+ }
+ }
+
+ return min_good_ddot;
+}
+
+::std::vector<double> Trajectory::CurvatureOptimizationPass(
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax) {
+ ::std::vector<double> max_dvelocity_unfiltered;
+ max_dvelocity_unfiltered.reserve(num_plan_points_);
+ for (size_t i = 0; i < num_plan_points_; ++i) {
+ const double distance = DistanceForIndex(i);
+
+ max_dvelocity_unfiltered.push_back(
+ MaxCurvatureSpeed(distance, alpha_unitizer, plan_vmax));
+ }
+ return max_dvelocity_unfiltered;
+}
+
+double Trajectory::FeasableForwardsAcceleration(
+ double goal_distance, double goal_velocity, double /*plan_vmax*/,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const {
+ const ::Eigen::Matrix<double, 3, 1> omega = path().Omega(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> alpha = path().Alpha(goal_distance);
+
+ return ::std::sqrt(
+ ::std::max(0.0, 1.0 - ::std::pow((alpha_unitizer * alpha).norm() *
+ goal_velocity * goal_velocity,
+ 2))) /
+ (alpha_unitizer * omega).norm();
+}
+
+double Trajectory::FeasableForwardsVoltage(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const {
+ // TODO(austin): We are looking up the index in the path 3 times here.
+ const ::Eigen::Matrix<double, 3, 1> theta = path().Theta(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> omega = path().Omega(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> alpha = path().Alpha(goal_distance);
+
+ const ::Eigen::Matrix<double, 4, 1> arm_X =
+ (::Eigen::Matrix<double, 4, 1>() << theta(0, 0), 0.0, theta(1, 0), 0.0)
+ .finished();
+
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2_normalized;
+
+ dynamics_->NormilizedMatriciesForState(arm_X, &K1, &K2_normalized);
+
+ const ::Eigen::Matrix<double, 2, 2> omega_square =
+ (::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
+ .finished();
+
+ // The derivitives of f(d) wrt t are:
+ // theta = f(d)
+ // dtheta/dt = d/dd f(d) * dd/dt
+ // d^2 theta/dt^2 = d^2/dd^2 f(d) * (dd/dt)^2 + d^2d/dt^2 * d/dd f(d)
+ //
+ // And, our arm dynamics are:
+ // K1 d^2 theta/dt^2 + K2_normalized * diag(dtheta/dt) * dtheta/dt = k3 * V -
+ // K4 * dtheta/dt
+ //
+ // And our roll dynamics are:
+ //
+ // d^2 theta2/dt^2 = A[1, 1] d theta2/dt + B[1, 0] * V
+ //
+ // Plug the derivitives in to our dynamics, solve for d^2d/dt^2, and ship it!
+ //
+ // We want things in the form V = k_constant + k_scalar * d^2d/dt^2
+
+ const ::Eigen::Matrix<double, 3, 1> k_constant =
+ (::Eigen::Matrix<double, 3, 1>()
+ << (dynamics_->K3_inverse() *
+ ((K1 * alpha.block<2, 1>(0, 0) +
+ K2_normalized * omega_square * omega.block<2, 1>(0, 0)) *
+ goal_velocity * goal_velocity +
+ dynamics_->K4() * omega.block<2, 1>(0, 0) * goal_velocity -
+ dynamics_->GravityTorque(arm_X))),
+ ((alpha(2, 0) * goal_velocity * goal_velocity -
+ roll_->coefficients().A_continuous(1, 1) * omega(2, 0) *
+ goal_velocity) /
+ roll_->coefficients().B_continuous(1, 0)))
+ .finished();
+
+ const ::Eigen::Matrix<double, 3, 1> k_scalar =
+ (::Eigen::Matrix<double, 3, 1>()
+ << dynamics_->K3_inverse() * K1 * omega.block<2, 1>(0, 0),
+ (omega(2, 0) / roll_->coefficients().B_continuous(1, 0)))
+ .finished();
+
+ const double constraint_goal_acceleration =
+ ::std::sqrt(
+ ::std::max(0.0, 1.0 - ::std::pow((alpha_unitizer * alpha).norm() *
+ goal_velocity * goal_velocity,
+ 2))) /
+ (alpha_unitizer * omega).norm();
+
+ double min_goal_acceleration = ::std::numeric_limits<double>::infinity();
+ double max_goal_acceleration = -::std::numeric_limits<double>::infinity();
+ for (double c : {-plan_vmax, plan_vmax}) {
+ for (const ::std::pair<double, double> &ab :
+ {::std::pair<double, double>{k_constant(0, 0), k_scalar(0, 0)},
+ ::std::pair<double, double>{k_constant(1, 0), k_scalar(1, 0)},
+ ::std::pair<double, double>{k_constant(2, 0), k_scalar(2, 0)}}) {
+ const double a = ab.first;
+ const double b = ab.second;
+ const double voltage_accel = (c - a) / b;
+ const ::Eigen::Matrix<double, 3, 1> U =
+ k_constant + k_scalar * voltage_accel;
+
+ VLOG(2) << "Trying, U is " << U.transpose() << ", accel "
+ << voltage_accel;
+ if ((U.array().abs() <= plan_vmax + 1e-6).all()) {
+ min_goal_acceleration = std::min(voltage_accel, min_goal_acceleration);
+ max_goal_acceleration = std::max(voltage_accel, max_goal_acceleration);
+ }
+ }
+ }
+ if (min_goal_acceleration == ::std::numeric_limits<double>::infinity() ||
+ max_goal_acceleration == -::std::numeric_limits<double>::infinity()) {
+ // TODO(austin): The math above doesn't always give a valid solution.
+ // This happens when things get pretty ill-conditioned. Figure out what to
+ // do about it.
+ VLOG(1)
+ << "Failed to find a valid accel at distance " << goal_distance
+ << ", voltage "
+ << (k_constant + k_scalar * constraint_goal_acceleration).transpose()
+ << ", accel " << constraint_goal_acceleration << " vs vmax "
+ << plan_vmax;
+ return constraint_goal_acceleration;
+ }
+
+ const double goal_acceleration =
+ std::abs(max_goal_acceleration - constraint_goal_acceleration) <
+ std::abs(min_goal_acceleration - constraint_goal_acceleration)
+ ? max_goal_acceleration
+ : min_goal_acceleration;
+
+ if (min_goal_acceleration < constraint_goal_acceleration &&
+ constraint_goal_acceleration < max_goal_acceleration) {
+ VLOG(2)
+ << "Solved valid accel at distance " << goal_distance << ", voltage "
+ << (k_constant + k_scalar * constraint_goal_acceleration).transpose()
+ << ", accel " << constraint_goal_acceleration
+ << ", overall accel limited, U limit is " << goal_acceleration
+ << " with U of "
+ << (k_constant + k_scalar * goal_acceleration).transpose();
+
+ if (!((k_constant + k_scalar * constraint_goal_acceleration)
+ .array()
+ .abs() <= plan_vmax + 1e-6)
+ .all()) {
+ LOG(FATAL) << "Accel in range, but constraint voltage out of range.";
+ }
+ return constraint_goal_acceleration;
+ }
+
+ VLOG(2) << "Solved valid accel at distance " << goal_distance << ", voltage "
+ << (k_constant + k_scalar * goal_acceleration).transpose()
+ << ", decel limits [" << min_goal_acceleration << ", "
+ << max_goal_acceleration << "], picked " << goal_acceleration
+ << " voltage limited, constraint accel "
+ << constraint_goal_acceleration << " constraint voltage "
+ << (k_constant + k_scalar * constraint_goal_acceleration).transpose();
+
+ return goal_acceleration;
+}
+
+double Trajectory::FeasableBackwardsAcceleration(
+ double goal_distance, double goal_velocity, double /*plan_vmax*/,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const {
+ const ::Eigen::Matrix<double, 3, 1> omega = path().Omega(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> alpha = path().Alpha(goal_distance);
+
+ return ::std::sqrt(
+ ::std::max(0.0, 1.0 - ::std::pow(((alpha_unitizer * alpha).norm() *
+ goal_velocity * goal_velocity),
+ 2))) /
+ (alpha_unitizer * omega).norm();
+}
+
+double Trajectory::FeasableBackwardsVoltage(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const {
+ const ::Eigen::Matrix<double, 3, 1> theta = path().Theta(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> omega = path().Omega(goal_distance);
+ const ::Eigen::Matrix<double, 3, 1> alpha = path().Alpha(goal_distance);
+ const ::Eigen::Matrix<double, 4, 1> arm_X =
+ (::Eigen::Matrix<double, 4, 1>() << theta(0, 0), 0.0, theta(1, 0), 0.0)
+ .finished();
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2_normalized;
+
+ dynamics_->NormilizedMatriciesForState(arm_X, &K1, &K2_normalized);
+
+ const ::Eigen::Matrix<double, 2, 2> omega_square =
+ (::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
+ .finished();
+
+ const ::Eigen::Matrix<double, 3, 1> k_constant =
+ (::Eigen::Matrix<double, 3, 1>()
+ << dynamics_->K3_inverse() *
+ ((K1 * alpha.block<2, 1>(0, 0) +
+ K2_normalized * omega_square * omega.block<2, 1>(0, 0)) *
+ goal_velocity * goal_velocity +
+ dynamics_->K4() * omega.block<2, 1>(0, 0) * goal_velocity -
+ dynamics_->GravityTorque(arm_X)),
+ ((alpha(2, 0) * goal_velocity * goal_velocity -
+ roll_->coefficients().A_continuous(1, 1) * omega(2, 0) *
+ goal_velocity) /
+ roll_->coefficients().B_continuous(1, 0)))
+ .finished();
+ const ::Eigen::Matrix<double, 3, 1> k_scalar =
+ (::Eigen::Matrix<double, 3, 1>()
+ << dynamics_->K3_inverse() * K1 * omega.block<2, 1>(0, 0),
+ (omega(2, 0) / roll_->coefficients().B_continuous(1, 0)))
+ .finished();
+
+ const double constraint_goal_acceleration =
+ ::std::sqrt(
+ ::std::max(0.0, 1.0 - ::std::pow(((alpha_unitizer * alpha).norm() *
+ goal_velocity * goal_velocity),
+ 2))) /
+ (alpha_unitizer * omega).norm();
+
+ double min_goal_acceleration = ::std::numeric_limits<double>::infinity();
+ double max_goal_acceleration = -::std::numeric_limits<double>::infinity();
+ for (double c : {-plan_vmax, plan_vmax}) {
+ for (const ::std::pair<double, double> &ab :
+ {::std::pair<double, double>{k_constant(0, 0), k_scalar(0, 0)},
+ ::std::pair<double, double>{k_constant(1, 0), k_scalar(1, 0)},
+ ::std::pair<double, double>{k_constant(2, 0), k_scalar(2, 0)}}) {
+ const double a = ab.first;
+ const double b = ab.second;
+ // This time, we are doing the other pass. So, find all the
+ // decelerations (and flip them) to find the prior velocity.
+ const double voltage_accel = (c - a) / b;
+
+ const ::Eigen::Matrix<double, 3, 1> U =
+ k_constant + k_scalar * voltage_accel;
+
+ // TODO(austin): This doesn't always give a valid solution. It really
+ // should. Figure out why.
+ VLOG(2) << "Trying, U is " << U.transpose() << ", accel "
+ << voltage_accel;
+ if ((U.array().abs() <= plan_vmax + 1e-6).all()) {
+ min_goal_acceleration = std::min(-voltage_accel, min_goal_acceleration);
+ max_goal_acceleration = std::max(-voltage_accel, max_goal_acceleration);
+ }
+ }
+ }
+
+ if (min_goal_acceleration == ::std::numeric_limits<double>::infinity() ||
+ max_goal_acceleration == -::std::numeric_limits<double>::infinity()) {
+ VLOG(1)
+ << "Failed to find a valid decel at distance " << goal_distance
+ << ", voltage "
+ << (k_constant + k_scalar * constraint_goal_acceleration).transpose()
+ << ", accel " << constraint_goal_acceleration << " vs vmax "
+ << plan_vmax;
+ return constraint_goal_acceleration;
+ }
+
+ if (min_goal_acceleration < constraint_goal_acceleration &&
+ constraint_goal_acceleration < max_goal_acceleration) {
+ VLOG(2)
+ << "Solved valid decel at distance " << goal_distance << ", voltage "
+ << (k_constant - k_scalar * constraint_goal_acceleration).transpose()
+ << ", decel " << min_goal_acceleration
+ << " <= " << constraint_goal_acceleration
+ << " <= " << max_goal_acceleration << ", accel limited";
+
+ if (!((k_constant - k_scalar * constraint_goal_acceleration)
+ .array()
+ .abs() <= plan_vmax + 1e-6)
+ .all()) {
+ LOG(FATAL) << "Accel in range, but constraint voltage out of range.";
+ }
+
+ return constraint_goal_acceleration;
+ }
+
+ const double goal_acceleration =
+ std::abs(max_goal_acceleration - constraint_goal_acceleration) <
+ std::abs(min_goal_acceleration - constraint_goal_acceleration)
+ ? max_goal_acceleration
+ : min_goal_acceleration;
+
+ VLOG(2) << "Solved valid decel at distance " << goal_distance << ", voltage "
+ << (k_constant - k_scalar * goal_acceleration).transpose()
+ << ", decel limits [" << min_goal_acceleration << ", "
+ << max_goal_acceleration << "], picked " << goal_acceleration
+ << " voltage limited, constraint accel "
+ << constraint_goal_acceleration << " constraint voltage "
+ << (k_constant - k_scalar * constraint_goal_acceleration).transpose();
+
+ return goal_acceleration;
+}
+
+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 (frc971::control_loops::RungeKuttaSteps(
+ [&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, 10) -
+ v) +
+ std::sqrt(2.0 * a0 * dx + v * v);
+}
+
+::std::vector<double> Trajectory::BackwardsOptimizationAccelerationPass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax) {
+ ::std::vector<double> max_dvelocity_back_pass = max_dvelocity;
+
+ // Now, iterate over the list of velocities and constrain the acceleration.
+ for (int i = num_plan_points_ - 2; i >= 0; --i) {
+ const double previous_velocity = max_dvelocity_back_pass[i + 1];
+ const double previous_distance = DistanceForIndex(i + 1);
+
+ // Now, integrate with respect to distance (not time like normal).
+ const double integrated_velocity = IntegrateAccelForDistance(
+ [&](double x, double v) {
+ return FeasableBackwardsAcceleration(x, v, plan_vmax, alpha_unitizer);
+ },
+ previous_velocity, previous_distance, step_size_);
+ max_dvelocity_back_pass[i] =
+ ::std::min(integrated_velocity, max_dvelocity_back_pass[i]);
+ }
+
+ return max_dvelocity_back_pass;
+}
+
+::std::vector<double> Trajectory::BackwardsOptimizationVoltagePass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax) {
+ ::std::vector<double> max_dvelocity_back_pass = max_dvelocity;
+
+ // Now, iterate over the list of velocities and constrain the acceleration.
+ for (int i = num_plan_points_ - 2; i >= 0; --i) {
+ const double previous_velocity = max_dvelocity_back_pass[i + 1];
+ const double previous_distance = DistanceForIndex(i + 1);
+
+ // Now, integrate with respect to distance (not time like normal).
+ const double integrated_velocity = IntegrateAccelForDistance(
+ [&](double x, double v) {
+ return FeasableBackwardsVoltage(x, v, plan_vmax, alpha_unitizer);
+ },
+ previous_velocity, previous_distance, step_size_);
+ max_dvelocity_back_pass[i] =
+ ::std::min(integrated_velocity, max_dvelocity_back_pass[i]);
+ }
+
+ return max_dvelocity_back_pass;
+}
+
+::std::vector<double> Trajectory::ForwardsOptimizationAccelerationPass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax) {
+ ::std::vector<double> max_dvelocity_forwards_pass = max_dvelocity;
+ // Now, iterate over the list of velocities and constrain the acceleration.
+ for (size_t i = 1; i < num_plan_points_; ++i) {
+ const double previous_velocity = max_dvelocity_forwards_pass[i - 1];
+ const double previous_distance = DistanceForIndex(i - 1);
+
+ // Now, integrate with respect to distance (not time like normal).
+ const double integrated_velocity = IntegrateAccelForDistance(
+ [&](double x, double v) {
+ return FeasableForwardsAcceleration(x, v, plan_vmax, alpha_unitizer);
+ },
+ previous_velocity, previous_distance, step_size_);
+
+ max_dvelocity_forwards_pass[i] =
+ ::std::min(integrated_velocity, max_dvelocity_forwards_pass[i]);
+ }
+
+ return max_dvelocity_forwards_pass;
+}
+
+::std::vector<double> Trajectory::ForwardsOptimizationVoltagePass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax) {
+ ::std::vector<double> max_dvelocity_forwards_pass = max_dvelocity;
+ // Now, iterate over the list of velocities and constrain the acceleration.
+ for (size_t i = 1; i < num_plan_points_; ++i) {
+ const double previous_velocity = max_dvelocity_forwards_pass[i - 1];
+ const double previous_distance = DistanceForIndex(i - 1);
+
+ // Now, integrate with respect to distance (not time like normal).
+ const double integrated_velocity = IntegrateAccelForDistance(
+ [&](double x, double v) {
+ return FeasableForwardsVoltage(x, v, plan_vmax, alpha_unitizer);
+ },
+ previous_velocity, previous_distance, step_size_);
+
+ max_dvelocity_forwards_pass[i] =
+ ::std::min(integrated_velocity, max_dvelocity_forwards_pass[i]);
+ }
+
+ return max_dvelocity_forwards_pass;
+}
+
+void TrajectoryFollower::Reset() {
+ next_goal_ = last_goal_ = goal_ = ::Eigen::Matrix<double, 2, 1>::Zero();
+ U_unsaturated_ = U_ff_ = U_ = ::Eigen::Matrix<double, 3, 1>::Zero();
+ goal_acceleration_ = 0.0;
+ saturation_fraction_along_path_ = 0.0;
+ omega_.setZero();
+ if (trajectory_ != nullptr) {
+ set_theta(trajectory_->ThetaT(goal_(0)));
+ }
+}
+
+::Eigen::Matrix<double, 2, 6> TrajectoryFollower::ArmK_at_state(
+ const Eigen::Ref<const ::Eigen::Matrix<double, 6, 1>> arm_X,
+ const Eigen::Ref<const ::Eigen::Matrix<double, 2, 1>> arm_U) {
+ const double kProximalPos = FLAGS_lqr_proximal_pos;
+ const double kProximalVel = FLAGS_lqr_proximal_vel;
+ const double kDistalPos = FLAGS_lqr_distal_pos;
+ const double kDistalVel = FLAGS_lqr_distal_vel;
+ const ::Eigen::DiagonalMatrix<double, 4> Q =
+ (::Eigen::DiagonalMatrix<double, 4>().diagonal()
+ << 1.0 / ::std::pow(kProximalPos, 2),
+ 1.0 / ::std::pow(kProximalVel, 2), 1.0 / ::std::pow(kDistalPos, 2),
+ 1.0 / ::std::pow(kDistalVel, 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();
+
+ const auto x_blocked = arm_X.block<4, 1>(0, 0);
+
+ const ::Eigen::Matrix<double, 4, 4> final_A =
+ ::frc971::control_loops::NumericalJacobianX<4, 2>(
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(x_blocked, U, dt);
+ },
+ x_blocked, arm_U, 0.00505);
+
+ const ::Eigen::Matrix<double, 4, 2> final_B =
+ ::frc971::control_loops::NumericalJacobianU<4, 2>(
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(x_blocked, U, dt);
+ },
+ x_blocked, arm_U, 0.00505);
+
+ ::Eigen::Matrix<double, 4, 4> S;
+ ::Eigen::Matrix<double, 2, 4> sub_K;
+ if (::frc971::controls::dlqr<4, 2>(final_A, final_B, Q, R, &sub_K, &S) == 0) {
+ if (VLOG_IS_ON(1)) {
+ ::Eigen::EigenSolver<::Eigen::Matrix<double, 4, 4>> eigensolver(
+ final_A - final_B * sub_K);
+ LOG(INFO) << eigensolver.eigenvalues().transpose();
+ LOG(INFO) << sub_K;
+ }
+
+ ::Eigen::Matrix<double, 2, 6> K;
+ K.setZero();
+ K.block<2, 4>(0, 0) = sub_K;
+ K(0, 4) = 1.0;
+ K(1, 5) = 1.0;
+ failed_solutions_ = 0;
+ last_K_ = K;
+ } else {
+ ++failed_solutions_;
+ }
+ return last_K_;
+}
+
+void TrajectoryFollower::USaturationSearch(
+ double goal_distance, double last_goal_distance, double goal_velocity,
+ double last_goal_velocity, double saturation_fraction_along_path,
+ const ::Eigen::Matrix<double, 2, 6> &arm_K,
+ const ::Eigen::Matrix<double, 9, 1> &X, const Trajectory &trajectory,
+ ::Eigen::Matrix<double, 3, 1> *U, double *saturation_goal_velocity,
+ double *saturation_goal_acceleration) {
+ double saturation_goal_distance =
+ ((goal_distance - last_goal_distance) * saturation_fraction_along_path +
+ last_goal_distance);
+
+ const ::Eigen::Matrix<double, 3, 1> theta_t =
+ trajectory.ThetaT(saturation_goal_distance);
+ *saturation_goal_velocity = trajectory.InterpolateVelocity(
+ saturation_goal_distance, last_goal_distance, goal_distance,
+ last_goal_velocity, goal_velocity);
+ *saturation_goal_acceleration = trajectory.InterpolateAcceleration(
+ last_goal_distance, goal_distance, last_goal_velocity, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(saturation_goal_distance, *saturation_goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(saturation_goal_distance, *saturation_goal_velocity,
+ *saturation_goal_acceleration);
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+
+ const ::Eigen::Matrix<double, 3, 1> U_ff = ComputeFF_U(R, omega_t, alpha_t);
+
+ *U = U_ff;
+ U->block<2, 1>(0, 0) += arm_K * (R.block<6, 1>(0, 0) - X.block<6, 1>(0, 0));
+ U->block<1, 1>(2, 0) +=
+ roll_->controller().K() * (R.block<3, 1>(6, 0) - X.block<3, 1>(6, 0));
+}
+
+::Eigen::Matrix<double, 2, 1> TrajectoryFollower::PlanNextGoal(
+ const ::Eigen::Matrix<double, 2, 1> &goal, double plan_vmax, double dt) {
+ // Figure out where we would be if we were to accelerate as fast as
+ // our constraints allow.
+ ::Eigen::Matrix<double, 2, 1> next_goal = ::frc971::control_loops::RungeKutta(
+ [this, &plan_vmax](const ::Eigen::Matrix<double, 2, 1> &X) {
+ return (::Eigen::Matrix<double, 2, 1>() << X(1),
+ trajectory_->FeasableForwardsVoltage(
+ X(0), X(1), plan_vmax, trajectory_->alpha_unitizer()))
+ .finished();
+ },
+ goal, dt);
+
+ // Min that with the backwards pass velocity in case the backwards pass
+ // wants us to slow down.
+ const double next_trajectory_velocity =
+ trajectory_->GetDVelocity(next_goal(0));
+ if (next_trajectory_velocity < next_goal(1)) {
+ next_goal(1) = next_trajectory_velocity;
+ // And then recompute how far to go with our new trajectory in mind.
+ double goal_acceleration = trajectory_->InterpolateAcceleration(
+ goal(0), next_goal(0), goal(1), next_goal(1));
+ next_goal(0) = (goal(0) + goal(1) * dt + 0.5 * dt * dt * goal_acceleration);
+ next_goal(1) = trajectory_->GetDVelocity(next_goal(0));
+ }
+ return next_goal;
+}
+
+Eigen::Matrix<double, 3, 1> TrajectoryFollower::ComputeFF_U(
+ const Eigen::Matrix<double, 9, 1> &X,
+ const Eigen::Matrix<double, 3, 1> &omega_t,
+ const Eigen::Matrix<double, 3, 1> &alpha_t) const {
+ Eigen::Matrix<double, 3, 1> result;
+ result.block<2, 1>(0, 0) =
+ dynamics_->FF_U(X.block<4, 1>(0, 0), omega_t.block<2, 1>(0, 0),
+ alpha_t.block<2, 1>(0, 0));
+ result(2, 0) =
+ (alpha_t(2, 0) -
+ roll_->plant().coefficients().A_continuous(1, 1) * omega_t(2, 0)) /
+ roll_->plant().coefficients().B_continuous(1, 0);
+
+ return result;
+}
+
+void TrajectoryFollower::Update(const ::Eigen::Matrix<double, 9, 1> &X,
+ bool disabled, double dt, double plan_vmax,
+ double voltage_limit) {
+ // TODO(austin): Separate voltage limit for shoulder for no path.
+ last_goal_ = goal_;
+
+ if (!has_path()) {
+ // No path, so go to the last theta (no velocity).
+ last_goal_.setZero();
+ next_goal_.setZero();
+ goal_.setZero();
+ goal_acceleration_ = 0.0;
+ saturation_fraction_along_path_ = 0.0;
+
+ if (disabled) {
+ U_ff_.setZero();
+ U_.setZero();
+ U_unsaturated_.setZero();
+ } else {
+ const ::Eigen::Matrix<double, 9, 1> R =
+ Trajectory::R(theta_, ::Eigen::Matrix<double, 3, 1>::Zero());
+
+ U_ff_ = ComputeFF_U(X, ::Eigen::Matrix<double, 3, 1>::Zero(),
+ ::Eigen::Matrix<double, 3, 1>::Zero());
+
+ const ::Eigen::Matrix<double, 2, 6> arm_K =
+ ArmK_at_state(X.block<6, 1>(0, 0), U_ff_.block<2, 1>(0, 0));
+
+ U_unsaturated_.block<2, 1>(0, 0) =
+ U_ff_.block<2, 1>(0, 0) +
+ arm_K * (R.block<6, 1>(0, 0) - X.block<6, 1>(0, 0));
+ U_unsaturated_(2, 0) =
+ U_ff_(2, 0) +
+ roll_->controller().K() * (R.block<3, 1>(6, 0) - X.block<3, 1>(6, 0));
+
+ U_ = U_unsaturated_;
+
+ U_ = U_.array().max(-voltage_limit).min(voltage_limit);
+ }
+ return;
+ }
+
+ if (disabled) {
+ // If we are disabled, it's likely for a bit of time. So, lets freeze
+ // ourselves on the path (accept the previous motion, but then zero out the
+ // velocity). Set all outputs to 0 as well.
+ next_goal_(1) = 0.0;
+ goal_ = next_goal_;
+ goal_acceleration_ = 0.0;
+ U_unsaturated_.setZero();
+ U_.setZero();
+ U_ff_.setZero();
+ saturation_fraction_along_path_ = 1.0;
+ theta_ = trajectory_->ThetaT(goal_(0));
+ omega_.setZero();
+ return;
+ }
+
+ // To avoid exposing the new goals before the outer code has a chance to
+ // querry the internal state, move to the new goals here.
+ goal_ = next_goal_;
+
+ if (::std::abs(goal_(0) - path()->length()) < 1e-2) {
+ // If we go backwards along the path near the goal, snap us to the end
+ // point or we'll never actually finish.
+ if (goal_acceleration_ * dt + goal_(1) < 0.0 ||
+ goal_(0) > path()->length()) {
+ goal_(0) = path()->length();
+ goal_(1) = 0.0;
+ }
+ }
+
+ if (goal_(0) == path()->length()) {
+ next_goal_(0) = goal_(0);
+ next_goal_(1) = 0.0;
+ goal_acceleration_ = 0.0;
+ } else {
+ // Figure out where we would be if we were to accelerate as fast as
+ // our constraints allow.
+ next_goal_ = PlanNextGoal(goal_, plan_vmax, dt);
+
+ goal_acceleration_ = trajectory_->InterpolateAcceleration(
+ goal_(0), next_goal_(0), goal_(1), next_goal_(1));
+ }
+
+ const ::Eigen::Matrix<double, 3, 1> theta_t = trajectory_->ThetaT(goal_(0));
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory_->OmegaT(goal_(0), goal_(1));
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory_->AlphaT(goal_(0), goal_(1), goal_acceleration_);
+
+ const ::Eigen::Matrix<double, 9, 1> R = Trajectory::R(theta_t, omega_t);
+
+ U_ff_ = ComputeFF_U(R, omega_t, alpha_t);
+
+ const ::Eigen::Matrix<double, 2, 6> arm_K =
+ ArmK_at_state(X.block<6, 1>(0, 0), U_ff_.block<2, 1>(0, 0));
+ U_unsaturated_ = U_ff_;
+ U_unsaturated_.block<2, 1>(0, 0) +=
+ arm_K * (R.block<6, 1>(0, 0) - X.block<6, 1>(0, 0));
+ U_unsaturated_.block<1, 1>(2, 0) +=
+ roll_->controller().K() * (R.block<3, 1>(6, 0) - X.block<3, 1>(6, 0));
+ U_ = U_unsaturated_;
+
+ // Ok, now we know if we are staturated or not. If we are, time to search
+ // between here and our previous goal either until we find a state where we
+ // aren't saturated, or we are really close to our starting point.
+ saturation_fraction_along_path_ = 1.0;
+ if ((U_.array().abs() > voltage_limit).any()) {
+ // Saturated. Let's do a binary search.
+ double step_size;
+ if ((goal_(0) - last_goal_(0)) < 1e-8) {
+ // print "Not bothering to move"
+ // Avoid the divide by 0 when interpolating. Just don't move since we
+ // are saturated.
+ saturation_fraction_along_path_ = 0.0;
+ step_size = 0.0;
+ } else {
+ saturation_fraction_along_path_ = 0.5;
+ step_size = 0.5;
+ }
+
+ // Pull us back to the previous point until we aren't saturated anymore.
+ double saturation_goal_velocity;
+ double saturation_goal_acceleration;
+ while (step_size > 0.01) {
+ USaturationSearch(goal_(0), last_goal_(0), goal_(1), last_goal_(1),
+ saturation_fraction_along_path_, arm_K, X, *trajectory_,
+ &U_, &saturation_goal_velocity,
+ &saturation_goal_acceleration);
+ step_size = step_size * 0.5;
+ if ((U_.array().abs() > voltage_limit).any()) {
+ saturation_fraction_along_path_ -= step_size;
+ } else {
+ saturation_fraction_along_path_ += step_size;
+ }
+ }
+
+ goal_(0) = ((goal_(0) - last_goal_(0)) * saturation_fraction_along_path_ +
+ last_goal_(0));
+ goal_(1) = saturation_goal_velocity;
+
+ next_goal_ = PlanNextGoal(goal_, plan_vmax, dt);
+
+ goal_acceleration_ = trajectory_->InterpolateAcceleration(
+ goal_(0), next_goal_(0), goal_(1), next_goal_(1));
+
+ U_ = U_.array().max(-voltage_limit).min(voltage_limit);
+ }
+ theta_ = trajectory_->ThetaT(goal_(0));
+ omega_ = trajectory_->OmegaT(goal_(0), goal_(1));
+}
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
diff --git a/y2023/control_loops/superstructure/arm/trajectory.h b/y2023/control_loops/superstructure/arm/trajectory.h
new file mode 100644
index 0000000..17ec3aa
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/trajectory.h
@@ -0,0 +1,614 @@
+#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+
+#include <array>
+#include <initializer_list>
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "frc971/control_loops/binomial.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/fixed_quadrature.h"
+#include "frc971/control_loops/hybrid_state_feedback_loop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+using frc971::control_loops::Binomial;
+using frc971::control_loops::GaussianQuadrature5;
+
+template <int N, int M>
+class NSpline {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ // Computes the characteristic matrix of a given spline order. This is an
+ // upper triangular matrix rather than lower because our splines are
+ // represented as rows rather than columns.
+ // Each row represents the impact of each point with increasing powers of
+ // alpha. Row i, column j contains the effect point i has with the j'th power
+ // of alpha.
+ static ::Eigen::Matrix<double, N, N> SplineMatrix() {
+ ::Eigen::Matrix<double, N, N> matrix =
+ ::Eigen::Matrix<double, N, N>::Zero();
+
+ for (int i = 0; i < N; ++i) {
+ // Binomial(N - 1, i) * (1 - t) ^ (N - i - 1) * (t ^ i) * P[i]
+ const double binomial = Binomial(N - 1, i);
+ const int one_minus_t_power = N - i - 1;
+
+ // Then iterate over the powers of t and add the pieces to the matrix.
+ for (int j = i; j < N; ++j) {
+ // j is the power of t we are placing in the matrix.
+ // k is the power of t in the (1 - t) expression that we need to
+ // evaluate.
+ const int k = j - i;
+ const double tscalar =
+ binomial * Binomial(one_minus_t_power, k) * ::std::pow(-1.0, k);
+ matrix(i, j) = tscalar;
+ }
+ }
+ return matrix;
+ }
+
+ // Computes the matrix to multiply by [1, a, a^2, ...] to evaluate the spline.
+ template <int D>
+ static ::Eigen::Matrix<double, M, N - D> SplinePolynomial(
+ const ::Eigen::Matrix<double, M, N> &control_points) {
+ // We use rows for the spline, so the multiplication looks "backwards"
+ ::Eigen::Matrix<double, M, N> polynomial = control_points * SplineMatrix();
+
+ // Now, compute the derivative requested.
+ for (int i = D; i < N; ++i) {
+ // Start with t^i, and multiply i, i-1, i-2 until you have done this
+ // Derivative times.
+ double scalar = 1.0;
+ for (int j = i; j > i - D; --j) {
+ scalar *= j;
+ }
+ polynomial.template block<M, 1>(0, i) =
+ polynomial.template block<M, 1>(0, i) * scalar;
+ }
+ return polynomial.template block<M, N - D>(0, D);
+ }
+
+ // Computes an order K-1 polynomial matrix in alpha. [1, alpha, alpha^2, ...]
+ template <int K>
+ static ::Eigen::Matrix<double, K, 1> AlphaPolynomial(double alpha) {
+ alpha = std::min(1.0, std::max(0.0, alpha));
+ ::Eigen::Matrix<double, K, 1> polynomial =
+ ::Eigen::Matrix<double, K, 1>::Zero();
+ polynomial(0) = 1.0;
+ for (int i = 1; i < K; ++i) {
+ polynomial(i) = polynomial(i - 1) * alpha;
+ }
+ return polynomial;
+ }
+
+ // Constructs a spline. control_points is a matrix of start, control1,
+ // control2, ..., end.
+ NSpline(::Eigen::Matrix<double, M, N> control_points)
+ : control_points_(control_points),
+ spline_polynomial_(SplinePolynomial<0>(control_points_)),
+ dspline_polynomial_(SplinePolynomial<1>(control_points_)),
+ ddspline_polynomial_(SplinePolynomial<2>(control_points_)) {}
+
+ // Returns the xy coordiate of the spline for a given alpha.
+ ::Eigen::Matrix<double, M, 1> Theta(double alpha) const {
+ return spline_polynomial_ * AlphaPolynomial<N>(alpha);
+ }
+
+ // Returns the dspline/dalpha for a given alpha.
+ ::Eigen::Matrix<double, M, 1> Omega(double alpha) const {
+ return dspline_polynomial_ * AlphaPolynomial<N - 1>(alpha);
+ }
+
+ // Returns the d^2spline/dalpha^2 for a given alpha.
+ ::Eigen::Matrix<double, M, 1> Alpha(double alpha) const {
+ return ddspline_polynomial_ * AlphaPolynomial<N - 2>(alpha);
+ }
+
+ const ::Eigen::Matrix<double, M, N> &control_points() const {
+ return control_points_;
+ }
+
+ private:
+ const ::Eigen::Matrix<double, M, N> control_points_;
+
+ // Each of these polynomials gets multiplied by [x^(n-1), x^(n-2), ..., x, 1]
+ // depending on the size of the polynomial.
+ const ::Eigen::Matrix<double, M, N> spline_polynomial_;
+ const ::Eigen::Matrix<double, M, N - 1> dspline_polynomial_;
+ const ::Eigen::Matrix<double, M, N - 2> ddspline_polynomial_;
+};
+
+// Add a cos wave to the bottom of the 2d spline to handle the roll.
+class CosSpline {
+ public:
+ // Struct defining pairs of alphas and thetas.
+ struct AlphaTheta {
+ double alpha;
+ double theta;
+ };
+
+ CosSpline(NSpline<4, 2> spline, std::vector<AlphaTheta> roll)
+ : spline_(spline), roll_(std::move(roll)) {
+ CHECK_GE(roll_.size(), 2u);
+ CHECK_EQ(roll_[0].alpha, 0.0);
+ CHECK_EQ(roll_[roll_.size() - 1].alpha, 1.0);
+ }
+
+ // Returns the xy coordiate of the spline for a given alpha.
+ ::Eigen::Matrix<double, 3, 1> Theta(double alpha) const;
+
+ // Returns the dspline/dalpha for a given alpha.
+ ::Eigen::Matrix<double, 3, 1> Omega(double alpha) const;
+
+ // Returns the d^2spline/dalpha^2 for a given alpha.
+ ::Eigen::Matrix<double, 3, 1> Alpha(double alpha) const;
+
+ CosSpline Reversed() const;
+
+ private:
+ NSpline<4, 2> spline_;
+ const std::vector<AlphaTheta> roll_;
+
+ // Returns the two control points for the roll for an alpha.
+ std::pair<AlphaTheta, AlphaTheta> RollPoints(double alpha) const;
+};
+
+// Class to hold a spline as a function of distance.
+class Path {
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ Path(const CosSpline &spline, int num_alpha = 100)
+ : spline_(spline), distances_(BuildDistances(num_alpha)) {}
+
+ virtual ~Path() {}
+
+ // Returns a point on the spline as a function of distance.
+ ::Eigen::Matrix<double, 3, 1> Theta(double distance) const;
+
+ // Returns the velocity as a function of distance.
+ ::Eigen::Matrix<double, 3, 1> Omega(double distance) const;
+
+ // Returns the acceleration as a function of distance.
+ ::Eigen::Matrix<double, 3, 1> Alpha(double distance) const;
+
+ // Returns the length of the path in meters.
+ double length() const { return distances().back(); }
+
+ const absl::Span<const float> distances() const { return distances_; }
+
+ Path Reversed() const;
+ static ::std::unique_ptr<Path> Reversed(::std::unique_ptr<Path> p);
+
+ private:
+ std::vector<float> BuildDistances(size_t num_alpha);
+
+ // Computes alpha for a distance
+ double DistanceToAlpha(double distance) const;
+
+ const CosSpline spline_;
+ // An interpolation table of distances evenly distributed in alpha.
+ const ::std::vector<float> distances_;
+};
+
+namespace testing {
+class TrajectoryTest_IndicesForDistanceTest_Test;
+} // namespace testing
+
+// A trajectory is a path and a set of velocities as a function of distance.
+class Trajectory {
+ public:
+ // Constructs a trajectory (but doesn't calculate it) given a path and a step
+ // size.
+ Trajectory(const frc971::control_loops::arm::Dynamics *dynamics,
+ const StateFeedbackHybridPlant<3, 1, 1> *roll,
+ ::std::unique_ptr<const Path> path, double gridsize)
+ : dynamics_(dynamics),
+ roll_(roll),
+ path_(::std::move(path)),
+ num_plan_points_(
+ static_cast<size_t>(::std::ceil(path_->length() / gridsize) + 1)),
+ step_size_(path_->length() /
+ static_cast<double>(num_plan_points_ - 1)) {
+ alpha_unitizer_.setZero();
+ }
+
+ // Optimizes the trajectory. The path will adhere to the constraints that
+ // || angular acceleration * alpha_unitizer || < 1, and the applied voltage <
+ // plan_vmax.
+ void OptimizeTrajectory(const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer,
+ double plan_vmax) {
+ if (path_ == nullptr) {
+ abort();
+ }
+ alpha_unitizer_ = alpha_unitizer;
+
+ max_dvelocity_unfiltered_ =
+ CurvatureOptimizationPass(alpha_unitizer, plan_vmax);
+
+ // We need to start and end the trajectory with 0 velocity.
+ max_dvelocity_unfiltered_[0] = 0.0;
+ max_dvelocity_unfiltered_[max_dvelocity_unfiltered_.size() - 1] = 0.0;
+
+ max_dvelocity_backwards_accel_ = BackwardsOptimizationAccelerationPass(
+ max_dvelocity_unfiltered_, alpha_unitizer, plan_vmax);
+ max_dvelocity_forwards_accel_ = ForwardsOptimizationAccelerationPass(
+ max_dvelocity_backwards_accel_, alpha_unitizer, plan_vmax);
+
+ max_dvelocity_backwards_voltage_ = BackwardsOptimizationVoltagePass(
+ max_dvelocity_forwards_accel_, alpha_unitizer, plan_vmax);
+
+ max_dvelocity_forwards_voltage_ = ForwardsOptimizationVoltagePass(
+ max_dvelocity_backwards_voltage_, alpha_unitizer, plan_vmax);
+ }
+
+ // Returns an array of the distances used in the plan. The starting point
+ // (0.0), and end point (path->length()) are included in the array.
+ ::std::vector<double> DistanceArray() const {
+ ::std::vector<double> result;
+ result.reserve(num_plan_points_);
+ for (size_t i = 0; i < num_plan_points_; ++i) {
+ result.push_back(DistanceForIndex(i));
+ }
+ return result;
+ }
+
+ // Computes the maximum velocity that we can follow the path while adhering to
+ // the constraints that || angular acceleration * alpha_unitizer || < 1, and
+ // the applied voltage < plan_vmax. Returns the velocities.
+ ::std::vector<double> CurvatureOptimizationPass(
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax);
+
+ double MaxCurvatureSpeed(double goal_distance,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer,
+ double plan_vmax);
+
+ // Computes the maximum forwards feasable acceleration at a given position
+ // while adhering to the plan_vmax and alpha_unitizer constraints.
+ // This gives us the maximum path distance acceleration (d^2d/dt^2) for any
+ // initial position and velocity for the forwards path.
+ double FeasableForwardsAcceleration(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const;
+ double FeasableForwardsVoltage(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const;
+
+ // Computes the maximum backwards feasable acceleration at a given position
+ // while adhering to the plan_vmax and alpha_unitizer constraints.
+ // This gives us the maximum path distance acceleration (d^2d/dt^2) for any
+ // initial position and velocity for the backwards path.
+ // Note: positive acceleration means speed up while going in the negative
+ // direction on the path.
+ double FeasableBackwardsAcceleration(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const;
+ double FeasableBackwardsVoltage(
+ double goal_distance, double goal_velocity, double plan_vmax,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer) const;
+
+ // Executes the backwards path optimization pass.
+ ::std::vector<double> BackwardsOptimizationAccelerationPass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax);
+ ::std::vector<double> BackwardsOptimizationVoltagePass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax);
+
+ // Executes the forwards path optimization pass.
+ ::std::vector<double> ForwardsOptimizationAccelerationPass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax);
+ ::std::vector<double> ForwardsOptimizationVoltagePass(
+ const ::std::vector<double> &max_dvelocity,
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer, double plan_vmax);
+
+ // Returns the number of points used for the plan.
+ size_t num_plan_points() const { return num_plan_points_; }
+
+ // Returns the curvature only velocity plan.
+ const ::std::vector<double> &max_dvelocity_unfiltered() const {
+ return max_dvelocity_unfiltered_;
+ }
+ // Returns the backwards pass + curvature plan.
+ const ::std::vector<double> &max_dvelocity_backward_accel() const {
+ return max_dvelocity_backwards_accel_;
+ }
+ const ::std::vector<double> &max_dvelocity_backward_voltage() const {
+ return max_dvelocity_backwards_voltage_;
+ }
+ // Returns the full plan. This isn't useful at runtime since we don't want to
+ // be tied to a specific acceleration plan when we hit saturation.
+ const ::std::vector<double> &max_dvelocity_forwards_accel() const {
+ return max_dvelocity_forwards_accel_;
+ }
+ const ::std::vector<double> &max_dvelocity_forwards_voltage() const {
+ return max_dvelocity_forwards_voltage_;
+ }
+
+ // Returns the interpolated velocity at the distance d along the path. The
+ // math assumes constant acceleration from point (d0, v0), to point (d1, v1),
+ // and that we are at point d between the two.
+ static double InterpolateVelocity(double d, double d0, double d1, double v0,
+ double v1) {
+ // We don't support negative velocities. Report 0 velocity in that case.
+ // TODO(austin): Verify this doesn't show up in the real world.
+ if (v0 < 0 || v1 < 0) {
+ return 0.0;
+ }
+ if (d <= d0) {
+ return v0;
+ }
+ if (d >= d1) {
+ return v1;
+ }
+ return ::std::sqrt(v0 * v0 + (v1 * v1 - v0 * v0) * (d - d0) / (d1 - d0));
+ }
+
+ // Computes the path distance velocity of the plan as a function of the
+ // distance.
+ double GetDVelocity(double distance) const {
+ return GetDVelocity(distance, max_dvelocity_forwards_voltage_);
+ }
+ double GetDVelocity(double d, const ::std::vector<double> &plan) const {
+ ::std::pair<size_t, size_t> indices = IndicesForDistance(d);
+ const double v0 = plan[indices.first];
+ const double v1 = plan[indices.second];
+ const double d0 = DistanceForIndex(indices.first);
+ const double d1 = DistanceForIndex(indices.second);
+ return InterpolateVelocity(d, d0, d1, v0, v1);
+ }
+
+ // Computes the path distance acceleration of the plan as a function of the
+ // distance.
+ double GetDAcceleration(double distance) const {
+ return GetDAcceleration(distance, max_dvelocity_forwards_voltage_);
+ }
+ double GetDAcceleration(double distance,
+ const ::std::vector<double> &plan) const {
+ ::std::pair<size_t, size_t> indices = IndicesForDistance(distance);
+ const double v0 = plan[indices.first];
+ const double v1 = plan[indices.second];
+ const double d0 = DistanceForIndex(indices.first);
+ const double d1 = DistanceForIndex(indices.second);
+ return InterpolateAcceleration(d0, d1, v0, v1);
+ }
+
+ // Returns the acceleration along the path segment assuming constant
+ // acceleration.
+ static double InterpolateAcceleration(double d0, double d1, double v0,
+ double v1) {
+ return 0.5 * (::std::pow(v1, 2) - ::std::pow(v0, 2)) / (d1 - d0);
+ }
+
+ ::Eigen::Matrix<double, 3, 1> ThetaT(double d) const {
+ return path_->Theta(d);
+ }
+
+ // Returns d theta/dt at a specified path distance and velocity.
+ ::Eigen::Matrix<double, 3, 1> OmegaT(double distance, double velocity) const {
+ if (distance > path_->length() || distance < 0.0) {
+ return ::Eigen::Matrix<double, 3, 1>::Zero();
+ } else {
+ return path_->Omega(distance) * velocity;
+ }
+ }
+
+ // Returns d^2 theta/dt^2 at a specified path distance, velocity and
+ // acceleration.
+ ::Eigen::Matrix<double, 3, 1> AlphaT(double distance, double velocity,
+ double acceleration) const {
+ if (distance > path_->length() || distance < 0.0) {
+ return ::Eigen::Matrix<double, 3, 1>::Zero();
+ } else {
+ return path_->Alpha(distance) * ::std::pow(velocity, 2) +
+ path_->Omega(distance) * acceleration;
+ }
+ }
+
+ // Converts a theta and omega vector to a full state vector.
+ static ::Eigen::Matrix<double, 9, 1> R(
+ ::Eigen::Matrix<double, 3, 1> theta_t,
+ ::Eigen::Matrix<double, 3, 1> omega_t) {
+ return (::Eigen::Matrix<double, 9, 1>() << theta_t(0, 0), omega_t(0, 0),
+ theta_t(1, 0), omega_t(1, 0), 0.0, 0.0, theta_t(2, 0),
+ omega_t(2, 0), 0.0)
+ .finished();
+ }
+
+ const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer() const {
+ return alpha_unitizer_;
+ }
+
+ const Path &path() const { return *path_; }
+
+ private:
+ friend class testing::TrajectoryTest_IndicesForDistanceTest_Test;
+
+ // Returns the distance along the path for a specific index in the plan.
+ double DistanceForIndex(size_t index) const {
+ return static_cast<double>(index) * step_size_;
+ }
+
+ // Returns the before and after indices for a specific distance in the plan.
+ ::std::pair<size_t, size_t> IndicesForDistance(double distance) const {
+ const double path_length = path_->length();
+ if (distance <= 0.0) {
+ return ::std::pair<size_t, size_t>(0, 1);
+ }
+ const size_t lower_index =
+ ::std::min(static_cast<size_t>(num_plan_points_ - 2),
+ static_cast<size_t>(::std::floor((num_plan_points_ - 1) *
+ distance / path_length)));
+
+ return ::std::pair<size_t, size_t>(lower_index, lower_index + 1);
+ }
+
+ const frc971::control_loops::arm::Dynamics *dynamics_;
+ const StateFeedbackHybridPlant<3, 1, 1> *roll_;
+
+ // The path to follow.
+ ::std::unique_ptr<const Path> path_;
+ // The number of points in the plan.
+ const size_t num_plan_points_;
+ // A cached version of the step size since we need this a *lot*.
+ const double step_size_;
+
+ ::std::vector<double> max_dvelocity_unfiltered_;
+ ::std::vector<double> max_dvelocity_backwards_voltage_;
+ ::std::vector<double> max_dvelocity_backwards_accel_;
+ ::std::vector<double> max_dvelocity_forwards_accel_;
+ ::std::vector<double> max_dvelocity_forwards_voltage_;
+
+ ::Eigen::Matrix<double, 3, 3> alpha_unitizer_;
+};
+
+// This class tracks the current goal along trajectories and paths.
+class TrajectoryFollower {
+ public:
+ TrajectoryFollower(const frc971::control_loops::arm::Dynamics *dynamics,
+ const StateFeedbackLoop<3, 1, 1, double,
+ StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>> *roll,
+ const ::Eigen::Matrix<double, 3, 1> &theta)
+ : dynamics_(dynamics), roll_(roll), trajectory_(nullptr), theta_(theta) {
+ omega_.setZero();
+ last_K_.setZero();
+ Reset();
+ }
+
+ TrajectoryFollower(const frc971::control_loops::arm::Dynamics *dynamics,
+ const StateFeedbackLoop<3, 1, 1, double,
+ StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>> *roll,
+ Trajectory *const trajectory)
+ : dynamics_(dynamics), roll_(roll), trajectory_(trajectory) {
+ last_K_.setZero();
+ Reset();
+ }
+
+ bool has_path() const { return trajectory_ != nullptr; }
+
+ void set_theta(const ::Eigen::Matrix<double, 3, 1> &theta) { theta_ = theta; }
+
+ // Returns the goal distance along the path.
+ const ::Eigen::Matrix<double, 2, 1> &goal() const { return goal_; }
+ double goal(int i) const { return goal_(i); }
+
+ // Starts over at the beginning of the path.
+ void Reset();
+
+ // Switches paths and starts at the beginning of the path.
+ void SwitchTrajectory(const Trajectory *trajectory) {
+ trajectory_ = trajectory;
+ Reset();
+ }
+
+ // Returns the controller gain at the provided state.
+ ::Eigen::Matrix<double, 2, 6> ArmK_at_state(
+ const Eigen::Ref<const ::Eigen::Matrix<double, 6, 1>> arm_X,
+ const Eigen::Ref<const ::Eigen::Matrix<double, 2, 1>> arm_U);
+
+ // Returns the voltage, velocity and acceleration if we were to be partially
+ // along the path.
+ void USaturationSearch(double goal_distance, double last_goal_distance,
+ double goal_velocity, double last_goal_velocity,
+ double saturation_fraction_along_path,
+ const ::Eigen::Matrix<double, 2, 6> &K,
+ const ::Eigen::Matrix<double, 9, 1> &X,
+ const Trajectory &trajectory,
+ ::Eigen::Matrix<double, 3, 1> *U,
+ double *saturation_goal_velocity,
+ double *saturation_goal_acceleration);
+
+ // Returns the next goal given a planning plan_vmax and timestep. This
+ // ignores the backwards pass.
+ ::Eigen::Matrix<double, 2, 1> PlanNextGoal(
+ const ::Eigen::Matrix<double, 2, 1> &goal, double plan_vmax, double dt);
+
+ // Plans the next cycle and updates the internal state for consumption.
+ void Update(const ::Eigen::Matrix<double, 9, 1> &X, bool disabled, double dt,
+ double plan_vmax, double voltage_limit);
+
+ // Returns the goal acceleration for this cycle.
+ double goal_acceleration() const { return goal_acceleration_; }
+
+ // Returns U(s) for this cycle.
+ const ::Eigen::Matrix<double, 3, 1> &U() const { return U_; }
+ double U(int i) const { return U_(i); }
+ const ::Eigen::Matrix<double, 3, 1> &U_unsaturated() const {
+ return U_unsaturated_;
+ }
+ const ::Eigen::Matrix<double, 3, 1> &U_ff() const { return U_ff_; }
+
+ double saturation_fraction_along_path() const {
+ return saturation_fraction_along_path_;
+ }
+
+ const ::Eigen::Matrix<double, 3, 1> &theta() const { return theta_; }
+ double theta(int i) const { return theta_(i); }
+ const ::Eigen::Matrix<double, 3, 1> &omega() const { return omega_; }
+ double omega(int i) const { return omega_(i); }
+
+ // Distance left on the path before we get to the end of the path.
+ double path_distance_to_go() const {
+ if (has_path()) {
+ return ::std::max(0.0, path()->length() - goal_(0));
+ } else {
+ return 0.0;
+ }
+ }
+
+ const Path *path() const { return &trajectory_->path(); }
+
+ int failed_solutions() const { return failed_solutions_; }
+
+ Eigen::Matrix<double, 3, 1> ComputeFF_U(
+ const Eigen::Matrix<double, 9, 1> &X,
+ const Eigen::Matrix<double, 3, 1> &omega_t,
+ const Eigen::Matrix<double, 3, 1> &alpha_t) const;
+
+ private:
+ const frc971::control_loops::arm::Dynamics *dynamics_;
+ const StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>> *roll_;
+ // The trajectory plan.
+ const Trajectory *trajectory_ = nullptr;
+
+ // The current goal.
+ ::Eigen::Matrix<double, 2, 1> goal_;
+ // The previously executed goal.
+ ::Eigen::Matrix<double, 2, 1> last_goal_;
+ // The goal to use next cycle. We always plan 1 cycle ahead.
+ ::Eigen::Matrix<double, 2, 1> next_goal_;
+
+ ::Eigen::Matrix<double, 3, 1> U_;
+ ::Eigen::Matrix<double, 3, 1> U_unsaturated_;
+ ::Eigen::Matrix<double, 3, 1> U_ff_;
+ double goal_acceleration_ = 0.0;
+
+ double saturation_fraction_along_path_ = 1.0;
+
+ // Holds the last valid goal position for when we loose our path.
+ ::Eigen::Matrix<double, 3, 1> theta_;
+ ::Eigen::Matrix<double, 3, 1> omega_;
+
+ ::Eigen::Matrix<double, 2, 6> last_K_;
+ int failed_solutions_ = 0;
+};
+
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+} // namespace y2023
+
+#endif // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
diff --git a/y2023/control_loops/superstructure/arm/trajectory_plot.cc b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
new file mode 100644
index 0000000..c56ced9
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
@@ -0,0 +1,543 @@
+#include "aos/init.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/binomial.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
+#include "frc971/control_loops/fixed_quadrature.h"
+#include "gflags/gflags.h"
+#include "y2023/control_loops/superstructure/arm/arm_constants.h"
+#include "y2023/control_loops/superstructure/arm/generated_graph.h"
+#include "y2023/control_loops/superstructure/arm/trajectory.h"
+#include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
+#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
+
+DEFINE_bool(forwards, true, "If true, run the forwards simulation.");
+DEFINE_bool(plot, true, "If true, plot");
+DEFINE_bool(plot_thetas, true, "If true, plot the angles");
+
+DEFINE_double(alpha0_max, 20.0, "Max acceleration on joint 0.");
+DEFINE_double(alpha1_max, 30.0, "Max acceleration on joint 1.");
+DEFINE_double(alpha2_max, 60.0, "Max acceleration on joint 2.");
+DEFINE_double(vmax_plan, 10.0, "Max voltage to plan.");
+DEFINE_double(vmax_battery, 12.0, "Max battery voltage.");
+DEFINE_double(time, 2.0, "Simulation time.");
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+using frc971::control_loops::MatrixGaussianQuadrature5;
+
+void Main() {
+ frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>>
+ hybrid_roll = superstructure::roll::MakeIntegralHybridRollLoop();
+
+ Eigen::Matrix<double, 2, 4> spline_params;
+
+ spline_params << 0.30426338, 0.42813912, 0.64902386, 0.55127045, -1.73611082,
+ -1.64478944, -1.04763868, -0.82624244;
+ LOG(INFO) << "Spline " << spline_params;
+ NSpline<4, 2> spline(spline_params);
+ CosSpline cos_spline(spline,
+ {{0.0, 0.1}, {0.3, 0.1}, {0.7, 0.2}, {1.0, 0.2}});
+ Path distance_spline(cos_spline, 100);
+
+ Trajectory trajectory(&dynamics, &hybrid_roll.plant(),
+ std::make_unique<Path>(cos_spline), 0.001);
+
+ constexpr double sim_dt = 0.00505;
+
+ LOG(INFO) << "Planning with kAlpha0Max=" << FLAGS_alpha0_max
+ << ", kAlpha1Max=" << FLAGS_alpha1_max
+ << ", kAlpha2Max=" << FLAGS_alpha2_max;
+
+ const ::Eigen::DiagonalMatrix<double, 3> alpha_unitizer(
+ (::Eigen::DiagonalMatrix<double, 3>().diagonal() << (1.0 / FLAGS_alpha0_max),
+ (1.0 / FLAGS_alpha1_max), (1.0 / FLAGS_alpha2_max))
+ .finished());
+ trajectory.OptimizeTrajectory(alpha_unitizer, FLAGS_vmax_plan);
+
+ const ::std::vector<double> distance_array = trajectory.DistanceArray();
+
+ ::std::vector<double> theta0_array;
+ ::std::vector<double> theta1_array;
+ ::std::vector<double> theta2_array;
+ ::std::vector<double> omega0_array;
+ ::std::vector<double> omega1_array;
+ ::std::vector<double> omega2_array;
+ ::std::vector<double> alpha0_array;
+ ::std::vector<double> alpha1_array;
+ ::std::vector<double> alpha2_array;
+
+ ::std::vector<double> integrated_distance;
+ ::std::vector<double> integrated_theta0_array;
+ ::std::vector<double> integrated_theta1_array;
+ ::std::vector<double> integrated_theta2_array;
+ ::std::vector<double> integrated_omega0_array;
+ ::std::vector<double> integrated_omega1_array;
+ ::std::vector<double> integrated_omega2_array;
+
+ ::Eigen::Matrix<double, 3, 1> integrated_theta = distance_spline.Theta(0.0);
+ ::Eigen::Matrix<double, 3, 1> integrated_omega = distance_spline.Omega(0.0);
+
+ // Plot the splines and their integrals to check consistency.
+ for (const double d : distance_array) {
+ const ::Eigen::Matrix<double, 3, 1> theta = distance_spline.Theta(d);
+ const ::Eigen::Matrix<double, 3, 1> omega = distance_spline.Omega(d);
+ const ::Eigen::Matrix<double, 3, 1> alpha = distance_spline.Alpha(d);
+ theta0_array.push_back(theta(0, 0));
+ theta1_array.push_back(theta(1, 0));
+ theta2_array.push_back(theta(2, 0));
+ omega0_array.push_back(omega(0, 0));
+ omega1_array.push_back(omega(1, 0));
+ omega2_array.push_back(omega(2, 0));
+ alpha0_array.push_back(alpha(0, 0));
+ alpha1_array.push_back(alpha(1, 0));
+ alpha2_array.push_back(alpha(2, 0));
+ }
+
+ const double dd = distance_spline.length() / 1000.0;
+ for (double d = 0; d <= distance_spline.length(); d += dd) {
+ integrated_distance.push_back(d);
+ integrated_omega0_array.push_back(integrated_omega(0));
+ integrated_omega1_array.push_back(integrated_omega(1));
+ integrated_omega2_array.push_back(integrated_omega(2));
+ integrated_theta0_array.push_back(integrated_theta(0));
+ integrated_theta1_array.push_back(integrated_theta(1));
+ integrated_theta2_array.push_back(integrated_theta(2));
+
+ integrated_theta += MatrixGaussianQuadrature5<3>(
+ [&](double distance) { return distance_spline.Omega(distance); }, d,
+ d + dd);
+ integrated_omega += MatrixGaussianQuadrature5<3>(
+ [&](double distance) { return distance_spline.Alpha(distance); }, d,
+ d + dd);
+ }
+
+ // Next step: see what U is as a function of distance for all the passes.
+ ::std::vector<double> Uff0_distance_array_curvature;
+ ::std::vector<double> Uff1_distance_array_curvature;
+ ::std::vector<double> Uff2_distance_array_curvature;
+ ::std::vector<double> Uff0_distance_array_backwards_accel_only;
+ ::std::vector<double> Uff1_distance_array_backwards_accel_only;
+ ::std::vector<double> Uff2_distance_array_backwards_accel_only;
+ ::std::vector<double> Uff0_distance_array_forwards_accel_only;
+ ::std::vector<double> Uff1_distance_array_forwards_accel_only;
+ ::std::vector<double> Uff2_distance_array_forwards_accel_only;
+ ::std::vector<double> Uff0_distance_array_backwards_voltage_only;
+ ::std::vector<double> Uff1_distance_array_backwards_voltage_only;
+ ::std::vector<double> Uff2_distance_array_backwards_voltage_only;
+ ::std::vector<double> Uff0_distance_array_forwards_voltage_only;
+ ::std::vector<double> Uff1_distance_array_forwards_voltage_only;
+ ::std::vector<double> Uff2_distance_array_forwards_voltage_only;
+
+ TrajectoryFollower follower(&dynamics, &hybrid_roll, &trajectory);
+
+ for (const double distance : distance_array) {
+ const ::Eigen::Matrix<double, 3, 1> theta_t = trajectory.ThetaT(distance);
+
+ {
+ const double goal_velocity = trajectory.GetDVelocity(
+ distance, trajectory.max_dvelocity_unfiltered());
+ const double goal_acceleration = trajectory.GetDAcceleration(
+ distance, trajectory.max_dvelocity_unfiltered());
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(distance, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(distance, goal_velocity, goal_acceleration);
+
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+ const ::Eigen::Matrix<double, 3, 1> U =
+ follower.ComputeFF_U(R, omega_t, alpha_t).array().max(-20).min(20);
+
+ Uff0_distance_array_curvature.push_back(U(0));
+ Uff1_distance_array_curvature.push_back(U(1));
+ Uff2_distance_array_curvature.push_back(U(2));
+ }
+ {
+ const double goal_velocity = trajectory.GetDVelocity(
+ distance, trajectory.max_dvelocity_backward_accel());
+ const double goal_acceleration = trajectory.GetDAcceleration(
+ distance, trajectory.max_dvelocity_backward_accel());
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(distance, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(distance, goal_velocity, goal_acceleration);
+
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+ const ::Eigen::Matrix<double, 3, 1> U =
+ follower.ComputeFF_U(R, omega_t, alpha_t).array().max(-20).min(20);
+
+ Uff0_distance_array_backwards_accel_only.push_back(U(0));
+ Uff1_distance_array_backwards_accel_only.push_back(U(1));
+ Uff2_distance_array_backwards_accel_only.push_back(U(2));
+ }
+ {
+ const double goal_velocity = trajectory.GetDVelocity(
+ distance, trajectory.max_dvelocity_forwards_accel());
+ const double goal_acceleration = trajectory.GetDAcceleration(
+ distance, trajectory.max_dvelocity_forwards_accel());
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(distance, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(distance, goal_velocity, goal_acceleration);
+
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+ const ::Eigen::Matrix<double, 3, 1> U =
+ follower.ComputeFF_U(R, omega_t, alpha_t).array().max(-20).min(20);
+
+ Uff0_distance_array_forwards_accel_only.push_back(U(0));
+ Uff1_distance_array_forwards_accel_only.push_back(U(1));
+ Uff2_distance_array_forwards_accel_only.push_back(U(2));
+ }
+ {
+ const double goal_velocity = trajectory.GetDVelocity(
+ distance, trajectory.max_dvelocity_backward_voltage());
+ const double goal_acceleration = trajectory.GetDAcceleration(
+ distance, trajectory.max_dvelocity_backward_voltage());
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(distance, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(distance, goal_velocity, goal_acceleration);
+
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+ const ::Eigen::Matrix<double, 3, 1> U =
+ follower.ComputeFF_U(R, omega_t, alpha_t).array().max(-20).min(20);
+
+ Uff0_distance_array_backwards_voltage_only.push_back(U(0));
+ Uff1_distance_array_backwards_voltage_only.push_back(U(1));
+ Uff2_distance_array_backwards_voltage_only.push_back(U(2));
+ }
+ {
+ const double goal_velocity = trajectory.GetDVelocity(
+ distance, trajectory.max_dvelocity_forwards_voltage());
+ const double goal_acceleration = trajectory.GetDAcceleration(
+ distance, trajectory.max_dvelocity_forwards_voltage());
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(distance, goal_velocity);
+ const ::Eigen::Matrix<double, 3, 1> alpha_t =
+ trajectory.AlphaT(distance, goal_velocity, goal_acceleration);
+
+ const ::Eigen::Matrix<double, 9, 1> R = trajectory.R(theta_t, omega_t);
+ const ::Eigen::Matrix<double, 3, 1> U =
+ follower.ComputeFF_U(R, omega_t, alpha_t).array().max(-20).min(20);
+
+ Uff0_distance_array_forwards_voltage_only.push_back(U(0));
+ Uff1_distance_array_forwards_voltage_only.push_back(U(1));
+ Uff2_distance_array_forwards_voltage_only.push_back(U(2));
+ }
+ }
+
+ double t = 0;
+ ::Eigen::Matrix<double, 4, 1> arm_X;
+ ::Eigen::Matrix<double, 2, 1> roll_X;
+ {
+ ::Eigen::Matrix<double, 3, 1> theta_t = trajectory.ThetaT(0.0);
+ arm_X << theta_t(0), 0.0, theta_t(1), 0.0;
+ roll_X << theta_t(2), 0.0;
+ }
+
+ ::std::vector<double> t_array;
+ ::std::vector<double> theta0_goal_t_array;
+ ::std::vector<double> theta1_goal_t_array;
+ ::std::vector<double> theta2_goal_t_array;
+ ::std::vector<double> omega0_goal_t_array;
+ ::std::vector<double> omega1_goal_t_array;
+ ::std::vector<double> omega2_goal_t_array;
+ ::std::vector<double> alpha0_goal_t_array;
+ ::std::vector<double> alpha1_goal_t_array;
+ ::std::vector<double> alpha2_goal_t_array;
+ ::std::vector<double> theta0_t_array;
+ ::std::vector<double> omega0_t_array;
+ ::std::vector<double> theta1_t_array;
+ ::std::vector<double> omega1_t_array;
+ ::std::vector<double> theta2_t_array;
+ ::std::vector<double> omega2_t_array;
+ ::std::vector<double> distance_t_array;
+ ::std::vector<double> velocity_t_array;
+ ::std::vector<double> acceleration_t_array;
+ ::std::vector<double> u0_unsaturated_array;
+ ::std::vector<double> u1_unsaturated_array;
+ ::std::vector<double> u2_unsaturated_array;
+ ::std::vector<double> alpha0_t_array;
+ ::std::vector<double> alpha1_t_array;
+ ::std::vector<double> alpha2_t_array;
+ ::std::vector<double> uff0_array;
+ ::std::vector<double> uff1_array;
+ ::std::vector<double> uff2_array;
+ ::std::vector<double> u0_array;
+ ::std::vector<double> u1_array;
+ ::std::vector<double> u2_array;
+ ::std::vector<double> theta0_hat_t_array;
+ ::std::vector<double> omega0_hat_t_array;
+ ::std::vector<double> theta1_hat_t_array;
+ ::std::vector<double> omega1_hat_t_array;
+ ::std::vector<double> theta2_hat_t_array;
+ ::std::vector<double> omega2_hat_t_array;
+ ::std::vector<double> torque0_hat_t_array;
+ ::std::vector<double> torque1_hat_t_array;
+ ::std::vector<double> torque2_hat_t_array;
+
+ // Now follow the trajectory.
+ frc971::control_loops::arm::EKF arm_ekf(&dynamics);
+ arm_ekf.Reset(arm_X);
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackPlant<3, 1, 1>,
+ StateFeedbackObserver<3, 1, 1>>
+ roll = superstructure::roll::MakeIntegralRollLoop();
+ roll.mutable_X_hat().setZero();
+ roll.mutable_X_hat().block<2, 1>(0, 0) = roll_X;
+
+ ::std::cout << "Reset P: " << arm_ekf.P_reset() << ::std::endl;
+ ::std::cout << "Stabilized P: " << arm_ekf.P_half_converged() << ::std::endl;
+ ::std::cout << "Really stabilized P: " << arm_ekf.P_converged()
+ << ::std::endl;
+
+ while (t < FLAGS_time) {
+ t_array.push_back(t);
+ arm_ekf.Correct(
+ (::Eigen::Matrix<double, 2, 1>() << arm_X(0), arm_X(2)).finished(),
+ sim_dt);
+ roll.Correct((::Eigen::Matrix<double, 1, 1>() << roll_X(0)).finished());
+ follower.Update(
+ (Eigen::Matrix<double, 9, 1>() << arm_ekf.X_hat(), roll.X_hat())
+ .finished(),
+ false, sim_dt, FLAGS_vmax_plan, FLAGS_vmax_battery);
+
+ const ::Eigen::Matrix<double, 3, 1> theta_t =
+ trajectory.ThetaT(follower.goal()(0));
+ const ::Eigen::Matrix<double, 3, 1> omega_t =
+ trajectory.OmegaT(follower.goal()(0), follower.goal()(1));
+ const ::Eigen::Matrix<double, 3, 1> alpha_t = trajectory.AlphaT(
+ follower.goal()(0), follower.goal()(1), follower.goal_acceleration());
+
+ theta0_goal_t_array.push_back(theta_t(0));
+ theta1_goal_t_array.push_back(theta_t(1));
+ theta2_goal_t_array.push_back(theta_t(2));
+ omega0_goal_t_array.push_back(omega_t(0));
+ omega1_goal_t_array.push_back(omega_t(1));
+ omega2_goal_t_array.push_back(omega_t(2));
+ alpha0_goal_t_array.push_back(alpha_t(0));
+ alpha1_goal_t_array.push_back(alpha_t(1));
+ alpha2_goal_t_array.push_back(alpha_t(2));
+ theta0_t_array.push_back(arm_X(0));
+ omega0_t_array.push_back(arm_X(1));
+ theta1_t_array.push_back(arm_X(2));
+ omega1_t_array.push_back(arm_X(3));
+ theta2_t_array.push_back(roll_X(0));
+ omega2_t_array.push_back(roll_X(1));
+ theta0_hat_t_array.push_back(arm_ekf.X_hat(0));
+ omega0_hat_t_array.push_back(arm_ekf.X_hat(1));
+ torque0_hat_t_array.push_back(arm_ekf.X_hat(4));
+ theta1_hat_t_array.push_back(arm_ekf.X_hat(2));
+ omega1_hat_t_array.push_back(arm_ekf.X_hat(3));
+ torque1_hat_t_array.push_back(arm_ekf.X_hat(5));
+
+ theta2_hat_t_array.push_back(roll.X_hat(0));
+ omega2_hat_t_array.push_back(roll.X_hat(1));
+ torque2_hat_t_array.push_back(roll.X_hat(2));
+
+ distance_t_array.push_back(follower.goal()(0));
+ velocity_t_array.push_back(follower.goal()(1));
+ acceleration_t_array.push_back(follower.goal_acceleration());
+
+ u0_unsaturated_array.push_back(follower.U_unsaturated()(0));
+ u1_unsaturated_array.push_back(follower.U_unsaturated()(1));
+ u2_unsaturated_array.push_back(follower.U_unsaturated()(2));
+
+ ::Eigen::Matrix<double, 3, 1> actual_U = follower.U();
+ // Add in a disturbance force to see how well the arm learns it.
+ // actual_U(0) += 1.0;
+
+ const ::Eigen::Matrix<double, 4, 1> arm_xdot =
+ dynamics.Acceleration(arm_X, actual_U.block<2, 1>(0, 0));
+ const ::Eigen::Matrix<double, 2, 1> roll_xdot =
+ hybrid_roll.plant().coefficients().A_continuous.block<2, 2>(0, 0) *
+ roll_X +
+ hybrid_roll.plant().coefficients().B_continuous.block<2, 1>(0, 0) *
+ actual_U.block<1, 1>(2, 0);
+
+ arm_X = dynamics.UnboundedDiscreteDynamics(
+ arm_X, actual_U.block<2, 1>(0, 0), sim_dt);
+ arm_ekf.Predict(follower.U().block<2, 1>(0, 0), sim_dt);
+ roll_X =
+ roll.plant()
+ .Update((Eigen::Matrix<double, 3, 1>() << roll_X, 0.0).finished(),
+ follower.U().block<1, 1>(2, 0))
+ .block<2, 1>(0, 0);
+ roll.UpdateObserver(follower.U().block<1, 1>(2, 0),
+ std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(sim_dt)));
+
+ alpha0_t_array.push_back(arm_xdot(1));
+ alpha1_t_array.push_back(arm_xdot(3));
+ alpha2_t_array.push_back(roll_xdot(1));
+
+ uff0_array.push_back(follower.U_ff()(0));
+ uff1_array.push_back(follower.U_ff()(1));
+ uff2_array.push_back(follower.U_ff()(2));
+ u0_array.push_back(follower.U()(0));
+ u1_array.push_back(follower.U()(1));
+ u2_array.push_back(follower.U()(2));
+
+ t += sim_dt;
+ }
+
+ if (FLAGS_plot) {
+ frc971::analysis::Plotter plotter;
+
+ plotter.AddFigure();
+ plotter.Title("Input spline");
+ plotter.AddLine(distance_array, theta0_array, "theta0");
+ plotter.AddLine(distance_array, theta1_array, "theta1");
+ plotter.AddLine(distance_array, theta2_array, "theta2");
+ plotter.AddLine(distance_array, omega0_array, "omega0");
+ plotter.AddLine(distance_array, omega1_array, "omega1");
+ plotter.AddLine(distance_array, omega2_array, "omega2");
+ plotter.AddLine(distance_array, alpha0_array, "alpha0");
+ plotter.AddLine(distance_array, alpha1_array, "alpha1");
+ plotter.AddLine(distance_array, alpha2_array, "alpha2");
+
+ plotter.AddLine(integrated_distance, integrated_theta0_array,
+ "integrated theta0");
+ plotter.AddLine(integrated_distance, integrated_theta1_array,
+ "integrated theta1");
+ plotter.AddLine(integrated_distance, integrated_theta2_array,
+ "integrated theta2");
+ plotter.AddLine(integrated_distance, integrated_omega0_array,
+ "integrated omega0");
+ plotter.AddLine(integrated_distance, integrated_omega1_array,
+ "integrated omega1");
+ plotter.AddLine(integrated_distance, integrated_omega2_array,
+ "integrated omega2");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Trajectory");
+ plotter.AddLine(theta0_array, theta1_array, "desired path");
+ plotter.AddLine(theta0_t_array, theta1_t_array, "actual path");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Solver passes");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_unfiltered(),
+ "pass0");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_backward_accel(),
+ "passb accel");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_forwards_accel(),
+ "passf accel");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_backward_voltage(),
+ "passb voltage");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_forwards_voltage(),
+ "passf voltage");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Time Goals");
+ plotter.AddLine(t_array, alpha0_goal_t_array, "alpha0_t_goal");
+ plotter.AddLine(t_array, alpha0_t_array, "alpha0_t");
+ plotter.AddLine(t_array, alpha1_goal_t_array, "alpha1_t_goal");
+ plotter.AddLine(t_array, alpha1_t_array, "alpha1_t");
+ plotter.AddLine(t_array, alpha2_goal_t_array, "alpha2_t_goal");
+ plotter.AddLine(t_array, alpha2_t_array, "alpha2_t");
+ plotter.AddLine(t_array, distance_t_array, "distance_t");
+ plotter.AddLine(t_array, velocity_t_array, "velocity_t");
+ plotter.AddLine(t_array, acceleration_t_array, "acceleration_t");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Angular Velocities");
+ plotter.AddLine(t_array, omega0_goal_t_array, "omega0_t_goal");
+ plotter.AddLine(t_array, omega0_t_array, "omega0_t");
+ plotter.AddLine(t_array, omega0_hat_t_array, "omega0_hat_t");
+
+ plotter.AddLine(t_array, omega1_goal_t_array, "omega1_t_goal");
+ plotter.AddLine(t_array, omega1_t_array, "omega1_t");
+ plotter.AddLine(t_array, omega1_hat_t_array, "omega1_hat_t");
+
+ plotter.AddLine(t_array, omega2_goal_t_array, "omega2_t_goal");
+ plotter.AddLine(t_array, omega2_t_array, "omega2_t");
+ plotter.AddLine(t_array, omega2_hat_t_array, "omega2_hat_t");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Voltages");
+ plotter.AddLine(t_array, u0_unsaturated_array, "u0_full");
+ plotter.AddLine(t_array, u0_array, "u0");
+ plotter.AddLine(t_array, uff0_array, "uff0");
+ plotter.AddLine(t_array, u1_unsaturated_array, "u1_full");
+ plotter.AddLine(t_array, u1_array, "u1");
+ plotter.AddLine(t_array, uff1_array, "uff1");
+ plotter.AddLine(t_array, u2_unsaturated_array, "u2_full");
+ plotter.AddLine(t_array, u2_array, "u2");
+ plotter.AddLine(t_array, uff2_array, "uff2");
+ plotter.AddLine(t_array, torque0_hat_t_array, "torque0_hat");
+ plotter.AddLine(t_array, torque1_hat_t_array, "torque1_hat");
+ plotter.AddLine(t_array, torque2_hat_t_array, "torque2_hat");
+ plotter.Publish();
+
+ if (FLAGS_plot_thetas) {
+ plotter.AddFigure();
+ plotter.Title("Angles");
+ plotter.AddLine(t_array, theta0_goal_t_array, "theta0_t_goal");
+ plotter.AddLine(t_array, theta0_t_array, "theta0_t");
+ plotter.AddLine(t_array, theta0_hat_t_array, "theta0_hat_t");
+ plotter.AddLine(t_array, theta1_goal_t_array, "theta1_t_goal");
+ plotter.AddLine(t_array, theta1_t_array, "theta1_t");
+ plotter.AddLine(t_array, theta1_hat_t_array, "theta1_hat_t");
+ plotter.AddLine(t_array, theta2_goal_t_array, "theta2_t_goal");
+ plotter.AddLine(t_array, theta2_t_array, "theta2_t");
+ plotter.AddLine(t_array, theta2_hat_t_array, "theta2_hat_t");
+ plotter.Publish();
+ }
+
+ plotter.AddFigure();
+ plotter.Title("ff for distance");
+ plotter.AddLine(distance_array, Uff0_distance_array_forwards_voltage_only,
+ "ff0");
+ plotter.AddLine(distance_array, Uff1_distance_array_forwards_voltage_only,
+ "ff1");
+ plotter.AddLine(distance_array, Uff2_distance_array_forwards_voltage_only,
+ "ff2");
+
+ plotter.AddLine(distance_array, Uff0_distance_array_backwards_voltage_only,
+ "ff0_back voltage");
+ plotter.AddLine(distance_array, Uff1_distance_array_backwards_voltage_only,
+ "ff1_back voltage");
+ plotter.AddLine(distance_array, Uff2_distance_array_backwards_voltage_only,
+ "ff2_back voltage");
+
+ plotter.AddLine(distance_array, Uff0_distance_array_forwards_accel_only,
+ "ff0_forward accel");
+ plotter.AddLine(distance_array, Uff1_distance_array_forwards_accel_only,
+ "ff1_forward accel");
+ plotter.AddLine(distance_array, Uff2_distance_array_forwards_accel_only,
+ "ff2_forward accel");
+
+ plotter.AddLine(distance_array, Uff0_distance_array_backwards_accel_only,
+ "ff0_back accel");
+ plotter.AddLine(distance_array, Uff1_distance_array_backwards_accel_only,
+ "ff1_back accel");
+ plotter.AddLine(distance_array, Uff2_distance_array_backwards_accel_only,
+ "ff2_back accel");
+
+ plotter.AddLine(distance_array, Uff0_distance_array_curvature, "ff0_curve");
+ plotter.AddLine(distance_array, Uff1_distance_array_curvature, "ff1_curve");
+ plotter.AddLine(distance_array, Uff2_distance_array_curvature, "ff2_curve");
+
+ plotter.Publish();
+ plotter.Spin();
+ }
+}
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
+
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
+ ::y2023::control_loops::superstructure::arm::Main();
+ return 0;
+}
diff --git a/y2023/control_loops/superstructure/arm/trajectory_test.cc b/y2023/control_loops/superstructure/arm/trajectory_test.cc
new file mode 100644
index 0000000..bcf338c
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/trajectory_test.cc
@@ -0,0 +1,232 @@
+#include "y2023/control_loops/superstructure/arm/trajectory.h"
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
+#include "gtest/gtest.h"
+#include "y2023/control_loops/superstructure/arm/arm_constants.h"
+#include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
+#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+namespace testing {
+
+using frc971::control_loops::MatrixGaussianQuadrature5;
+using frc971::control_loops::arm::Dynamics;
+using frc971::control_loops::arm::EKF;
+
+// Tests that we can pull out values along the path.
+TEST(TrajectoryTest, Theta) {
+ Eigen::Matrix<double, 2, 4> spline_params;
+ spline_params << 0.3, 0.4, 0.6, 0.5, -1.7, -1.6, -1.4, -1.2;
+
+ NSpline<4, 2> spline(spline_params);
+ CosSpline cos_spline(spline,
+ {{0.0, 0.1}, {0.3, 0.1}, {0.7, 0.2}, {1.0, 0.2}});
+
+ EXPECT_TRUE(cos_spline.Theta(-1.0).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.3, -1.7, 0.1).finished()))
+ << cos_spline.Theta(-1.0).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(0.0).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.3, -1.7, 0.1).finished()))
+ << cos_spline.Theta(0.0).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(0.3).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.4062, -1.5857, 0.1).finished()))
+ << cos_spline.Theta(0.3).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(0.5).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.475, -1.4875, 0.15).finished()))
+ << cos_spline.Theta(0.5).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(0.7).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.5198, -1.3773, 0.2).finished()))
+ << cos_spline.Theta(0.7).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(1.0).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.5, -1.2, 0.2).finished()))
+ << cos_spline.Theta(1.0).transpose();
+
+ EXPECT_TRUE(cos_spline.Theta(2.0).isApprox(
+ (Eigen::Matrix<double, 3, 1>() << 0.5, -1.2, 0.2).finished()))
+ << cos_spline.Theta(2.0).transpose();
+}
+
+// Tests that the integral of alpha and omega matches the functions they were
+// differentiated from on Path.
+TEST(TrajectoryTest, IntegrateAccel) {
+ Eigen::Matrix<double, 2, 4> spline_params;
+ spline_params << 0.3, 0.4, 0.6, 0.5, -1.7, -1.6, -1.4, -1.2;
+ NSpline<4, 2> spline(spline_params);
+ CosSpline cos_spline(spline,
+ {{0.0, 0.1}, {0.3, 0.1}, {0.7, 0.2}, {1.0, 0.2}});
+ Path distance_spline(cos_spline, 100);
+
+ Eigen::Matrix<double, 3, 1> integrated_theta = distance_spline.Theta(0.0);
+ Eigen::Matrix<double, 3, 1> integrated_omega = distance_spline.Omega(0.0);
+
+ constexpr size_t kSlices = 1000;
+ for (size_t i = 0; i < kSlices; ++i) {
+ const double d = i * distance_spline.length() / kSlices;
+ const double next_d = (i + 1) * distance_spline.length() / kSlices;
+
+ integrated_theta += MatrixGaussianQuadrature5<3>(
+ [&](double distance) { return distance_spline.Omega(distance); }, d,
+ next_d);
+ integrated_omega += MatrixGaussianQuadrature5<3>(
+ [&](double distance) { return distance_spline.Alpha(distance); }, d,
+ next_d);
+
+ EXPECT_TRUE(integrated_theta.isApprox(distance_spline.Theta(next_d), 1e-3))
+ << ": Got " << integrated_theta.transpose() << ", expected "
+ << distance_spline.Theta(next_d).transpose();
+ EXPECT_TRUE(integrated_omega.isApprox(distance_spline.Omega(next_d), 1e-3))
+ << ": Got " << integrated_omega.transpose() << ", expected "
+ << distance_spline.Omega(next_d).transpose();
+ }
+}
+
+// Tests that we can correctly interpolate velocities between two points
+TEST(TrajectoryTest, InterpolateVelocity) {
+ // x = 0.5 * a * t^2
+ // v = a * t
+ // a = 2.0
+ EXPECT_EQ(0.0, Trajectory::InterpolateVelocity(0.0, 0.0, 1.0, 0.0, 2.0));
+ EXPECT_EQ(2.0, Trajectory::InterpolateVelocity(1.0, 0.0, 1.0, 0.0, 2.0));
+ EXPECT_EQ(0.0, Trajectory::InterpolateVelocity(-1.0, 0.0, 1.0, 0.0, 2.0));
+ EXPECT_EQ(2.0, Trajectory::InterpolateVelocity(20.0, 0.0, 1.0, 0.0, 2.0));
+}
+
+// Tests that we can correctly interpolate velocities between two points
+TEST(TrajectoryTest, InterpolateAcceleration) {
+ // x = 0.5 * a * t^2
+ // v = a * t
+ // a = 2.0
+ EXPECT_EQ(2.0, Trajectory::InterpolateAcceleration(0.0, 1.0, 0.0, 2.0));
+}
+
+std::unique_ptr<Path> MakeDemoPath() {
+ Eigen::Matrix<double, 2, 4> spline_params;
+ spline_params << 0.3, 0.4, 0.6, 0.5, -1.7, -1.6, -1.4, -1.2;
+ NSpline<4, 2> spline(spline_params);
+ CosSpline cos_spline(spline,
+ {{0.0, 0.1}, {0.3, 0.1}, {0.7, 0.2}, {1.0, 0.2}});
+ return std::make_unique<Path>(cos_spline, 100);
+}
+
+// Tests that we can correctly interpolate velocities between two points
+TEST(TrajectoryTest, ReversedPath) {
+ // Tests that a reversed path is actually reversed.
+ ::std::unique_ptr<Path> path = MakeDemoPath();
+ ::std::unique_ptr<Path> reversed_path = Path::Reversed(MakeDemoPath());
+
+ EXPECT_NEAR(path->length(), reversed_path->length(), 1e-6);
+
+ for (double d = 0; d < path->length(); d += 0.01) {
+ EXPECT_LT(
+ (path->Theta(d) - reversed_path->Theta(path->length() - d)).norm(),
+ 1e-5);
+ EXPECT_LT(
+ (path->Omega(d) + reversed_path->Omega(path->length() - d)).norm(),
+ 1e-5);
+ EXPECT_LT(
+ (path->Alpha(d) - reversed_path->Alpha(path->length() - d)).norm(),
+ 1e-5);
+ }
+}
+
+// Tests that we can follow a path. Look at :trajectory_plot if you want to see
+// the path.
+TEST(TrajectoryTest, RunTrajectory) {
+ Dynamics dynamics(kArmConstants);
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+ HybridKalman<3, 1, 1>>
+ hybrid_roll = y2023::control_loops::superstructure::roll::
+ MakeIntegralHybridRollLoop();
+ ::std::unique_ptr<Path> path = MakeDemoPath();
+ Trajectory trajectory(&dynamics, &hybrid_roll.plant(), ::std::move(path),
+ 0.001);
+
+ constexpr double kAlpha0Max = 40.0;
+ constexpr double kAlpha1Max = 60.0;
+ constexpr double kAlpha2Max = 60.0;
+ constexpr double vmax = 11.95;
+
+ const ::Eigen::DiagonalMatrix<double, 3> alpha_unitizer(
+ (::Eigen::DiagonalMatrix<double, 3>().diagonal() << (1.0 / kAlpha0Max),
+ (1.0 / kAlpha1Max), (1.0 / kAlpha2Max))
+ .finished());
+ trajectory.OptimizeTrajectory(alpha_unitizer, vmax);
+
+ double t = 0;
+ ::Eigen::Matrix<double, 4, 1> arm_X;
+ ::Eigen::Matrix<double, 2, 1> roll_X;
+ {
+ ::Eigen::Matrix<double, 3, 1> theta_t = trajectory.ThetaT(0.0);
+ arm_X << theta_t(0), 0.0, theta_t(1), 0.0;
+ roll_X << theta_t(2), 0.0;
+ }
+
+ EKF arm_ekf(&dynamics);
+ arm_ekf.Reset(arm_X);
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackPlant<3, 1, 1>,
+ StateFeedbackObserver<3, 1, 1>>
+ roll = y2023::control_loops::superstructure::roll::MakeIntegralRollLoop();
+ roll.mutable_X_hat().setZero();
+ roll.mutable_X_hat().block<2, 1>(0, 0) = roll_X;
+
+ TrajectoryFollower follower(&dynamics, &hybrid_roll, &trajectory);
+ constexpr double sim_dt = 0.00505;
+ while (t < 1.0) {
+ arm_ekf.Correct(
+ (::Eigen::Matrix<double, 2, 1>() << arm_X(0), arm_X(2)).finished(),
+ sim_dt);
+ roll.Correct((::Eigen::Matrix<double, 1, 1>() << roll_X(0)).finished());
+ follower.Update(
+ (Eigen::Matrix<double, 9, 1>() << arm_ekf.X_hat(), roll.X_hat())
+ .finished(),
+ false, sim_dt, vmax, 12.0);
+
+ arm_X = dynamics.UnboundedDiscreteDynamics(
+ arm_X, follower.U().block<2, 1>(0, 0), sim_dt);
+ arm_ekf.Predict(follower.U().block<2, 1>(0, 0), sim_dt);
+
+ roll_X =
+ roll.plant()
+ .Update((Eigen::Matrix<double, 3, 1>() << roll_X, 0.0).finished(),
+ follower.U().block<1, 1>(2, 0))
+ .block<2, 1>(0, 0);
+ roll.UpdateObserver(follower.U().block<1, 1>(2, 0),
+ std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(sim_dt)));
+ t += sim_dt;
+ }
+
+ ::Eigen::Matrix<double, 4, 1> final_arm_X;
+ ::Eigen::Matrix<double, 2, 1> final_roll_X;
+ ::Eigen::Matrix<double, 3, 1> final_theta_t =
+ trajectory.ThetaT(trajectory.path().length());
+ final_arm_X << final_theta_t(0), 0.0, final_theta_t(1), 0.0;
+ final_roll_X << final_theta_t(2), 0.0;
+
+ // Verify that we got to the end.
+ EXPECT_TRUE(arm_X.isApprox(final_arm_X, 0.01))
+ << ": X is " << arm_X.transpose() << " final_X is "
+ << final_arm_X.transpose();
+ EXPECT_TRUE(roll_X.isApprox(final_roll_X, 0.01))
+ << ": X is " << roll_X.transpose() << " final_X is "
+ << final_roll_X.transpose();
+
+ // Verify that our goal is at the end.
+ EXPECT_TRUE(
+ final_theta_t.isApprox(trajectory.path().Theta(follower.goal(0))));
+}
+
+} // namespace testing
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
diff --git a/y2023/control_loops/superstructure/roll/BUILD b/y2023/control_loops/superstructure/roll/BUILD
new file mode 100644
index 0000000..f1cca65
--- /dev/null
+++ b/y2023/control_loops/superstructure/roll/BUILD
@@ -0,0 +1,53 @@
+package(default_visibility = ["//y2023:__subpackages__"])
+
+genrule(
+ name = "genrule_roll",
+ outs = [
+ "roll_plant.h",
+ "roll_plant.cc",
+ "integral_roll_plant.h",
+ "integral_roll_plant.cc",
+ ],
+ cmd = "$(location //y2023/control_loops/python:roll) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023/control_loops/python:roll",
+ ],
+)
+
+genrule(
+ name = "genrule_hybrid_roll",
+ outs = [
+ "hybrid_roll_plant.h",
+ "hybrid_roll_plant.cc",
+ "integral_hybrid_roll_plant.h",
+ "integral_hybrid_roll_plant.cc",
+ ],
+ cmd = "$(location //y2023/control_loops/python:roll) --hybrid $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023/control_loops/python:roll",
+ ],
+)
+
+cc_library(
+ name = "roll_plants",
+ srcs = [
+ "hybrid_roll_plant.cc",
+ "integral_hybrid_roll_plant.cc",
+ "integral_roll_plant.cc",
+ "roll_plant.cc",
+ ],
+ hdrs = [
+ "hybrid_roll_plant.h",
+ "integral_hybrid_roll_plant.h",
+ "integral_roll_plant.h",
+ "roll_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 1125e21..1ad2625 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -12,6 +12,8 @@
namespace control_loops {
namespace superstructure {
+using ::aos::monotonic_clock;
+
using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::RelativeEncoderProfiledJointStatus;
@@ -26,19 +28,19 @@
event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
"/drivetrain")),
joystick_state_fetcher_(
- event_loop->MakeFetcher<aos::JoystickState>("/aos")) {
- (void)values;
-}
+ event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+ arm_(values_) {}
void Superstructure::RunIteration(const Goal *unsafe_goal,
const Position *position,
aos::Sender<Output>::Builder *output,
aos::Sender<Status>::Builder *status) {
- (void)unsafe_goal;
- (void)position;
+ const monotonic_clock::time_point timestamp =
+ event_loop()->context().monotonic_event_time;
if (WasReset()) {
AOS_LOG(ERROR, "WPILib reset, restarting\n");
+ arm_.Reset();
}
OutputT output_struct;
@@ -47,11 +49,32 @@
alliance_ = joystick_state_fetcher_->alliance();
}
drivetrain_status_fetcher_.Fetch();
- output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
-
+
+ const uint32_t arm_goal_position =
+ unsafe_goal != nullptr ? unsafe_goal->arm_goal_position() : 0u;
+
+ flatbuffers::Offset<superstructure::ArmStatus> arm_status_offset =
+ arm_.Iterate(
+ timestamp, unsafe_goal != nullptr ? &(arm_goal_position) : nullptr,
+ position->arm(),
+ unsafe_goal != nullptr ? unsafe_goal->trajectory_override() : false,
+ output != nullptr ? &output_struct.proximal_voltage : nullptr,
+ output != nullptr ? &output_struct.distal_voltage : nullptr,
+ output != nullptr ? &output_struct.roll_joint_voltage : nullptr,
+ unsafe_goal != nullptr ? unsafe_goal->intake() : false,
+ unsafe_goal != nullptr ? unsafe_goal->spit() : false,
+
+ status->fbb());
+
+ if (output) {
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
+ }
+
Status::Builder status_builder = status->MakeBuilder<Status>();
status_builder.add_zeroed(true);
status_builder.add_estopped(false);
+ status_builder.add_arm(arm_status_offset);
+
(void)status->Send(status_builder.Finish());
}
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index 0740de3..2d0fc43 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -5,6 +5,7 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "y2023/constants.h"
+#include "y2023/control_loops/superstructure/arm/arm.h"
#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2023/control_loops/superstructure/superstructure_output_generated.h"
#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
@@ -45,6 +46,8 @@
drivetrain_status_fetcher_;
aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+ arm::Arm arm_;
+
aos::Alliance alliance_ = aos::Alliance::kInvalid;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 47ce7b2..936cbee 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -8,13 +8,16 @@
// Controls distal, proximal, and roll joints
arm_goal_position:uint32 (id: 0);
- wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
+ // Overrides the current path to go to the next path
+ trajectory_override:bool (id: 1);
+
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
// If this is true, the rollers should intake.
- intake:bool (id: 2);
+ intake:bool (id: 3);
// If this is true, the rollers should spit.
- spit:bool (id: 3);
+ spit:bool (id: 4);
}
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 0b9fb7d..f3f0471 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -9,6 +9,7 @@
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
#include "y2023/control_loops/superstructure/superstructure.h"
DEFINE_string(output_folder, "",
@@ -18,6 +19,9 @@
namespace control_loops {
namespace superstructure {
namespace testing {
+namespace {
+constexpr double kNoiseScalar = 0.01;
+} // namespace
namespace chrono = std::chrono;
using ::aos::monotonic_clock;
@@ -40,6 +44,120 @@
frc971::control_loops::RelativeEncoderProfiledJointStatus,
RelativeEncoderSubsystem::State, constants::Values::PotConstants>;
+class ArmSimulation {
+ public:
+ explicit ArmSimulation(
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ &proximal_zeroing_constants,
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ &distal_zeroing_constants,
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ &roll_joint_zeroing_constants,
+ std::chrono::nanoseconds dt)
+ : proximal_zeroing_constants_(proximal_zeroing_constants),
+ proximal_pot_encoder_(M_PI * 2.0 *
+ constants::Values::kProximalEncoderRatio()),
+ distal_zeroing_constants_(distal_zeroing_constants),
+ distal_pot_encoder_(M_PI * 2.0 *
+ constants::Values::kDistalEncoderRatio()),
+ roll_joint_zeroing_constants_(roll_joint_zeroing_constants),
+ roll_joint_pot_encoder_(M_PI * 2.0 *
+ constants::Values::kDistalEncoderRatio()),
+ roll_joint_loop_(roll::MakeIntegralRollLoop()),
+ dynamics_(arm::kArmConstants),
+ dt_(dt) {
+ X_.setZero();
+ roll_joint_loop_.Reset();
+ }
+
+ void InitializePosition(::Eigen::Matrix<double, 3, 1> position) {
+ X_ << position(0), 0.0, position(1), 0.0;
+
+ proximal_pot_encoder_.Initialize(
+ X_(0), kNoiseScalar, 0.0,
+ proximal_zeroing_constants_.measured_absolute_position);
+ distal_pot_encoder_.Initialize(
+ X_(2), kNoiseScalar, 0.0,
+ distal_zeroing_constants_.measured_absolute_position);
+
+ Eigen::Matrix<double, 3, 1> X_roll_joint;
+ X_roll_joint << position(2), 0.0, 0.0;
+ roll_joint_loop_.mutable_X_hat() = X_roll_joint;
+ roll_joint_pot_encoder_.Initialize(
+ X_roll_joint(0), kNoiseScalar, 0.0,
+ roll_joint_zeroing_constants_.measured_absolute_position);
+ }
+
+ flatbuffers::Offset<ArmPosition> GetSensorValues(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ frc971::PotAndAbsolutePosition::Builder proximal_builder(*fbb);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> proximal_offset =
+ proximal_pot_encoder_.GetSensorValues(&proximal_builder);
+
+ frc971::PotAndAbsolutePosition::Builder distal_builder(*fbb);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> distal_offset =
+ distal_pot_encoder_.GetSensorValues(&distal_builder);
+
+ frc971::PotAndAbsolutePosition::Builder roll_joint_builder(*fbb);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> roll_joint_offset =
+ roll_joint_pot_encoder_.GetSensorValues(&roll_joint_builder);
+
+ ArmPosition::Builder arm_position_builder(*fbb);
+ arm_position_builder.add_proximal(proximal_offset);
+ arm_position_builder.add_distal(distal_offset);
+ arm_position_builder.add_roll_joint(roll_joint_offset);
+
+ return arm_position_builder.Finish();
+ }
+
+ double proximal_position() const { return X_(0, 0); }
+ double proximal_velocity() const { return X_(1, 0); }
+ double distal_position() const { return X_(2, 0); }
+ double distal_velocity() const { return X_(3, 0); }
+ double roll_joint_position() const { return roll_joint_loop_.X_hat(0, 0); }
+ double roll_joint_velocity() const { return roll_joint_loop_.X_hat(1, 0); }
+
+ void Simulate(::Eigen::Matrix<double, 3, 1> U) {
+ constexpr double voltage_check =
+ superstructure::arm::Arm::kOperatingVoltage();
+
+ AOS_CHECK_LE(::std::abs(U(0)), voltage_check);
+ AOS_CHECK_LE(::std::abs(U(1)), voltage_check);
+ AOS_CHECK_LE(::std::abs(U(2)), voltage_check);
+
+ X_ = dynamics_.UnboundedDiscreteDynamics(
+ X_, U.head<2>(),
+ std::chrono::duration_cast<std::chrono::duration<double>>(dt_).count());
+ roll_joint_loop_.UpdateObserver(U.tail<1>(), dt_);
+
+ // TODO(austin): Estop on grose out of bounds.
+ proximal_pot_encoder_.MoveTo(X_(0));
+ distal_pot_encoder_.MoveTo(X_(2));
+ roll_joint_pot_encoder_.MoveTo(roll_joint_loop_.X_hat(0));
+ }
+
+ private:
+ ::Eigen::Matrix<double, 4, 1> X_;
+
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ proximal_zeroing_constants_;
+ PositionSensorSimulator proximal_pot_encoder_;
+
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ distal_zeroing_constants_;
+ PositionSensorSimulator distal_pot_encoder_;
+
+ const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
+ roll_joint_zeroing_constants_;
+ PositionSensorSimulator roll_joint_pot_encoder_;
+ StateFeedbackLoop<3, 1, 1, double, StateFeedbackPlant<3, 1, 1>,
+ StateFeedbackObserver<3, 1, 1>>
+ roll_joint_loop_;
+
+ ::frc971::control_loops::arm::Dynamics dynamics_;
+
+ std::chrono::nanoseconds dt_;
+};
// Class which simulates the superstructure and sends out queue messages with
// the position.
class SuperstructureSimulation {
@@ -49,21 +167,28 @@
chrono::nanoseconds dt)
: event_loop_(event_loop),
dt_(dt),
+ arm_(values->arm_proximal.zeroing, values->arm_distal.zeroing,
+ values->roll_joint.zeroing, dt_),
superstructure_position_sender_(
event_loop_->MakeSender<Position>("/superstructure")),
superstructure_status_fetcher_(
event_loop_->MakeFetcher<Status>("/superstructure")),
superstructure_output_fetcher_(
event_loop_->MakeFetcher<Output>("/superstructure")) {
- (void)values;
- (void)dt_;
-
+ InitializeArmPosition(arm::NeutralPosPoint());
phased_loop_handle_ = event_loop_->AddPhasedLoop(
[this](int) {
// Skip this the first time.
if (!first_) {
EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
EXPECT_TRUE(superstructure_status_fetcher_.Fetch());
+
+ arm_.Simulate(
+ (::Eigen::Matrix<double, 3, 1>()
+ << superstructure_output_fetcher_->proximal_voltage(),
+ superstructure_output_fetcher_->distal_voltage(),
+ superstructure_output_fetcher_->roll_joint_voltage())
+ .finished());
}
first_ = false;
SendPositionMessage();
@@ -71,13 +196,22 @@
dt);
}
+ void InitializeArmPosition(::Eigen::Matrix<double, 3, 1> position) {
+ arm_.InitializePosition(position);
+ }
+
+ const ArmSimulation &arm() const { return arm_; }
+
// Sends a queue message with the position of the superstructure.
void SendPositionMessage() {
::aos::Sender<Position>::Builder builder =
superstructure_position_sender_.MakeBuilder();
- Position::Builder position_builder = builder.MakeBuilder<Position>();
+ flatbuffers::Offset<ArmPosition> arm_offset =
+ arm_.GetSensorValues(builder.fbb());
+ Position::Builder position_builder = builder.MakeBuilder<Position>();
+ position_builder.add_arm(arm_offset);
CHECK_EQ(builder.Send(position_builder.Finish()),
aos::RawSender::Error::kOk);
}
@@ -87,6 +221,8 @@
const chrono::nanoseconds dt_;
::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
+ ArmSimulation arm_;
+
::aos::Sender<Position> superstructure_position_sender_;
::aos::Fetcher<Status> superstructure_status_fetcher_;
::aos::Fetcher<Output> superstructure_output_fetcher_;
@@ -122,8 +258,8 @@
test_event_loop_->MakeSender<DrivetrainStatus>("/drivetrain")),
superstructure_plant_event_loop_(MakeEventLoop("plant", roborio_)),
superstructure_plant_(superstructure_plant_event_loop_.get(), values_,
- dt()) {
- (void)values_;
+ dt()),
+ points_(arm::PointList()) {
set_team_id(frc971::control_loops::testing::kTeamNumber);
SetEnabled(true);
@@ -139,6 +275,52 @@
void VerifyNearGoal() {
superstructure_goal_fetcher_.Fetch();
superstructure_status_fetcher_.Fetch();
+
+ ASSERT_TRUE(superstructure_goal_fetcher_.get() != nullptr) << ": No goal";
+ ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr)
+ << ": No status";
+
+ constexpr double kEpsTheta = 0.01;
+ constexpr double kEpsOmega = 0.01;
+
+ // Check that the status had the right goal
+ ASSERT_NEAR(points_[superstructure_goal_fetcher_->arm_goal_position()](0),
+ superstructure_status_fetcher_->arm()->goal_theta0(),
+ kEpsTheta);
+ ASSERT_NEAR(points_[superstructure_goal_fetcher_->arm_goal_position()](1),
+ superstructure_status_fetcher_->arm()->goal_theta1(),
+ kEpsTheta);
+ ASSERT_NEAR(points_[superstructure_goal_fetcher_->arm_goal_position()](2),
+ superstructure_status_fetcher_->arm()->goal_theta2(),
+ kEpsTheta);
+
+ // Check that the status met the goal
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_theta0(),
+ superstructure_status_fetcher_->arm()->theta0(), kEpsTheta);
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_theta1(),
+ superstructure_status_fetcher_->arm()->theta1(), kEpsTheta);
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_theta2(),
+ superstructure_status_fetcher_->arm()->theta2(), kEpsTheta);
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_omega0(),
+ superstructure_status_fetcher_->arm()->omega0(), kEpsOmega);
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_omega1(),
+ superstructure_status_fetcher_->arm()->omega1(), kEpsOmega);
+ EXPECT_NEAR(superstructure_status_fetcher_->arm()->goal_omega2(),
+ superstructure_status_fetcher_->arm()->omega2(), kEpsOmega);
+
+ // Check that our simulator matches the status
+ EXPECT_NEAR(superstructure_plant_.arm().proximal_position(),
+ superstructure_status_fetcher_->arm()->theta0(), kEpsTheta);
+ EXPECT_NEAR(superstructure_plant_.arm().distal_position(),
+ superstructure_status_fetcher_->arm()->theta1(), kEpsTheta);
+ EXPECT_NEAR(superstructure_plant_.arm().roll_joint_position(),
+ superstructure_status_fetcher_->arm()->theta2(), kEpsTheta);
+ EXPECT_NEAR(superstructure_plant_.arm().proximal_velocity(),
+ superstructure_status_fetcher_->arm()->omega0(), kEpsOmega);
+ EXPECT_NEAR(superstructure_plant_.arm().distal_velocity(),
+ superstructure_status_fetcher_->arm()->omega1(), kEpsOmega);
+ EXPECT_NEAR(superstructure_plant_.arm().roll_joint_velocity(),
+ superstructure_status_fetcher_->arm()->omega2(), kEpsOmega);
}
void CheckIfZeroed() {
@@ -202,6 +384,8 @@
std::unique_ptr<aos::EventLoop> logger_event_loop_;
std::unique_ptr<aos::logger::Logger> logger_;
+
+ const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
}; // namespace testing
// Tests that the superstructure does nothing when the goal is to remain
@@ -233,6 +417,8 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
@@ -270,7 +456,6 @@
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
- // Intake needs over 9 seconds to reach the goal
// TODO(Milo): Make this a sane time
RunFor(chrono::seconds(20));
VerifyNearGoal();
@@ -289,6 +474,75 @@
CheckIfZeroed();
}
+// Tests that we don't freak out without a goal.
+TEST_F(SuperstructureTest, ArmSimpleGoal) {
+ SetEnabled(true);
+ RunFor(chrono::seconds(20));
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::PickupPosIndex());
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(ArmState::RUNNING, superstructure_status_fetcher_->arm()->state());
+}
+
+// Tests that we can can execute a move.
+TEST_F(SuperstructureTest, ArmMoveAndMoveBack) {
+ SetEnabled(true);
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::seconds(10));
+
+ VerifyNearGoal();
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::PickupPosIndex());
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::seconds(10));
+ VerifyNearGoal();
+}
+
+// Tests that we can can execute a move which moves through multiple nodes.
+TEST_F(SuperstructureTest, ArmMultistepMove) {
+ SetEnabled(true);
+ superstructure_plant_.InitializeArmPosition(arm::NeutralPosPoint());
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::PickupPosIndex());
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::seconds(10));
+
+ VerifyNearGoal();
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_arm_goal_position(arm::ScorePosIndex());
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::seconds(10));
+ VerifyNearGoal();
+}
+
} // namespace testing
} // namespace superstructure
} // namespace control_loops
diff --git a/y2023/control_loops/superstructure/superstructure_plotter.ts b/y2023/control_loops/superstructure/superstructure_plotter.ts
index ae20119..2e32445 100644
--- a/y2023/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2023/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index dc3679d..bd3d607 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -2,22 +2,28 @@
namespace y2023.control_loops.superstructure;
+table ArmPosition {
+ // Values of the encoder and potentiometer at the base of the proximal
+ // (connected to drivebase) arm in radians.
+ // Zero is upwards, positive is a forwards rotation
+ proximal:frc971.PotAndAbsolutePosition (id: 0);
+
+ // Values of the encoder and potentiometer at the base of the distal
+ // (connected to proximal) arm in radians.
+ // Zero is straight up, positive is a forwards rotation
+ distal:frc971.PotAndAbsolutePosition (id: 1);
+
+ // Zero for roll joint is up vertically
+ // Positive position would be rotated counterclockwise relative to the robot
+ roll_joint:frc971.PotAndAbsolutePosition (id: 2);
+}
+
table Position {
- // Zero for proximal is facing parallel to base of robot
- // Positive position would be rotated upwards
- proximal:frc971.PotAndAbsolutePosition (id: 0);
-
- // Zero for distal is facing parallel relative to the shoulder
- // Positive position would be rotated upwards
- distal:frc971.PotAndAbsolutePosition (id: 1);
-
- // Zero for roll joint is up vertically
- // Positive position would be rotated counterclockwise relative to the robot
- roll_joint:frc971.PotAndAbsolutePosition (id: 2);
+ arm:ArmPosition (id: 0);
// Zero for wrist is facing staright outward.
// Positive position would be upwards
- wrist:frc971.PotAndAbsolutePosition (id: 3);
+ wrist:frc971.AbsolutePosition (id: 1);
}
root_type Position;
diff --git a/y2023/control_loops/superstructure/superstructure_status.fbs b/y2023/control_loops/superstructure/superstructure_status.fbs
index ff09317..db86687 100644
--- a/y2023/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023/control_loops/superstructure/superstructure_status.fbs
@@ -3,6 +3,59 @@
namespace y2023.control_loops.superstructure;
+enum ArmState : ubyte {
+ UNINITIALIZED = 0,
+ ZEROING = 1,
+ DISABLED = 2,
+ GOTO_PATH = 3,
+ RUNNING = 4,
+ ESTOP = 5,
+}
+
+table ArmStatus {
+ // State of the estimators.
+ proximal_estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState (id: 0);
+ distal_estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState (id: 1);
+ roll_joint_estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState (id: 18);
+
+ // The node we are currently going to.
+ current_node:uint32 (id: 2);
+ // Distance (in radians) to the end of the path.
+ path_distance_to_go:float (id: 3);
+ // Goal position and velocity (radians)
+ goal_theta0:float (id: 4);
+ goal_theta1:float (id: 5);
+ goal_theta2:float (id: 19);
+ goal_omega0:float (id: 6);
+ goal_omega1:float (id: 7);
+ goal_omega2:float (id: 20);
+
+ // Current position and velocity (radians)
+ theta0:float (id: 8);
+ theta1:float (id: 9);
+ theta2:float (id: 21);
+
+ omega0:float (id: 10);
+ omega1:float (id: 11);
+ omega2:float (id: 22);
+
+ // Estimated voltage error for the two joints.
+ voltage_error0:float (id: 12);
+ voltage_error1:float (id: 13);
+ voltage_error2:float (id: 23);
+
+ // True if we are zeroed.
+ zeroed:bool (id: 14);
+
+ // True if the arm is zeroed.
+ estopped:bool (id: 15);
+
+ // The current state machine state.
+ state:ArmState (id: 16);
+
+ // The number of times the LQR solver failed.
+ failed_solutions:uint32 (id: 17);
+}
table Status {
// All subsystems know their location.
@@ -11,13 +64,9 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
- proximal:frc971.PotAndAbsoluteEncoderEstimatorState (id: 2);
+ arm:ArmStatus (id: 2);
- distal:frc971.PotAndAbsoluteEncoderEstimatorState (id: 3);
-
- roll_joint:frc971.PotAndAbsoluteEncoderEstimatorState (id: 4);
-
- wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
+ wrist:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 3);
}
root_type Status;
diff --git a/y2023/control_loops/superstructure/wrist/BUILD b/y2023/control_loops/superstructure/wrist/BUILD
new file mode 100644
index 0000000..694d95f
--- /dev/null
+++ b/y2023/control_loops/superstructure/wrist/BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//y2023:__subpackages__"])
+
+genrule(
+ name = "genrule_wrist",
+ outs = [
+ "wrist_plant.h",
+ "wrist_plant.cc",
+ "integral_wrist_plant.h",
+ "integral_wrist_plant.cc",
+ ],
+ cmd = "$(location //y2023/control_loops/python:wrist) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023/control_loops/python:wrist",
+ ],
+)
+
+cc_library(
+ name = "wrist_plants",
+ srcs = [
+ "integral_wrist_plant.cc",
+ "wrist_plant.cc",
+ ],
+ hdrs = [
+ "integral_wrist_plant.h",
+ "wrist_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index a1a42f4..3caaa41 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -19,6 +19,7 @@
#include "frc971/zeroing/wrap.h"
#include "y2023/constants.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/superstructure/arm/generated_graph.h"
#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
@@ -34,7 +35,13 @@
namespace input {
namespace joysticks {
+// TODO(milind): add correct locations
+const ButtonLocation kIntake(3, 3);
+const ButtonLocation kScore(3, 3);
+const ButtonLocation kSpit(3, 3);
+
namespace superstructure = y2023::control_loops::superstructure;
+namespace arm = superstructure::arm;
class Reader : public ::frc971::input::ActionJoystickInput {
public:
@@ -59,14 +66,28 @@
return;
}
- (void)data;
- // TODO(Xander): Use driverstaion data to provide instructions.
+ bool intake = false;
+ bool spit = false;
+
+ // TODO(milind): add more actions and paths
+ if (data.IsPressed(kIntake)) {
+ intake = true;
+ arm_goal_position_ = arm::PickupPosIndex();
+ } else if (data.IsPressed(kSpit)) {
+ spit = true;
+ arm_goal_position_ = arm::PickupPosIndex();
+ } else if (data.IsPressed(kScore)) {
+ arm_goal_position_ = arm::ScorePosIndex();
+ }
+
{
auto builder = superstructure_goal_sender_.MakeBuilder();
superstructure::Goal::Builder superstructure_goal_builder =
builder.MakeBuilder<superstructure::Goal>();
-
+ superstructure_goal_builder.add_arm_goal_position(arm_goal_position_);
+ superstructure_goal_builder.add_intake(intake);
+ superstructure_goal_builder.add_spit(spit);
if (builder.Send(superstructure_goal_builder.Finish()) !=
aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
@@ -78,6 +99,8 @@
::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+
+ uint32_t arm_goal_position_;
};
} // namespace joysticks
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index bcae14a..419217f 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -30,8 +30,11 @@
"//aos:init",
"//aos:json_to_flatbuffer",
"//aos/events:shm_event_loop",
+ "//frc971/constants:constants_sender_lib",
"//frc971/vision:vision_fbs",
"//third_party:opencv",
+ "//y2023/vision:april_debug_fbs",
+ "//y2023/vision:vision_util",
"@com_google_absl//absl/strings",
],
)
diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index 4477856..66b0aac 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -38,7 +38,7 @@
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> DetectTags(
cv::Mat image);
- const cv::Mat extrinsics() const { return extrinsics_; }
+ const std::optional<cv::Mat> extrinsics() const { return extrinsics_; }
const cv::Mat intrinsics() const { return intrinsics_; }
const cv::Mat dist_coeffs() const { return dist_coeffs_; }
@@ -57,7 +57,7 @@
const frc971::vision::calibration::CameraCalibration *calibration_;
cv::Mat intrinsics_;
cv::Mat projection_matrix_;
- cv::Mat extrinsics_;
+ std::optional<cv::Mat> extrinsics_;
cv::Mat dist_coeffs_;
aos::Ftrace ftrace_;
diff --git a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
index 747dcb7..d75e5ca 100755
--- a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
+++ b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
@@ -19,26 +19,6 @@
-0.000112,
-0.076989
],
- "fixed_extrinsics": {
- "data": [
- -1,
- -1.57586107256918e-16,
- 5.0158596452676243e-17,
- -0.15239999999999998,
- 1.3147519464173305e-16,
- -0.5735764363510459,
- 0.8191520442889919,
- -0.2032,
- -1.0031719290535249e-16,
- 0.8191520442889919,
- 0.5735764363510459,
- 0.0127,
- 0,
- 0,
- 0,
- 1
- ]
- },
"calibration_timestamp": 1358500519438113048,
- "camera_id": "23-01"
+ "camera_id": "23-00"
}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json
new file mode 100644
index 0000000..3b1f3ee
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 7971, "intrinsics": [ 893.759521, 0.0, 645.470764, 0.0, 893.222351, 388.150269, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.999824, -0.017701, -0.006142, 0.155002, 0.006183, -0.002255, -0.999978, -0.11871, 0.017687, -0.999841, 0.002364, 0.002099, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.44902, 0.248409, -0.000537, -0.000112, -0.076989 ], "calibration_timestamp": 1358500519438113048, "camera_id": "23-01" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json
new file mode 100644
index 0000000..addacf2
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 7971, "intrinsics": [ 895.543945, 0.0, 645.250122, 0.0, 895.308838, 354.297241, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.513422, -0.00069, 0.858136, 0.132248, -0.858026, -0.015658, -0.513368, -0.002601, 0.013791, -0.999877, 0.007447, -0.001246, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.455658, 0.272167, 0.000796, -0.000206, -0.0975 ], "calibration_timestamp": 1358499769498335208, "camera_id": "23-02" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json
new file mode 100644
index 0000000..e2a5817
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 7971, "intrinsics": [ 892.089172, 0.0, 648.780701, 0.0, 892.362854, 342.340668, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.496784, 0.01435, 0.867756, 0.146101, -0.867856, 0.00168, 0.496813, 0.028557, 0.005671, -0.999896, 0.013288, -0.01621, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451178, 0.258187, 0.001071, 0.000017, -0.085526 ], "calibration_timestamp": 1358501967378322133, "camera_id": "23-03" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json
new file mode 100644
index 0000000..a59f74f
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_ext_2023-02-19.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 7971, "intrinsics": [ 890.071899, 0.0, 620.69519, 0.0, 890.307434, 365.158844, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.999146, 0.018411, 0.036996, 0.186144, -0.036693, -0.016555, 0.999189, 0.153146, 0.019009, -0.999693, -0.015866, 0.010067, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.449088, 0.25594, 0.000415, 0.000142, -0.084656 ], "calibration_timestamp": 1358501982039874176, "camera_id": "23-04" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json
index 1f30579..c9d960a 100755
--- a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json
@@ -19,24 +19,6 @@
0.008949,
-0.079813
],
- "fixed_extrinsics": [
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
"calibration_timestamp": 1358499377194305339,
"camera_id": "23-01"
}
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json
new file mode 100755
index 0000000..3afee2e
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_2013-01-18_09-38-22.915096335.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 890.980713,
+ 0.0,
+ 619.298645,
+ 0.0,
+ 890.668762,
+ 364.009766,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.449172,
+ 0.252318,
+ 0.000881,
+ -0.000615,
+ -0.082208
+ ],
+ "calibration_timestamp": 1358501902915096335,
+ "camera_id": "23-05"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json
new file mode 100644
index 0000000..b21da40
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 971, "intrinsics": [ 890.980713, 0.0, 619.298645, 0.0, 890.668762, 364.009766, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.487722, 0.222354, 0.844207, 0.025116, 0.864934, -0.008067, 0.501821, -0.246003, 0.118392, 0.974933, -0.188387, 0.532497, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.449172, 0.252318, 0.000881, -0.000615, -0.082208 ], "calibration_timestamp": 1358501902915096335, "camera_id": "23-05" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-99_000000.json
new file mode 100644
index 0000000..4b41658
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json
new file mode 100755
index 0000000..47f1d30
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_2013-01-18_09-32-06.409252911.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 971,
+ "intrinsics": [
+ 893.242981,
+ 0.0,
+ 639.796692,
+ 0.0,
+ 892.498718,
+ 354.109344,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.451751,
+ 0.252422,
+ 0.000531,
+ 0.000079,
+ -0.079369
+ ],
+ "calibration_timestamp": 1358501526409252911,
+ "camera_id": "23-06"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json
new file mode 100644
index 0000000..4759fda
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 893.242981, 0.0, 639.796692, 0.0, 892.498718, 354.109344, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.852213, 0.227336, 0.471224, 0.220072, 0.485092, -0.005909, -0.874443, -0.175232, -0.196008, 0.973799, -0.115315, 0.61409, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451751, 0.252422, 0.000531, 0.000079, -0.079369 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json
new file mode 100755
index 0000000..306bea1
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-11_2013-01-18_10-01-30.177115986.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 971,
+ "intrinsics": [
+ 891.026001,
+ 0.0,
+ 620.086731,
+ 0.0,
+ 890.566895,
+ 385.035126,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.448299,
+ 0.250123,
+ -0.00042,
+ -0.000127,
+ -0.078433
+ ],
+ "calibration_timestamp": 1358503290177115986,
+ "camera_id": "23-11"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json
new file mode 100644
index 0000000..9257aee
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json
new file mode 100755
index 0000000..fc78ef8
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_2013-01-18_09-11-56.768663953.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 971,
+ "intrinsics": [
+ 892.627869,
+ 0.0,
+ 629.289978,
+ 0.0,
+ 891.73761,
+ 373.299896,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.454901,
+ 0.266778,
+ -0.000316,
+ -0.000469,
+ -0.091357
+ ],
+ "calibration_timestamp": 1358500316768663953,
+ "camera_id": "23-07"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json
new file mode 100644
index 0000000..8c86d20
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-07_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 971, "intrinsics": [ 892.627869, 0.0, 629.289978, 0.0, 891.73761, 373.299896, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.492232, -0.163335, -0.855002, 0.020122, -0.866067, 0.006706, -0.499883, -0.174518, 0.087382, 0.986548, -0.138158, 0.645307, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.454901, 0.266778, -0.000316, -0.000469, -0.091357 ], "calibration_timestamp": 1358500316768663953, "camera_id": "23-07" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json
new file mode 100755
index 0000000..393beef
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-10_2013-01-18_10-02-40.377380613.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 971,
+ "intrinsics": [
+ 894.002502,
+ 0.0,
+ 636.431335,
+ 0.0,
+ 893.723816,
+ 377.069672,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.446659,
+ 0.244189,
+ 0.000632,
+ 0.000171,
+ -0.074849
+ ],
+ "calibration_timestamp": 1358503360377380613,
+ "camera_id": "23-10"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json
new file mode 100644
index 0000000..03b2687
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-99"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json
new file mode 100755
index 0000000..5b92f75
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_2013-01-18_09-27-45.150551614.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 971,
+ "intrinsics": [
+ 891.88385,
+ 0.0,
+ 642.268616,
+ 0.0,
+ 890.626465,
+ 353.272919,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.448426,
+ 0.246817,
+ 0.000002,
+ 0.000948,
+ -0.076717
+ ],
+ "calibration_timestamp": 1358501265150551614,
+ "camera_id": "23-08"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json
new file mode 100644
index 0000000..92ab69c
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-02-22.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 971, "intrinsics": [ 891.88385, 0.0, 642.268616, 0.0, 890.626465, 353.272919, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.865915, -0.186983, -0.463928, -0.014873, -0.473362, 0.006652, 0.880843, -0.215738, -0.161617, 0.982341, -0.094271, 0.676433, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.448426, 0.246817, 0.000002, 0.000948, -0.076717 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json
new file mode 100755
index 0000000..e119c43
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-09_2013-01-18_09-02-59.650270322.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 893.617798,
+ 0.0,
+ 612.44397,
+ 0.0,
+ 893.193115,
+ 375.196381,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.443805,
+ 0.238734,
+ 0.000133,
+ 0.000448,
+ -0.071068
+ ],
+ "calibration_timestamp": 1358499779650270322,
+ "camera_id": "23-09"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json
new file mode 100644
index 0000000..4a0b632
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-99_000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-99"
+}
diff --git a/y2023/vision/calibrate_extrinsics.cc b/y2023/vision/calibrate_extrinsics.cc
index eab8724..10e1639 100644
--- a/y2023/vision/calibrate_extrinsics.cc
+++ b/y2023/vision/calibrate_extrinsics.cc
@@ -7,8 +7,8 @@
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#include "aos/util/file.h"
-#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/extrinsics_calibration.h"
#include "frc971/vision/vision_generated.h"
#include "frc971/wpilib/imu_batch_generated.h"
@@ -17,7 +17,7 @@
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
DEFINE_bool(plot, false, "Whether to plot the resulting data.");
-DEFINE_string(target_type, "charuco",
+DEFINE_string(target_type, "charuco_diamond",
"Type of target: aruco|charuco|charuco_diamond");
DEFINE_string(image_channel, "/camera", "Channel to listen for images on");
DEFINE_string(output_logs, "/tmp/calibration/",
@@ -51,16 +51,17 @@
TargetType target_type = TargetTypeFromString(FLAGS_target_type);
std::unique_ptr<aos::EventLoop> constants_event_loop =
factory->MakeEventLoop("constants_fetcher", pi_event_loop->node());
- frc971::constants::ConstantsFetcher<y2023::Constants> constants_fetcher(
- constants_event_loop.get());
- *intrinsics =
- FLAGS_base_intrinsics.empty()
- ? aos::RecursiveCopyFlatBuffer(
- y2023::vision::FindCameraCalibration(
- constants_fetcher.constants(),
- pi_event_loop->node()->name()->string_view()))
- : aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
- FLAGS_base_intrinsics);
+ if (FLAGS_base_intrinsics.empty()) {
+ frc971::constants::ConstantsFetcher<y2023::Constants> constants_fetcher(
+ constants_event_loop.get());
+ *intrinsics =
+ aos::RecursiveCopyFlatBuffer(y2023::vision::FindCameraCalibration(
+ constants_fetcher.constants(),
+ pi_event_loop->node()->name()->string_view()));
+ } else {
+ *intrinsics = aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+ FLAGS_base_intrinsics);
+ }
extractor = std::make_unique<Calibration>(
factory, pi_event_loop.get(), imu_event_loop.get(), FLAGS_pi,
&intrinsics->message(), target_type, FLAGS_image_channel, data);
@@ -80,6 +81,14 @@
// Now, accumulate all the data into the data object.
aos::logger::LogReader reader(
aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+ reader.RemapLoggedChannel<foxglove::CompressedImage>("/pi1/camera");
+ reader.RemapLoggedChannel<foxglove::CompressedImage>("/pi2/camera");
+ reader.RemapLoggedChannel<foxglove::CompressedImage>("/pi3/camera");
+ reader.RemapLoggedChannel<foxglove::CompressedImage>("/pi4/camera");
+ reader.RemapLoggedChannel<foxglove::ImageAnnotations>("/pi1/camera");
+ reader.RemapLoggedChannel<foxglove::ImageAnnotations>("/pi2/camera");
+ reader.RemapLoggedChannel<foxglove::ImageAnnotations>("/pi3/camera");
+ reader.RemapLoggedChannel<foxglove::ImageAnnotations>("/pi4/camera");
aos::SimulatedEventLoopFactory factory(reader.configuration());
reader.RegisterWithoutStarting(&factory);
@@ -122,29 +131,40 @@
CHECK(data.camera_samples_size() > 0) << "Didn't get any camera observations";
// And now we have it, we can start processing it.
- const Eigen::Quaternion<double> nominal_initial_orientation(
- frc971::controls::ToQuaternionFromRotationVector(
- Eigen::Vector3d(0.0, 0.0, M_PI)));
- const Eigen::Quaternion<double> nominal_pivot_to_camera(
+ // NOTE: For y2023, with no turret, pivot == imu
+
+ // Define the mapping that takes imu frame (with z up) to camera frame (with z
+ // pointing out)
+ const Eigen::Quaterniond R_precam_cam(
+ Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()) *
+ Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitZ()));
+ // Set up initial conditions for the pis that are reasonable
+ Eigen::Quaternion<double> nominal_initial_orientation(
+ Eigen::AngleAxisd(0.0, Eigen::Vector3d::UnitZ()));
+ Eigen::Quaternion<double> nominal_pivot_to_camera(
+ Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()) *
+ Eigen::AngleAxisd(-0.75 * M_PI, Eigen::Vector3d::UnitY()));
+ Eigen::Vector3d nominal_pivot_to_camera_translation(8.0, 8.0, 0.0);
+ Eigen::Quaternion<double> nominal_board_to_world(
Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
- const Eigen::Quaternion<double> nominal_board_to_world(
- Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
Eigen::Matrix<double, 6, 1> nominal_initial_state =
Eigen::Matrix<double, 6, 1>::Zero();
- // Set x value to 0.5 m (center view on the board)
- // nominal_initial_state(0, 0) = 0.5;
- // Set y value to -1 m (approx distance from imu to board/world)
- nominal_initial_state(1, 0) = -1.0;
+ // Set y value to -1 m (approx distance from imu to the board/world)
+ nominal_initial_state(1, 0) = 1.0;
CalibrationParameters calibration_parameters;
calibration_parameters.initial_orientation = nominal_initial_orientation;
calibration_parameters.pivot_to_camera = nominal_pivot_to_camera;
+ calibration_parameters.pivot_to_camera_translation =
+ nominal_pivot_to_camera_translation;
+ // Board to world rotation
calibration_parameters.board_to_world = nominal_board_to_world;
+ // Initial imu location (and velocity)
calibration_parameters.initial_state = nominal_initial_state;
calibration_parameters.has_pivot = false;
- // Show the inverse of pivot_to_camera, since camera_to_pivot tells where the
- // camera is with respect to the pivot frame
+ // Show the inverse of pivot_to_camera, since camera_to_pivot tells where
+ // the camera is with respect to the pivot frame
const Eigen::Affine3d nominal_affine_pivot_to_camera =
Eigen::Translation3d(calibration_parameters.pivot_to_camera_translation) *
nominal_pivot_to_camera;
@@ -156,22 +176,20 @@
LOG(INFO) << "Initial Conditions for solver. Assumes:\n"
<< "1) board origin is same as world, but rotated pi/2 about "
"x-axis, so z points out\n"
- << "2) pivot origin matches imu origin\n"
+ << "2) pivot origin matches imu origin (since there's no turret)\n"
<< "3) camera is offset from pivot (depends on which camera)";
- LOG(INFO)
- << "Nominal initial_orientation of imu w.r.t. world (angle-axis vector): "
- << frc971::controls::ToRotationVectorFromQuaternion(
- nominal_initial_orientation)
- .transpose();
+ LOG(INFO) << "Nominal initial_orientation of imu w.r.t. world "
+ "(angle-axis vector): "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ nominal_initial_orientation)
+ .transpose();
LOG(INFO) << "Nominal initial_state: \n"
<< "Position: "
<< nominal_initial_state.block<3, 1>(0, 0).transpose() << "\n"
<< "Velocity: "
<< nominal_initial_state.block<3, 1>(3, 0).transpose();
- // TODO<Jim>: Might be nice to take out the rotation component that maps into
- // camera image coordinates (with x right, y down, z forward)
- LOG(INFO) << "Nominal camera_to_pivot (angle-axis vector): "
+ LOG(INFO) << "Nominal camera_to_pivot rotation (angle-axis vector): "
<< frc971::controls::ToRotationVectorFromQuaternion(
nominal_camera_to_pivot_rotation)
.transpose();
@@ -188,17 +206,20 @@
if (!FLAGS_output_calibration.empty()) {
aos::WriteFlatbufferToJson(FLAGS_output_calibration, merged_calibration);
+ } else {
+ LOG(WARNING) << "Calibration filename not provided, so not saving it";
}
LOG(INFO) << "RESULTS OF CALIBRATION SOLVER:";
std::cout << aos::FlatbufferToJson(&merged_calibration.message())
<< std::endl;
+
LOG(INFO) << "initial_orientation of imu w.r.t. world (angle-axis vector): "
<< frc971::controls::ToRotationVectorFromQuaternion(
calibration_parameters.initial_orientation)
.transpose();
LOG(INFO)
- << "initial_state: \n"
+ << "initial_state (imu): \n"
<< "Position: "
<< calibration_parameters.initial_state.block<3, 1>(0, 0).transpose()
<< "\n"
@@ -208,15 +229,17 @@
const Eigen::Affine3d affine_pivot_to_camera =
Eigen::Translation3d(calibration_parameters.pivot_to_camera_translation) *
calibration_parameters.pivot_to_camera;
+ const Eigen::Affine3d affine_camera_to_pivot =
+ affine_pivot_to_camera.inverse();
const Eigen::Quaterniond camera_to_pivot_rotation(
- affine_pivot_to_camera.inverse().rotation());
+ affine_camera_to_pivot.rotation());
const Eigen::Vector3d camera_to_pivot_translation(
- affine_pivot_to_camera.inverse().translation());
- LOG(INFO) << "camera to pivot (angle-axis vec): "
+ affine_camera_to_pivot.translation());
+ LOG(INFO) << "camera to pivot(imu) rotation (angle-axis vec): "
<< frc971::controls::ToRotationVectorFromQuaternion(
camera_to_pivot_rotation)
.transpose();
- LOG(INFO) << "camera to pivot translation: "
+ LOG(INFO) << "camera to pivot(imu) translation: "
<< camera_to_pivot_translation.transpose();
LOG(INFO) << "board_to_world (rotation) "
<< frc971::controls::ToRotationVectorFromQuaternion(
@@ -227,12 +250,24 @@
LOG(INFO) << "gyro_bias " << calibration_parameters.gyro_bias.transpose();
LOG(INFO) << "gravity " << 9.81 * calibration_parameters.gravity_scalar;
- LOG(INFO) << "pivot_to_camera change "
+ LOG(INFO) << "Checking delta from nominal (initial condition) to solved "
+ "values:";
+ LOG(INFO) << "nominal_pivot_to_camera rotation: "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ R_precam_cam * nominal_pivot_to_camera)
+ .transpose();
+ LOG(INFO) << "solved pivot_to_camera rotation: "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ R_precam_cam * calibration_parameters.pivot_to_camera)
+ .transpose();
+
+ LOG(INFO) << "pivot_to_camera rotation delta (zero if the IC's match the "
+ "solved value) "
<< frc971::controls::ToRotationVectorFromQuaternion(
calibration_parameters.pivot_to_camera *
nominal_pivot_to_camera.inverse())
.transpose();
- LOG(INFO) << "board_to_world delta "
+ LOG(INFO) << "board_to_world rotation change "
<< frc971::controls::ToRotationVectorFromQuaternion(
calibration_parameters.board_to_world *
nominal_board_to_world.inverse())
diff --git a/y2023/vision/target_mapping.cc b/y2023/vision/target_mapping.cc
index 921c172..419bd38 100644
--- a/y2023/vision/target_mapping.cc
+++ b/y2023/vision/target_mapping.cc
@@ -86,7 +86,7 @@
auto detector_ptr = std::make_unique<AprilRoboticsDetector>(
detection_event_loop, kImageChannel);
// Get the camera extrinsics
- cv::Mat extrinsics_cv = detector_ptr->extrinsics();
+ cv::Mat extrinsics_cv = detector_ptr->extrinsics().value();
Eigen::Matrix4d extrinsics_matrix;
cv::cv2eigen(extrinsics_cv, extrinsics_matrix);
const auto extrinsics = Eigen::Affine3d(extrinsics_matrix);
diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
index 68495b1..7877a57 100644
--- a/y2023/vision/viewer.cc
+++ b/y2023/vision/viewer.cc
@@ -6,7 +6,12 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"
+#include "frc971/constants/constants_sender_lib.h"
#include "frc971/vision/vision_generated.h"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/imgproc.hpp"
+#include "y2023/vision/april_debug_generated.h"
+#include "y2023/vision/vision_util.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_string(channel, "/camera", "Channel name for the image.");
@@ -16,23 +21,32 @@
DEFINE_int32(rate, 100, "Time in milliseconds to wait between images");
-namespace frc971 {
+namespace y2023 {
namespace vision {
namespace {
-aos::Fetcher<CameraImage> image_fetcher;
-bool DisplayLoop() {
+using frc971::vision::CameraImage;
+
+bool DisplayLoop(const cv::Mat intrinsics, const cv::Mat dist_coeffs,
+ aos::Fetcher<CameraImage> *image_fetcher,
+ aos::Fetcher<AprilDebug> *april_debug_fetcher) {
const CameraImage *image;
+ std::optional<const AprilDebug *> april_debug = std::nullopt;
// Read next image
- if (!image_fetcher.Fetch()) {
+ if (!image_fetcher->Fetch()) {
VLOG(2) << "Couldn't fetch next image";
return true;
}
-
- image = image_fetcher.get();
+ image = image_fetcher->get();
CHECK(image != nullptr) << "Couldn't read image";
+ if (april_debug_fetcher->Fetch()) {
+ april_debug = april_debug_fetcher->get();
+ } else {
+ VLOG(2) << "Couldn't fetch next target map";
+ }
+
// Create color image:
cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
(void *)image->data()->data());
@@ -41,7 +55,8 @@
if (!FLAGS_capture.empty()) {
if (absl::EndsWith(FLAGS_capture, ".bfbs")) {
- aos::WriteFlatbufferToFile(FLAGS_capture, image_fetcher.CopyFlatBuffer());
+ aos::WriteFlatbufferToFile(FLAGS_capture,
+ image_fetcher->CopyFlatBuffer());
} else {
cv::imwrite(FLAGS_capture, bgr_image);
}
@@ -49,7 +64,21 @@
return false;
}
- cv::imshow("Display", bgr_image);
+ cv::Mat undistorted_image;
+ cv::undistort(bgr_image, undistorted_image, intrinsics, dist_coeffs);
+
+ if (april_debug.has_value() && april_debug.value()->corners()->size() > 0) {
+ for (const auto *corners : *april_debug.value()->corners()) {
+ std::vector<cv::Point> points;
+ for (const auto *point_fbs : *corners->points()) {
+ points.emplace_back(point_fbs->x(), point_fbs->y());
+ }
+ cv::polylines(undistorted_image, points, true, cv::Scalar(255, 0, 0), 10);
+ }
+ }
+
+ cv::imshow("Display", undistorted_image);
+
int keystroke = cv::waitKey(1);
if ((keystroke & 0xFF) == static_cast<int>('c')) {
// Convert again, to get clean image
@@ -68,14 +97,26 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
+ frc971::constants::WaitForConstants<Constants>(&config.message());
+
aos::ShmEventLoop event_loop(&config.message());
- image_fetcher = event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+ frc971::constants::ConstantsFetcher<Constants> constants_fetcher(&event_loop);
+ const auto *calibration_data = FindCameraCalibration(
+ constants_fetcher.constants(), event_loop.node()->name()->string_view());
+ const cv::Mat intrinsics = CameraIntrinsics(calibration_data);
+ const cv::Mat dist_coeffs = CameraDistCoeffs(calibration_data);
+
+ aos::Fetcher<CameraImage> image_fetcher =
+ event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+ aos::Fetcher<AprilDebug> april_debug_fetcher =
+ event_loop.MakeFetcher<AprilDebug>("/camera");
// Run the display loop
event_loop.AddPhasedLoop(
- [&event_loop](int) {
- if (!DisplayLoop()) {
+ [&](int) {
+ if (!DisplayLoop(intrinsics, dist_coeffs, &image_fetcher,
+ &april_debug_fetcher)) {
LOG(INFO) << "Calling event_loop Exit";
event_loop.Exit();
};
@@ -89,9 +130,9 @@
} // namespace
} // namespace vision
-} // namespace frc971
+} // namespace y2023
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- frc971::vision::ViewerMain();
+ y2023::vision::ViewerMain();
}
diff --git a/y2023/vision/vision_util.cc b/y2023/vision/vision_util.cc
index f4937e5..ca5ad89 100644
--- a/y2023/vision/vision_util.cc
+++ b/y2023/vision/vision_util.cc
@@ -18,11 +18,15 @@
LOG(FATAL) << ": Failed to find camera calibration for " << node_name;
}
-cv::Mat CameraExtrinsics(
+std::optional<cv::Mat> CameraExtrinsics(
const frc971::vision::calibration::CameraCalibration *camera_calibration) {
CHECK(!camera_calibration->has_turret_extrinsics())
<< "No turret on 2023 robot";
+ if (!camera_calibration->has_fixed_extrinsics()) {
+ return std::nullopt;
+ }
+ CHECK(camera_calibration->fixed_extrinsics()->has_data());
cv::Mat result(4, 4, CV_32F,
const_cast<void *>(static_cast<const void *>(
camera_calibration->fixed_extrinsics()->data()->data())));
diff --git a/y2023/vision/vision_util.h b/y2023/vision/vision_util.h
index ce1a69d..79f5c92 100644
--- a/y2023/vision/vision_util.h
+++ b/y2023/vision/vision_util.h
@@ -10,7 +10,7 @@
const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
const y2023::Constants &calibration_data, std::string_view node_name);
-cv::Mat CameraExtrinsics(
+std::optional<cv::Mat> CameraExtrinsics(
const frc971::vision::calibration::CameraCalibration *camera_calibration);
cv::Mat CameraIntrinsics(
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 77ff5af..3ccb036 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -23,6 +23,7 @@
#undef ERROR
#include "aos/commonmath.h"
+#include "aos/containers/sized_array.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
@@ -32,8 +33,10 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
+#include "ctre/phoenix/cci/Diagnostics_CCI.h"
#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+#include "ctre/phoenixpro/TalonFX.hpp"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
@@ -51,12 +54,18 @@
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2023/constants.h"
+#include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "y2023/control_loops/superstructure/superstructure_output_generated.h"
#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
+DEFINE_bool(ctre_diag_server, false,
+ "If true, enable the diagnostics server for interacting with "
+ "devices on the CAN bus using Phoenix Tuner");
+
using ::aos::monotonic_clock;
using ::y2023::constants::Values;
namespace superstructure = ::y2023::control_loops::superstructure;
+namespace drivetrain = ::y2023::control_loops::drivetrain;
namespace chrono = ::std::chrono;
using std::make_unique;
@@ -77,12 +86,27 @@
control_loops::drivetrain::kWheelRadius;
}
-constexpr double kMaxFastEncoderPulsesPerSecond =
- /*std::max({*/ Values::kMaxDrivetrainEncoderPulsesPerSecond() /*,
- Values::kMaxIntakeEncoderPulsesPerSecond()})*/
- ;
-/*static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
- "fast encoders are too fast");*/
+double proximal_pot_translate(double voltage) {
+ return voltage * Values::kProximalPotRadiansPerVolt();
+}
+
+double distal_pot_translate(double voltage) {
+ return voltage * Values::kDistalPotRadiansPerVolt();
+}
+
+double roll_joint_pot_translate(double voltage) {
+ return voltage * Values::kRollJointPotRadiansPerVolt();
+}
+
+constexpr double kMaxFastEncoderPulsesPerSecond = std::max({
+ Values::kMaxDrivetrainEncoderPulsesPerSecond(),
+ Values::kMaxProximalEncoderPulsesPerSecond(),
+ Values::kMaxDistalEncoderPulsesPerSecond(),
+ Values::kMaxRollJointEncoderPulsesPerSecond(),
+ Values::kMaxWristEncoderPulsesPerSecond(),
+});
+static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
+ "fast encoders are too fast");
} // namespace
@@ -122,9 +146,59 @@
autonomous_modes_.at(i) = ::std::move(sensor);
}
+ void set_heading_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_heading_input_ = ::std::move(sensor);
+ imu_heading_reader_.set_input(imu_heading_input_.get());
+ }
+
+ void set_yaw_rate_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_yaw_rate_input_ = ::std::move(sensor);
+ imu_yaw_rate_reader_.set_input(imu_yaw_rate_input_.get());
+ }
+
void RunIteration() override {
superstructure_reading_->Set(true);
- { auto builder = superstructure_position_sender_.MakeBuilder(); }
+ {
+ auto builder = superstructure_position_sender_.MakeBuilder();
+ frc971::PotAndAbsolutePositionT proximal;
+ CopyPosition(proximal_encoder_, &proximal,
+ Values::kProximalEncoderCountsPerRevolution(),
+ Values::kProximalEncoderRatio(), proximal_pot_translate,
+ true, values_->arm_proximal.potentiometer_offset);
+ frc971::PotAndAbsolutePositionT distal;
+ CopyPosition(distal_encoder_, &distal,
+ Values::kDistalEncoderCountsPerRevolution(),
+ Values::kDistalEncoderRatio(), distal_pot_translate, true,
+ values_->arm_distal.potentiometer_offset);
+ frc971::PotAndAbsolutePositionT roll_joint;
+ CopyPosition(roll_joint_encoder_, &roll_joint,
+ Values::kRollJointEncoderCountsPerRevolution(),
+ Values::kRollJointEncoderRatio(), roll_joint_pot_translate,
+ true, values_->roll_joint.potentiometer_offset);
+ frc971::AbsolutePositionT wrist;
+ CopyPosition(wrist_encoder_, &wrist,
+ Values::kWristEncoderCountsPerRevolution(),
+ Values::kWristEncoderRatio(), false);
+
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> proximal_offset =
+ frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &proximal);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> distal_offset =
+ frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &distal);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> roll_joint_offset =
+ frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &roll_joint);
+ flatbuffers::Offset<superstructure::ArmPosition> arm_offset =
+ superstructure::CreateArmPosition(*builder.fbb(), proximal_offset,
+ distal_offset, roll_joint_offset);
+ flatbuffers::Offset<frc971::AbsolutePosition> wrist_offset =
+ frc971::AbsolutePosition::Pack(*builder.fbb(), &wrist);
+
+ superstructure::Position::Builder position_builder =
+ builder.MakeBuilder<superstructure::Position>();
+
+ position_builder.add_arm(arm_offset);
+ position_builder.add_wrist(wrist_offset);
+ builder.CheckOk(builder.Send(position_builder.Finish()));
+ }
{
auto builder = drivetrain_position_sender_.MakeBuilder();
@@ -209,6 +283,61 @@
superstructure_reading_ = superstructure_reading;
}
+ void set_proximal_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ proximal_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_proximal_absolute_pwm(
+ ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ proximal_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
+ }
+
+ void set_proximal_potentiometer(
+ ::std::unique_ptr<frc::AnalogInput> potentiometer) {
+ proximal_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_distal_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ distal_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_distal_absolute_pwm(
+ ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ distal_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
+ }
+
+ void set_distal_potentiometer(
+ ::std::unique_ptr<frc::AnalogInput> potentiometer) {
+ distal_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_roll_joint_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ roll_joint_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_roll_joint_absolute_pwm(
+ ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ roll_joint_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
+ }
+
+ void set_roll_joint_potentiometer(
+ ::std::unique_ptr<frc::AnalogInput> potentiometer) {
+ roll_joint_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_wrist_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ wrist_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_wrist_absolute_pwm(
+ ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ wrist_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
+ }
+
private:
std::shared_ptr<const Values> values_;
@@ -220,7 +349,13 @@
std::array<std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
+ std::unique_ptr<frc::DigitalInput> imu_heading_input_, imu_yaw_rate_input_;
+
frc971::wpilib::DMAPulseWidthReader imu_heading_reader_, imu_yaw_rate_reader_;
+
+ frc971::wpilib::AbsoluteEncoderAndPotentiometer proximal_encoder_,
+ distal_encoder_, roll_joint_encoder_;
+ frc971::wpilib::AbsoluteEncoder wrist_encoder_;
};
class SuperstructureWriter
@@ -237,10 +372,55 @@
superstructure_reading_ = superstructure_reading;
}
- private:
- void Stop() override { AOS_LOG(WARNING, "Superstructure output too old.\n"); }
+ void set_proximal_falcon(::std::unique_ptr<::frc::TalonFX> t) {
+ proximal_falcon_ = ::std::move(t);
+ }
- void Write(const superstructure::Output &output) override { (void)output; }
+ void set_distal_falcon(::std::unique_ptr<::frc::TalonFX> t) {
+ distal_falcon_ = ::std::move(t);
+ }
+
+ void set_roll_joint_victor(::std::unique_ptr<::frc::VictorSP> t) {
+ roll_joint_victor_ = ::std::move(t);
+ }
+
+ void set_wrist_victor(::std::unique_ptr<::frc::VictorSP> t) {
+ wrist_victor_ = ::std::move(t);
+ }
+
+ void set_roller_falcon(
+ ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t) {
+ roller_falcon_ = ::std::move(t);
+ roller_falcon_->ConfigSupplyCurrentLimit(
+ {true, Values::kRollerSupplyCurrentLimit(),
+ Values::kRollerSupplyCurrentLimit(), 0});
+ roller_falcon_->ConfigStatorCurrentLimit(
+ {true, Values::kRollerStatorCurrentLimit(),
+ Values::kRollerStatorCurrentLimit(), 0});
+ }
+
+ private:
+ void Stop() override {
+ AOS_LOG(WARNING, "Superstructure output too old.\n");
+ proximal_falcon_->SetDisabled();
+ distal_falcon_->SetDisabled();
+ roll_joint_victor_->SetDisabled();
+ wrist_victor_->SetDisabled();
+ if (roller_falcon_) {
+ roller_falcon_->Set(ctre::phoenix::motorcontrol::ControlMode::Disabled,
+ 0);
+ }
+ }
+
+ void Write(const superstructure::Output &output) override {
+ WritePwm(output.proximal_voltage(), proximal_falcon_.get());
+ WritePwm(output.distal_voltage(), distal_falcon_.get());
+ WritePwm(-output.roll_joint_voltage(), roll_joint_victor_.get());
+ WritePwm(output.wrist_voltage(), wrist_victor_.get());
+ if (roller_falcon_) {
+ WriteCan(output.roller_voltage(), roller_falcon_.get());
+ }
+ }
static void WriteCan(const double voltage,
::ctre::phoenix::motorcontrol::can::TalonFX *falcon) {
@@ -254,8 +434,333 @@
motor->SetSpeed(std::clamp(voltage, -kMaxBringupPower, kMaxBringupPower) /
12.0);
}
+
+ ::std::unique_ptr<::frc::TalonFX> proximal_falcon_, distal_falcon_;
+ ::std::unique_ptr<::frc::VictorSP> roll_joint_victor_, wrist_victor_;
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> roller_falcon_;
};
+static constexpr int kCANFalconCount = 6;
+static constexpr int kCANSignalsCount = 4;
+static constexpr units::frequency::hertz_t kCANUpdateFreqHz = 200_Hz;
+
+class Falcon {
+ public:
+ Falcon(int device_id, std::string canbus,
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount> *signals)
+ : talon_(device_id, canbus),
+ device_id_(device_id),
+ device_temp_(talon_.GetDeviceTemp()),
+ supply_voltage_(talon_.GetSupplyVoltage()),
+ supply_current_(talon_.GetSupplyCurrent()),
+ torque_current_(talon_.GetTorqueCurrent()),
+ position_(talon_.GetPosition()) {
+ // device temp is not timesynced so don't add it to the list of signals
+ device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
+
+ CHECK_EQ(kCANSignalsCount, 4);
+ CHECK_NOTNULL(signals);
+ CHECK_LE(signals->size() + 4u, signals->capacity());
+
+ supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&supply_voltage_);
+
+ supply_current_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&supply_current_);
+
+ torque_current_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&torque_current_);
+
+ position_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&position_);
+ }
+
+ void WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert) {
+ inverted_ = invert;
+
+ ctre::phoenixpro::configs::CurrentLimitsConfigs current_limits;
+ current_limits.StatorCurrentLimit =
+ constants::Values::kDrivetrainStatorCurrentLimit();
+ current_limits.StatorCurrentLimitEnable = true;
+ current_limits.SupplyCurrentLimit =
+ constants::Values::kDrivetrainSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimitEnable = true;
+
+ ctre::phoenixpro::configs::MotorOutputConfigs output_configs;
+ output_configs.NeutralMode =
+ ctre::phoenixpro::signals::NeutralModeValue::Brake;
+ output_configs.DutyCycleNeutralDeadband = 0;
+
+ output_configs.Inverted = inverted_;
+
+ ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ configuration.CurrentLimits = current_limits;
+ configuration.MotorOutput = output_configs;
+
+ ctre::phoenix::StatusCode status =
+ talon_.GetConfigurator().Apply(configuration);
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to set falcon configuration: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+
+ ctre::phoenixpro::hardware::TalonFX *talon() { return &talon_; }
+
+ flatbuffers::Offset<drivetrain::CANFalcon> WritePosition(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ drivetrain::CANFalcon::Builder builder(*fbb);
+ builder.add_id(device_id_);
+ builder.add_device_temp(device_temp_.GetValue().value());
+ builder.add_supply_voltage(supply_voltage_.GetValue().value());
+ builder.add_supply_current(supply_current_.GetValue().value());
+ builder.add_torque_current(torque_current_.GetValue().value());
+
+ double invert =
+ (inverted_ ==
+ ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive
+ ? 1
+ : -1);
+
+ builder.add_position(constants::Values::DrivetrainCANEncoderToMeters(
+ position_.GetValue().value()) *
+ invert);
+
+ return builder.Finish();
+ }
+
+ // returns the monotonic timestamp of the latest timesynced reading in the
+ // timebase of the the syncronized CAN bus clock.
+ int64_t GetTimestamp() {
+ std::chrono::nanoseconds latest_timestamp =
+ torque_current_.GetTimestamp().GetTime();
+
+ return latest_timestamp.count();
+ }
+
+ void RefreshNontimesyncedSignals() { device_temp_.Refresh(); };
+
+ private:
+ ctre::phoenixpro::hardware::TalonFX talon_;
+ int device_id_;
+
+ ctre::phoenixpro::signals::InvertedValue inverted_;
+
+ ctre::phoenixpro::StatusSignalValue<units::temperature::celsius_t>
+ device_temp_;
+ ctre::phoenixpro::StatusSignalValue<units::voltage::volt_t> supply_voltage_;
+ ctre::phoenixpro::StatusSignalValue<units::current::ampere_t> supply_current_,
+ torque_current_;
+ ctre::phoenixpro::StatusSignalValue<units::angle::turn_t> position_;
+};
+
+class CANSensorReader {
+ public:
+ CANSensorReader(aos::EventLoop *event_loop)
+ : event_loop_(event_loop),
+ can_position_sender_(
+ event_loop->MakeSender<drivetrain::CANPosition>("/drivetrain")) {
+ event_loop->SetRuntimeRealtimePriority(35);
+ timer_handler_ = event_loop->AddTimer([this]() { Loop(); });
+ timer_handler_->set_name("CANSensorReader Loop");
+
+ event_loop->OnRun([this]() {
+ timer_handler_->Setup(event_loop_->monotonic_now(), 1 / kCANUpdateFreqHz);
+ });
+ }
+
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount>
+ *get_signals_registry() {
+ return &signals_;
+ };
+
+ void set_falcons(std::shared_ptr<Falcon> right_front,
+ std::shared_ptr<Falcon> right_back,
+ std::shared_ptr<Falcon> right_under,
+ std::shared_ptr<Falcon> left_front,
+ std::shared_ptr<Falcon> left_back,
+ std::shared_ptr<Falcon> left_under) {
+ right_front_ = std::move(right_front);
+ right_back_ = std::move(right_back);
+ right_under_ = std::move(right_under);
+ left_front_ = std::move(left_front);
+ left_back_ = std::move(left_back);
+ left_under_ = std::move(left_under);
+ }
+
+ private:
+ void Loop() {
+ CHECK_EQ(signals_.size(), 24u);
+ ctre::phoenix::StatusCode status =
+ ctre::phoenixpro::BaseStatusSignalValue::WaitForAll(
+ 2000_ms, {signals_[0], signals_[1], signals_[2], signals_[3],
+ signals_[4], signals_[5], signals_[6], signals_[7],
+ signals_[8], signals_[9], signals_[10], signals_[11],
+ signals_[12], signals_[13], signals_[14], signals_[15],
+ signals_[16], signals_[17], signals_[18], signals_[19],
+ signals_[20], signals_[21], signals_[22], signals_[23]});
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to read signals from falcons: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+
+ auto builder = can_position_sender_.MakeBuilder();
+
+ for (auto falcon : {right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_}) {
+ falcon->RefreshNontimesyncedSignals();
+ }
+
+ aos::SizedArray<flatbuffers::Offset<drivetrain::CANFalcon>, kCANFalconCount>
+ falcons;
+
+ for (auto falcon : {right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_}) {
+ falcons.push_back(falcon->WritePosition(builder.fbb()));
+ }
+
+ auto falcons_list =
+ builder.fbb()->CreateVector<flatbuffers::Offset<drivetrain::CANFalcon>>(
+ falcons);
+
+ drivetrain::CANPosition::Builder can_position_builder =
+ builder.MakeBuilder<drivetrain::CANPosition>();
+
+ can_position_builder.add_falcons(falcons_list);
+ can_position_builder.add_timestamp(right_front_->GetTimestamp());
+ can_position_builder.add_status(static_cast<int>(status));
+
+ builder.CheckOk(builder.Send(can_position_builder.Finish()));
+ }
+
+ aos::EventLoop *event_loop_;
+
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount>
+ signals_;
+ aos::Sender<drivetrain::CANPosition> can_position_sender_;
+
+ std::shared_ptr<Falcon> right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_;
+
+ // Pointer to the timer handler used to modify the wakeup.
+ ::aos::TimerHandler *timer_handler_;
+};
+
+class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler<
+ ::frc971::control_loops::drivetrain::Output> {
+ public:
+ DrivetrainWriter(::aos::EventLoop *event_loop)
+ : ::frc971::wpilib::LoopOutputHandler<
+ ::frc971::control_loops::drivetrain::Output>(event_loop,
+ "/drivetrain") {
+ event_loop->SetRuntimeRealtimePriority(
+ constants::Values::kDrivetrainWriterPriority);
+
+ if (!FLAGS_ctre_diag_server) {
+ c_Phoenix_Diagnostics_SetSecondsToStart(-1);
+ c_Phoenix_Diagnostics_Dispose();
+ }
+
+ ctre::phoenix::platform::can::CANComm_SetRxSchedPriority(
+ constants::Values::kDrivetrainRxPriority, true, "Drivetrain Bus");
+ ctre::phoenix::platform::can::CANComm_SetTxSchedPriority(
+ constants::Values::kDrivetrainTxPriority, true, "Drivetrain Bus");
+
+ event_loop->OnRun([this]() { WriteConfigs(); });
+ }
+
+ void set_falcons(std::shared_ptr<Falcon> right_front,
+ std::shared_ptr<Falcon> right_back,
+ std::shared_ptr<Falcon> right_under,
+ std::shared_ptr<Falcon> left_front,
+ std::shared_ptr<Falcon> left_back,
+ std::shared_ptr<Falcon> left_under) {
+ right_front_ = std::move(right_front);
+ right_back_ = std::move(right_back);
+ right_under_ = std::move(right_under);
+ left_front_ = std::move(left_front);
+ left_back_ = std::move(left_back);
+ left_under_ = std::move(left_under);
+ }
+
+ void set_right_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ right_inverted_ = invert;
+ }
+
+ void set_left_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ left_inverted_ = invert;
+ }
+
+ private:
+ void WriteConfigs() {
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get()}) {
+ falcon->WriteConfigs(right_inverted_);
+ }
+
+ for (auto falcon :
+ {left_front_.get(), left_back_.get(), left_under_.get()}) {
+ falcon->WriteConfigs(left_inverted_);
+ }
+ }
+
+ void Write(
+ const ::frc971::control_loops::drivetrain::Output &output) override {
+ ctre::phoenixpro::controls::DutyCycleOut left_control(
+ SafeSpeed(output.left_voltage()));
+ left_control.UpdateFreqHz = 0_Hz;
+ left_control.EnableFOC = true;
+
+ ctre::phoenixpro::controls::DutyCycleOut right_control(
+ SafeSpeed(output.right_voltage()));
+ right_control.UpdateFreqHz = 0_Hz;
+ right_control.EnableFOC = true;
+
+ for (auto falcon :
+ {left_front_.get(), left_back_.get(), left_under_.get()}) {
+ ctre::phoenix::StatusCode status =
+ falcon->talon()->SetControl(left_control);
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to write control to falcon: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get()}) {
+ ctre::phoenix::StatusCode status =
+ falcon->talon()->SetControl(right_control);
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to write control to falcon: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+ }
+
+ void Stop() override {
+ AOS_LOG(WARNING, "drivetrain output too old\n");
+ ctre::phoenixpro::controls::NeutralOut stop_command;
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get(),
+ left_front_.get(), left_back_.get(), left_under_.get()}) {
+ falcon->talon()->SetControl(stop_command);
+ }
+ }
+
+ double SafeSpeed(double voltage) {
+ return (::aos::Clip(voltage, -kMaxBringupPower, kMaxBringupPower) / 12.0);
+ }
+
+ ctre::phoenixpro::signals::InvertedValue left_inverted_, right_inverted_;
+ std::shared_ptr<Falcon> right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_;
+};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
@@ -272,6 +777,11 @@
aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
+ ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
+ ::frc971::wpilib::JoystickSender joystick_sender(
+ &joystick_sender_event_loop);
+ AddLoop(&joystick_sender_event_loop);
+
// Thread 2.
::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
@@ -287,15 +797,72 @@
sensor_reader.set_drivetrain_left_encoder(make_encoder(1));
sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
sensor_reader.set_superstructure_reading(superstructure_reading);
+ sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(1));
+ sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(0));
+
+ sensor_reader.set_proximal_encoder(make_encoder(3));
+ sensor_reader.set_proximal_absolute_pwm(make_unique<frc::DigitalInput>(3));
+ sensor_reader.set_proximal_potentiometer(make_unique<frc::AnalogInput>(3));
+
+ sensor_reader.set_distal_encoder(make_encoder(2));
+ sensor_reader.set_distal_absolute_pwm(make_unique<frc::DigitalInput>(2));
+ sensor_reader.set_distal_potentiometer(make_unique<frc::AnalogInput>(2));
+
+ sensor_reader.set_roll_joint_encoder(make_encoder(5));
+ sensor_reader.set_roll_joint_absolute_pwm(
+ make_unique<frc::DigitalInput>(5));
+ sensor_reader.set_roll_joint_potentiometer(
+ make_unique<frc::AnalogInput>(5));
+
+ sensor_reader.set_wrist_encoder(make_encoder(4));
+ sensor_reader.set_wrist_absolute_pwm(make_unique<frc::DigitalInput>(4));
AddLoop(&sensor_reader_event_loop);
// Thread 4.
- ::aos::ShmEventLoop output_event_loop(&config.message());
- ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
+ ::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ CANSensorReader can_sensor_reader(&can_sensor_reader_event_loop);
+ std::shared_ptr<Falcon> right_front = std::make_shared<Falcon>(
+ 1, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> right_back = std::make_shared<Falcon>(
+ 2, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> right_under = std::make_shared<Falcon>(
+ 3, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_front = std::make_shared<Falcon>(
+ 4, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_back = std::make_shared<Falcon>(
+ 5, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_under = std::make_shared<Falcon>(
+ 6, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+
+ can_sensor_reader.set_falcons(right_front, right_back, right_under,
+ left_front, left_back, left_under);
+
+ AddLoop(&can_sensor_reader_event_loop);
+
+ // Thread 5.
+ ::aos::ShmEventLoop output_event_loop(&config.message());
+ DrivetrainWriter drivetrain_writer(&output_event_loop);
+
+ drivetrain_writer.set_falcons(right_front, right_back, right_under,
+ left_front, left_back, left_under);
+ drivetrain_writer.set_right_inverted(
+ ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive);
+ drivetrain_writer.set_left_inverted(
+ ctre::phoenixpro::signals::InvertedValue::CounterClockwise_Positive);
SuperstructureWriter superstructure_writer(&output_event_loop);
+ superstructure_writer.set_proximal_falcon(make_unique<::frc::TalonFX>(1));
+ superstructure_writer.set_distal_falcon(make_unique<::frc::TalonFX>(0));
+
+ superstructure_writer.set_roll_joint_victor(
+ make_unique<::frc::VictorSP>(3));
+ superstructure_writer.set_wrist_victor(make_unique<::frc::VictorSP>(2));
+
+ superstructure_writer.set_roller_falcon(
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
+
superstructure_writer.set_superstructure_reading(superstructure_reading);
AddLoop(&output_event_loop);
diff --git a/y2023/www/BUILD b/y2023/www/BUILD
index 5dae3c6..539fa6d 100644
--- a/y2023/www/BUILD
+++ b/y2023/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
filegroup(
@@ -12,7 +11,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
diff --git a/y2023/www/field_main.ts b/y2023/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2023/www/field_main.ts
+++ b/y2023/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2023/y2023.json b/y2023/y2023.json
index cdac47c..d5f9462 100644
--- a/y2023/y2023.json
+++ b/y2023/y2023.json
@@ -1,5 +1,5 @@
{
- "channel_storage_duration": 8000000000,
+ "channel_storage_duration": 10000000000,
"maps": [
{
"match": {
diff --git a/y2023/y2023_imu.json b/y2023/y2023_imu.json
index 6940479..b521e07 100644
--- a/y2023/y2023_imu.json
+++ b/y2023/y2023_imu.json
@@ -392,12 +392,12 @@
"nodes": [
{
"name": "imu",
- "hostname": "imu",
+ "hostname": "pi6",
"hostnames": [
- "pi-971-5",
- "pi-7971-5",
- "pi-8971-5",
- "pi-9971-5"
+ "pi-971-6",
+ "pi-7971-6",
+ "pi-8971-6",
+ "pi-9971-6"
],
"port": 9971
},
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index c73379d..5386a1d 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -368,13 +368,12 @@
{
"name": "/logger/camera",
"type": "frc971.vision.CameraImage",
- "logger": "NOT_LOGGED",
"source_node": "logger",
- "frequency": 100,
- "max_size": 2600000,
+ "frequency": 40,
+ "max_size": 1843456,
"num_readers": 4,
"read_method": "PIN",
- "num_senders": 1
+ "num_senders": 18
},
{
"name": "/logger/camera/downsized",
@@ -443,30 +442,23 @@
],
"applications": [
{
- "name": "logger_message_bridge_client",
- "autostart": false,
- "executable_name": "message_bridge_client.sh",
- "args": [
- "--rmem=8388608",
- "--rt_priority=16"
- ],
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "user": "pi",
"nodes": [
"logger"
]
},
{
- "name": "logger_message_bridge_server",
+ "name": "message_bridge_server",
"executable_name": "message_bridge_server",
- "autostart": false,
- "args": [
- "--rt_priority=16"
- ],
+ "user": "pi",
"nodes": [
"logger"
]
},
{
- "name": "camera_reader",
+ "name": "logger_camera_reader",
"executable_name": "camera_reader",
"args": ["--enable_ftrace", "--send_downsized_images"],
"nodes": [
@@ -508,14 +500,11 @@
"nodes": [
{
"name": "logger",
- "hostname": "pi6",
+ "hostname": "pi5",
"hostnames": [
- "pi-971-6",
- "pi-9971-6",
- "pi-7971-6",
- "ASchuh-T480s",
- "tarvalon",
- "aschuh-3950x"
+ "pi-971-5",
+ "pi-9971-5",
+ "pi-7971-5"
],
"port": 9971
},
diff --git a/y2023/y2023_roborio.json b/y2023/y2023_roborio.json
index 572aadc..09873dc 100644
--- a/y2023/y2023_roborio.json
+++ b/y2023/y2023_roborio.json
@@ -36,7 +36,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "roborio",
"logger": "NOT_LOGGED",
- "frequency": 200,
+ "frequency": 300,
"num_senders": 2,
"max_size": 200
},
@@ -45,7 +45,7 @@
"type": "aos.message_bridge.RemoteMessage",
"source_node": "roborio",
"logger": "NOT_LOGGED",
- "frequency": 200,
+ "frequency": 300,
"num_senders": 2,
"max_size": 200
},
@@ -53,7 +53,7 @@
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",
- "frequency": 200
+ "frequency": 250
},
{
"name": "/roborio/aos",
@@ -61,7 +61,7 @@
"source_node": "roborio",
"frequency": 50,
"num_senders": 20,
- "max_size": 4096
+ "max_size": 8192
},
{
"name": "/roborio/aos",
@@ -160,7 +160,7 @@
{
"name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
"type": "aos.message_bridge.RemoteMessage",
- "frequency": 200,
+ "frequency": 300,
"source_node": "roborio"
},
{
@@ -259,7 +259,7 @@
"name": "/superstructure",
"type": "y2023.control_loops.superstructure.Goal",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"max_size": 512
},
{
@@ -273,7 +273,7 @@
"name": "/superstructure",
"type": "y2023.control_loops.superstructure.Output",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"num_senders": 2,
"max_size": 224
},
@@ -281,22 +281,30 @@
"name": "/superstructure",
"type": "y2023.control_loops.superstructure.Position",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"num_senders": 2,
"max_size": 448
},
{
"name": "/drivetrain",
+ "type": "y2023.control_loops.drivetrain.CANPosition",
+ "source_node": "roborio",
+ "frequency": 220,
+ "num_senders": 2,
+ "max_size": 400
+ },
+ {
+ "name": "/drivetrain",
"type": "frc971.sensors.GyroReading",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"num_senders": 2
},
{
"name": "/drivetrain",
"type": "frc971.sensors.Uid",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"num_senders": 2
},
{
@@ -321,7 +329,7 @@
"type": "frc971.control_loops.drivetrain.Goal",
"source_node": "roborio",
"max_size": 224,
- "frequency": 200
+ "frequency": 250
},
{
"name": "/drivetrain",
@@ -375,7 +383,7 @@
"name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.LocalizerControl",
"source_node": "roborio",
- "frequency": 200,
+ "frequency": 250,
"max_size": 96,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
@@ -421,7 +429,7 @@
"name": "/autonomous",
"type": "frc971.autonomous.AutonomousMode",
"source_node": "roborio",
- "frequency": 200
+ "frequency": 250
},
{
"name": "/roborio/aos",
@@ -468,6 +476,16 @@
]
},
{
+ "name": "roborio_irq_affinity",
+ "executable_name": "irq_affinity",
+ "args": [
+ "--irq_config=/home/admin/bin/roborio_irq_config.json"
+ ],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
"name": "joystick_reader",
"executable_name": "joystick_reader",
"nodes": [
@@ -490,7 +508,7 @@
]
},
{
- "name": "web_proxy",
+ "name": "roborio_web_proxy",
"executable_name": "web_proxy_main",
"args": ["--min_ice_port=5800", "--max_ice_port=5810"],
"nodes": [
@@ -506,7 +524,7 @@
]
},
{
- "name": "message_bridge_server",
+ "name": "roborio_message_bridge_server",
"executable_name": "message_bridge_server",
"args": ["--rt_priority=16"],
"nodes": [
@@ -516,13 +534,13 @@
{
"name": "logger",
"executable_name": "logger_main",
- "args": ["--snappy_compress"],
+ "args": ["--snappy_compress", "--logging_folder=/home/admin/logs/"],
"nodes": [
"roborio"
]
},
{
- "name": "constants_sender",
+ "name": "constants_sender_roborio",
"autorestart": false,
"nodes": [
"roborio"