Add initial turret design
Change-Id: I54e5259482b5bb89d2ff9df5070d6ab4a9e950bf
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
index 9a5a156..561bb77 100644
--- a/y2023/control_loops/python/BUILD
+++ b/y2023/control_loops/python/BUILD
@@ -124,3 +124,19 @@
"@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/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))