Added y2018 drivetrain folder and files.
Change-Id: I6375a2b44f69e943ff2b1278fb6464177abd5dd8
diff --git a/y2018/control_loops/drivetrain/BUILD b/y2018/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..e446b22
--- /dev/null
+++ b/y2018/control_loops/drivetrain/BUILD
@@ -0,0 +1,76 @@
+load('//aos/build:queues.bzl', 'queue_library')
+
+genrule(
+ name = 'genrule_drivetrain',
+ cmd = '$(location //y2018/control_loops/python:drivetrain) $(OUTS)',
+ tools = [
+ '//y2018/control_loops/python:drivetrain',
+ ],
+ outs = [
+ 'drivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ cmd = '$(location //y2018/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2018/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain_plants',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_base',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ ':drivetrain_base',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
+ ],
+)
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..6b6f48d
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,45 @@
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2018 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+ static DrivetrainConfig kDrivetrainConfig{
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+
+ ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
+ ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+ ::y2018::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+ drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
+ drivetrain::kV,
+
+ drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ kThreeStateDriveShifter, kThreeStateDriveShifter,
+ true /* default_high_gear */, 0 /* down_offset if using constants use
+ constants::GetValues().down_error */,
+ 0.4 /* wheel_non_linearity */, 1.0 /* quickturn_wheel_multiplier */,
+ };
+
+ return kDrivetrainConfig;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2018
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.h b/y2018/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..a7f40d8
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2018
+
+#endif // Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..26d300b
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+ ::aos::Init();
+ DrivetrainLoop drivetrain(
+ ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
+ drivetrain.Run();
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
new file mode 100644
index 0000000..04a244e
--- /dev/null
+++ b/y2018/control_loops/python/BUILD
@@ -0,0 +1,58 @@
+package(default_visibility = ['//y2018:__subpackages__'])
+
+py_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:drivetrain',
+ ],
+ restricted_to = ['//tools:k8'],
+)
+
+py_binary(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.py',
+ 'drivetrain.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:polydrivetrain',
+ ],
+ restricted_to = ['//tools:k8'],
+)
+
+py_library(
+ name = 'polydrivetrain_lib',
+ srcs = [
+ 'polydrivetrain.py',
+ 'drivetrain.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:controls',
+ '//frc971/control_loops/python:drivetrain',
+ ],
+ restricted_to = ['//tools:k8'],
+)
+
+py_test(
+ name = 'polydrivetrain_test',
+ srcs = [
+ 'polydrivetrain_test.py',
+ ],
+ deps = [
+ '//external:python-gflags',
+ '//external:python-glog',
+ '//frc971/control_loops/python:polydrivetrain',
+ '//frc971/control_loops/python:controls',
+ ':polydrivetrain_lib',
+ ],
+ restricted_to = ['//tools:k8'],
+)
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..b630601
--- /dev/null
+++ b/y2018/control_loops/python/drivetrain.py
@@ -0,0 +1,41 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+#update mass (120lbs right now)
+#robot radius needs confirming(set as distance of center wheels from each other)
+#J needs updating
+
+kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
+ mass = 54.4311,
+ robot_radius = 0.675 / 2.0,
+ wheel_radius = 0.127 / 2.0,
+ G_low = 46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0 ,
+ G_high = 62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ q_pos_low = 0.12,
+ q_pos_high = 0.14,
+ q_vel_low = 1.0,
+ q_vel_high = 0.95)
+
+def main(argv):
+ argv = FLAGS(argv)
+ glog.init()
+
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/y2018/control_loops/python/polydrivetrain.py b/y2018/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..e08d3b6
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+
+import sys
+from y2018.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+def main(argv):
+ if FLAGS.plot:
+ polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+ elif len(argv) != 5:
+ glog.fatal('Expected .h file name and .cc file name')
+ else:
+ polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018',
+ drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2018/control_loops/python/polydrivetrain_test.py b/y2018/control_loops/python/polydrivetrain_test.py
new file mode 100644
index 0000000..02018d3
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import polydrivetrain
+import numpy
+import unittest
+from numpy.testing import *
+from frc971.control_loops.python import polytope
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+class TestVelocityDrivetrain(unittest.TestCase):
+ def MakeBox(self, x1_min, x1_max, x2_min, x2_max):
+ H = numpy.matrix([[1, 0],
+ [-1, 0],
+ [0, 1],
+ [0, -1]])
+ K = numpy.matrix([[x1_max],
+ [-x1_min],
+ [x2_max],
+ [-x2_min]])
+ return polytope.HPolytope(H, K)
+
+ def test_coerce_inside(self):
+ """Tests coercion when the point is inside the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w,
+ numpy.matrix([[1.5], [1.5]])),
+ numpy.matrix([[1.5], [1.5]]))
+
+ def test_coerce_outside_intersect(self):
+ """Tests coercion when the line intersects the box."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_outside_no_intersect(self):
+ """Tests coercion when the line does not intersect the box."""
+ box = self.MakeBox(3, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[1, -1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[3.0], [2.0]]))
+
+ def test_coerce_middle_of_edge(self):
+ """Tests coercion when the line intersects the middle of an edge."""
+ box = self.MakeBox(0, 4, 1, 2)
+
+ # x1 = x2
+ K = numpy.matrix([[-1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[2.0], [2.0]]))
+
+ def test_coerce_perpendicular_line(self):
+ """Tests coercion when the line does not intersect and is in quadrant 2."""
+ box = self.MakeBox(1, 2, 1, 2)
+
+ # x1 = -x2
+ K = numpy.matrix([[1, 1]])
+ w = 0
+
+ assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+ numpy.matrix([[1.0], [1.0]]))
+
+
+if __name__ == '__main__':
+ unittest.main()