Added y2018 drivetrain folder and files.
Change-Id: I6375a2b44f69e943ff2b1278fb6464177abd5dd8
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))