Added stuff to make shooter work.
Doesn't seem to start running when deployed to the robot.
diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
new file mode 100644
index 0000000..fbfeafb
--- /dev/null
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -0,0 +1,118 @@
+#include "bot3/control_loops/shooter/shooter.h"
+
+#include "aos/common/control_loop/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+#include "bot3/control_loops/shooter/shooter_motor_plant.h"
+
+namespace bot3 {
+namespace control_loops {
+
+ShooterMotor::ShooterMotor(control_loops::ShooterLoop *my_shooter)
+ : aos::control_loops::ControlLoop<control_loops::ShooterLoop>(my_shooter),
+ loop_(new StateFeedbackLoop<2, 1, 1>(MakeShooterLoop())),
+ history_position_(0),
+ position_goal_(0.0),
+ last_position_(0.0),
+ last_velocity_goal_(0) {
+ memset(history_, 0, sizeof(history_));
+}
+
+/*static*/ const double ShooterMotor::dt = 0.01;
+
+void ShooterMotor::RunIteration(
+ const control_loops::ShooterLoop::Goal *goal,
+ const control_loops::ShooterLoop::Position *position,
+ ::aos::control_loops::Output *output,
+ control_loops::ShooterLoop::Status *status) {
+ double velocity_goal = goal->velocity;
+ const double current_position =
+ (position == NULL ? loop_->X_hat(0, 0) : position->position);
+ double output_voltage = 0.0;
+
+/* if (index_loop.status.FetchLatest() || index_loop.status.get()) {
+ if (index_loop.status->is_shooting) {
+ if (velocity_goal != last_velocity_goal_ &&
+ velocity_goal < 130) {
+ velocity_goal = last_velocity_goal_;
+ }
+ }
+ } else {
+ LOG(WARNING, "assuming index isn't shooting\n");
+ }*/
+ last_velocity_goal_ = velocity_goal;
+
+ // Track the current position if the velocity goal is small.
+ if (velocity_goal <= 1.0) {
+ position_goal_ = current_position;
+ }
+
+ loop_->Y << current_position;
+
+ // Add the position to the history.
+ history_[history_position_] = current_position;
+ history_position_ = (history_position_ + 1) % kHistoryLength;
+
+ // Prevents integral windup by limiting the position error such that the
+ // error can't produce much more than full power.
+ const double kVelocityWeightScalar = 0.35;
+ const double max_reference =
+ (loop_->U_max(0, 0) - kVelocityWeightScalar *
+ (velocity_goal - loop_->X_hat(1, 0)) * loop_->K(0, 1))
+ / loop_->K(0, 0) + loop_->X_hat(0, 0);
+ const double min_reference =
+ (loop_->U_min(0, 0) - kVelocityWeightScalar *
+ (velocity_goal - loop_->X_hat(1, 0)) * loop_->K(0, 1))
+ / loop_->K(0, 0) + loop_->X_hat(0, 0);
+
+ position_goal_ = ::std::max(::std::min(position_goal_, max_reference),
+ min_reference);
+ loop_->R << position_goal_, velocity_goal;
+ position_goal_ += velocity_goal * dt;
+
+ loop_->Update(position, output == NULL);
+
+ // Kill power at low velocity goals.
+ if (velocity_goal < 1.0) {
+ loop_->U[0] = 0.0;
+ } else {
+ output_voltage = loop_->U[0];
+ }
+
+ LOG(DEBUG,
+ "PWM: %f, raw_pos: %f rotations: %f "
+ "junk velocity: %f, xhat[0]: %f xhat[1]: %f, R[0]: %f R[1]: %f\n",
+ output_voltage, current_position,
+ current_position / (2 * M_PI),
+ (current_position - last_position_) / dt,
+ loop_->X_hat[0], loop_->X_hat[1], loop_->R[0], loop_->R[1]);
+
+ // Calculates the velocity over the last kHistoryLength * .01 seconds
+ // by taking the difference between the current and next history positions.
+ int old_history_position = ((history_position_ == 0) ?
+ kHistoryLength : history_position_) - 1;
+ average_velocity_ = (history_[old_history_position] -
+ history_[history_position_]) * 100.0 / (double)(kHistoryLength - 1);
+
+ status->average_velocity = average_velocity_;
+
+ // Determine if the velocity is close enough to the goal to be ready.
+ if (std::abs(velocity_goal - average_velocity_) < 10.0 &&
+ velocity_goal != 0.0) {
+ LOG(DEBUG, "Steady: ");
+ status->ready = true;
+ } else {
+ LOG(DEBUG, "Not ready: ");
+ status->ready = false;
+ }
+ LOG(DEBUG, "avg = %f goal = %f\n", average_velocity_, velocity_goal);
+
+ last_position_ = current_position;
+
+ if (output) {
+ output->voltage = output_voltage;
+ }
+}
+
+} // namespace control_loops
+} // namespace bot3