Claw now zeros, though slowly. Not sure about high speeds yet and the constants seem wrong.
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index be21efe..5924731 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -45,9 +45,12 @@
namespace frc971 {
namespace control_loops {
+static const double kMaxVoltage = 1.5;
+
void ClawLimitedLoop::CapU() {
uncapped_average_voltage_ = U(0, 0) + U(1, 0) / 2.0;
if (is_zeroing_) {
+ LOG(DEBUG, "zeroing\n");
const frc971::constants::Values &values = constants::GetValues();
if (uncapped_average_voltage_ > values.claw.max_zeroing_voltage) {
const double difference =
@@ -63,9 +66,9 @@
double max_value =
::std::max(::std::abs(U(0, 0)), ::std::abs(U(1, 0) + U(0, 0)));
- if (max_value > 12.0) {
+ if (max_value > kMaxVoltage) {
LOG(DEBUG, "Capping U because max is %f\n", max_value);
- U = U * 12.0 / max_value;
+ U = U * kMaxVoltage / max_value;
LOG(DEBUG, "Capping U is now %f %f\n", U(0, 0), U(1, 0));
}
}
@@ -90,34 +93,35 @@
const constants::Values::Claws::AnglePair &angles, double *edge_encoder,
double *edge_angle, const HallEffectTracker &sensor,
const char *hall_effect_name) {
+ bool found_edge = false;
if (sensor.posedge_count_changed()) {
- if (posedge_value_ < last_encoder()) {
+ if (posedge_value_ < last_off_encoder_) {
*edge_angle = angles.upper_angle;
- LOG(INFO, "%s Posedge upper of %s -> %f\n", name_,
- hall_effect_name, *edge_angle);
+ LOG(INFO, "%s Posedge upper of %s -> %f posedge: %f last_encoder: %f\n", name_,
+ hall_effect_name, *edge_angle, posedge_value_, last_off_encoder_);
} else {
*edge_angle = angles.lower_angle;
- LOG(INFO, "%s Posedge lower of %s -> %f\n", name_,
- hall_effect_name, *edge_angle);
+ LOG(INFO, "%s Posedge lower of %s -> %f posedge: %f last_encoder: %f\n", name_,
+ hall_effect_name, *edge_angle, posedge_value_, last_off_encoder_);
}
*edge_encoder = posedge_value_;
- return true;
+ found_edge = true;
}
if (sensor.negedge_count_changed()) {
- if (negedge_value_ > last_encoder()) {
+ if (negedge_value_ > last_on_encoder_) {
*edge_angle = angles.upper_angle;
- LOG(INFO, "%s Negedge upper of %s -> %f\n", name_,
- hall_effect_name, *edge_angle);
+ LOG(INFO, "%s Negedge upper of %s -> %f negedge: %f last_encoder: %f\n", name_,
+ hall_effect_name, *edge_angle, negedge_value_, last_on_encoder_);
} else {
*edge_angle = angles.lower_angle;
- LOG(INFO, "%s Negedge lower of %s -> %f\n", name_,
- hall_effect_name, *edge_angle);
+ LOG(INFO, "%s Negedge lower of %s -> %f negedge: %f last_encoder: %f\n", name_,
+ hall_effect_name, *edge_angle, negedge_value_, last_on_encoder_);
}
*edge_encoder = negedge_value_;
- return true;
+ found_edge = true;
}
- return false;
+ return found_edge;
}
bool ZeroedStateFeedbackLoop::GetPositionOfEdge(
@@ -260,6 +264,8 @@
if (reset()) {
bottom_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
top_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
+ top_claw_.Reset();
+ bottom_claw_.Reset();
}
if (::aos::robot_state.get() == nullptr) {
@@ -555,6 +561,18 @@
if (output) {
output->top_claw_voltage = claw_.U(1, 0) + claw_.U(0, 0);
output->bottom_claw_voltage = claw_.U(0, 0);
+
+ if (output->top_claw_voltage > kMaxVoltage) {
+ output->top_claw_voltage = kMaxVoltage;
+ } else if (output->top_claw_voltage < -kMaxVoltage) {
+ output->top_claw_voltage = -kMaxVoltage;
+ }
+
+ if (output->bottom_claw_voltage > kMaxVoltage) {
+ output->bottom_claw_voltage = kMaxVoltage;
+ } else if (output->bottom_claw_voltage < -kMaxVoltage) {
+ output->bottom_claw_voltage = -kMaxVoltage;
+ }
}
status->done = false;
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 2d13d37..bff533d 100755
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -86,9 +86,24 @@
posedge_value_ = claw.posedge_value;
negedge_value_ = claw.negedge_value;
last_encoder_ = encoder_;
+ if (front().value() || calibration().value() || back().value()) {
+ last_on_encoder_ = encoder_;
+ } else {
+ last_off_encoder_ = encoder_;
+ }
encoder_ = claw.position;
}
+ void Reset() {
+ front_.Reset();
+ calibration_.Reset();
+ back_.Reset();
+ }
+
+ bool ready() {
+ return front_.ready() && calibration_.ready() && back_.ready();
+ }
+
double absolute_position() const { return encoder() + offset(); }
const HallEffectTracker &front() const { return front_; }
@@ -130,6 +145,8 @@
double negedge_value_;
double encoder_;
double last_encoder_;
+ double last_on_encoder_;
+ double last_off_encoder_;
private:
// Does the edges of 1 sensor for GetPositionOfEdge.
@@ -152,7 +169,7 @@
double edge_encoder;
double edge_angle;
if (GetPositionOfEdge(claw_values, &edge_encoder, &edge_angle)) {
- LOG(INFO, "Calibration edge.\n");
+ LOG(INFO, "Calibration edge edge should be %f.\n", edge_angle);
SetCalibration(edge_encoder, edge_angle);
set_zeroing_state(zeroing_state);
return true;