Added arm trajectory code.
It currently can plan out a path, but doesn't handle saturation
super well. I'd like to plan the forward acceleration constraint
at runtime rather than plan time.
Change-Id: I0cb6d8007172e46f83207245d9007ada03e3a5e2
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index a72c464..5a44834 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -1,73 +1,87 @@
-package(default_visibility = ['//y2018:__subpackages__'])
+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'],
+ name = "drivetrain",
+ srcs = [
+ "drivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:drivetrain",
+ ],
)
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'],
+ name = "polydrivetrain",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
)
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'],
+ name = "polydrivetrain_lib",
+ srcs = [
+ "drivetrain.py",
+ "polydrivetrain.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:drivetrain",
+ ],
)
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'],
+ name = "polydrivetrain_test",
+ srcs = [
+ "polydrivetrain_test.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":polydrivetrain_lib",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ "//frc971/control_loops/python:polydrivetrain",
+ ],
)
py_binary(
- name = 'intake',
- srcs = [
- 'intake.py',
- ],
- deps = [
- '//external:python-gflags',
- '//external:python-glog',
- '//frc971/control_loops/python:controls',
- ],
- restricted_to = ['//tools:k8'],
+ name = "arm_trajectory",
+ srcs = [
+ "arm_trajectory.py",
+ "path_points.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ ],
+)
+
+py_binary(
+ name = "intake",
+ srcs = [
+ "intake.py",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ ],
)
cc_binary(
@@ -75,10 +89,10 @@
srcs = [
"arm_mpc.cc",
],
+ restricted_to = ["//tools:k8"],
deps = [
"//third_party/ct",
- "//third_party/matplotlib-cpp",
"//third_party/gflags",
+ "//third_party/matplotlib-cpp",
],
- restricted_to = ["//tools:k8"],
)