y2024/control_loops/python/intake_pivot.py

#!/usr/bin/python3

from aos.util.trapezoid_profile import TrapezoidProfile
from frc971.control_loops.python import control_loop
from frc971.control_loops.python import angular_system
from frc971.control_loops.python import controls
import numpy
import sys
from matplotlib import pylab
import gflags
import glog

FLAGS = gflags.FLAGS

try:
    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
except gflags.DuplicateFlagError:
    pass

kIntakePivot = angular_system.AngularSystemParams(
    name='IntakePivot',
    motor=control_loop.KrakenFOC(),
    G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
    J=0.4,
    q_pos=1.0,
    q_vel=800.0,
    kalman_q_pos=0.12,
    kalman_q_vel=2.0,
    kalman_q_voltage=1.0,
    kalman_r_position=0.05,
    radius=6.85 * 0.0254,
    enable_voltage_error=False,
    dt=0.005)


def main(argv):
    if FLAGS.plot:
        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
        angular_system.PlotKick(kIntakePivot, R)
        angular_system.PlotMotion(kIntakePivot, R)
        return
    if len(argv) != 7:
        glog.fatal(
            'Expected .h file name and .cc file name for the intake pivot and integral intake pivot.'
        )
    else:
        namespaces = [
            'y2024', 'control_loops', 'superstructure', 'intake_pivot'
        ]
        angular_system.WriteAngularSystem(kIntakePivot, argv[1:4], argv[4:7],
                                          namespaces)


if __name__ == '__main__':
    argv = FLAGS(sys.argv)
    glog.init()
    sys.exit(main(argv))