| Michael Schuh | ab42b0a | 2019-01-07 16:33:43 -0800 | [diff] [blame] | 1 | #!/usr/bin/python |
| 2 | |
| 3 | import sys |
| 4 | from y2018.control_loops.python import drivetrain |
| 5 | from frc971.control_loops.python import polydrivetrain |
| 6 | |
| 7 | import gflags |
| 8 | import glog |
| 9 | |
| 10 | __author__ = 'Austin Schuh (austin.linux@gmail.com)' |
| 11 | |
| 12 | FLAGS = gflags.FLAGS |
| 13 | |
| 14 | try: |
| 15 | gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.') |
| 16 | except gflags.DuplicateFlagError: |
| 17 | pass |
| 18 | |
| 19 | def main(argv): |
| 20 | if FLAGS.plot: |
| 21 | polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain) |
| 22 | elif len(argv) != 7: |
| 23 | glog.fatal('Expected .h file name and .cc file name') |
| 24 | else: |
| 25 | polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2018', |
| 26 | drivetrain.kDrivetrain) |
| 27 | |
| 28 | if __name__ == '__main__': |
| 29 | argv = FLAGS(sys.argv) |
| 30 | glog.init() |
| 31 | sys.exit(main(argv)) |