Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 3f90e041f01f2c7d6ac7fbf3a89c4a27fab46f1a / . / y2014 / control_loops / drivetrain / drivetrain_base.cc
blob: a8021fd47a57a348d491135b76a17ac4029a3e81 [file] [log] [blame]
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]1#include "y2014/control_loops/drivetrain/drivetrain_base.h"
2
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]3#include <chrono>
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]4
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]5#include "frc971/control_loops/drivetrain/drivetrain_config.h"
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]6#include "y2014/constants.h"
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]7#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
Austin Schuha062edb2019-01-03 13:17:13 -0800[diff] [blame]8#include "y2014/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]9#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
10#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]11
12using ::frc971::control_loops::drivetrain::DrivetrainConfig;
13
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]14namespace chrono = ::std::chrono;
15
Stephan Pleinesf63bde82024-01-13 15:59:33 -0800[diff] [blame]16namespace y2014::control_loops {
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]17
Austin Schuhbcce26a2018-03-26 23:41:24 -0700[diff] [blame]18const DrivetrainConfig<double> &GetDrivetrainConfig() {
Brian Silverman3853f552016-05-15 14:11:58 -0700[diff] [blame]19 // TODO(austin): Switch over to using the profile.
Austin Schuhbcce26a2018-03-26 23:41:24 -0700[diff] [blame]20 static DrivetrainConfig<double> kDrivetrainConfig{
James Kuszmaul68025332024-01-20 17:06:02 -0800[diff] [blame]21 ::frc971::control_loops::drivetrain::ShifterType::kHallEffectShifter,
22 ::frc971::control_loops::drivetrain::LoopType::kClosedLoop,
23 ::frc971::control_loops::drivetrain::GyroType::kSpartanGyro,
24 ::frc971::control_loops::drivetrain::ImuType::kImuX,
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]25
Austin Schuha062edb2019-01-03 13:17:13 -0800[diff] [blame]26 drivetrain::MakeDrivetrainLoop,
27 drivetrain::MakeVelocityDrivetrainLoop,
28 drivetrain::MakeKFDrivetrainLoop,
29 drivetrain::MakeHybridVelocityDrivetrainLoop,
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]30
Austin Schuhbb735b72019-01-03 12:58:41 -0800[diff] [blame]31 chrono::duration_cast<chrono::nanoseconds>(
32 chrono::duration<double>(drivetrain::kDt)),
Comran Morshed3708f092016-02-20 16:23:51 +0000[diff] [blame]33 drivetrain::kRobotRadius,
34 drivetrain::kWheelRadius,
35 drivetrain::kV,
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]36
Austin Schuh3130b372016-02-17 00:34:51 -0800[diff] [blame]37 constants::GetValues().high_gear_ratio,
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]38 constants::GetValues().low_gear_ratio,
Austin Schuhe6a9fdf2019-01-12 16:05:43 -0800[diff] [blame]39 drivetrain::kJ,
40 drivetrain::kMass,
James Kuszmaul68025332024-01-20 17:06:02 -0800[diff] [blame]41 constants::GetValues().left_drive.shifter_hall_effect(),
42 constants::GetValues().right_drive.shifter_hall_effect(),
Austin Schuhe8a54c02018-03-05 00:25:58 -0800[diff] [blame]43 true /* default_high_gear */,
Adam Snaider94a52372016-10-19 20:06:01 -0700[diff] [blame]44 0,
Austin Schuhe8a54c02018-03-05 00:25:58 -0800[diff] [blame]45 0.25 /* wheel_non_linearity */,
46 1.0 /* quickturn_wheel_multiplier */,
47 1.0 /* wheel_multiplier */,
48 };
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]49
50 return kDrivetrainConfig;
51};
52
Stephan Pleinesf63bde82024-01-13 15:59:33 -0800[diff] [blame]53} // namespace y2014::control_loops