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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 8e39f4556d2f73ce67b0371312c0b43b92023c01 / . / y2014 / control_loops / drivetrain / drivetrain_base.cc
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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{
Comran Morshed5323ecb2015-12-26 20:50:55 +0000[diff] [blame]21 ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
Comran Morshed76ca8f52016-02-21 17:26:28 +0000[diff] [blame]22 ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
Campbell Crowley2527ed22017-02-17 21:10:02 -0800[diff] [blame]23 ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
Diana Burgessd0180f12018-03-21 21:24:17 -0700[diff] [blame]24 ::frc971::control_loops::drivetrain::IMUType::IMU_X,
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,
Sabina Davis415bb6c2017-10-16 23:30:52 -0700[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