y2018/control_loops/superstructure/arm/arm.h

#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_

#include "frc971/zeroing/zeroing.h"
#include "y2018/constants.h"
#include "y2018/control_loops/superstructure/arm/dynamics.h"
#include "y2018/control_loops/superstructure/arm/ekf.h"
#include "y2018/control_loops/superstructure/arm/graph.h"
#include "y2018/control_loops/superstructure/arm/trajectory.h"
#include "y2018/control_loops/superstructure/superstructure.q.h"

namespace y2018 {
namespace control_loops {
namespace superstructure {
namespace arm {

class Arm {
 public:
  Arm();

  // If true, tune down all the constants for testing.
  static constexpr bool kGrannyMode() { return true; }

  // The operating voltage.
  static constexpr double kOperatingVoltage() {
    return kGrannyMode() ? 4.0 : 12.0;
  }
  static constexpr double kDt() { return 0.00505; }
  static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 25.0; }
  static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 25.0; }
  static constexpr double kVMax() { return kGrannyMode() ? 4.0 : 11.5; }
  static constexpr double kPathlessVMax() { return 4.0; }

  void Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
               const control_loops::ArmPosition *position,
               const bool claw_beambreak_triggered,
               const bool box_back_beambreak_triggered,
               const bool intake_clear_of_box, double *proximal_output,
               double *distal_output, bool *release_arm_brake,
               bool *claw_closed, control_loops::ArmStatus *status);

  void Reset();

  enum class State : int32_t {
    UNINITIALIZED,
    ZEROING,
    DISABLED,
    GOTO_PATH,
    RUNNING,
    ESTOP,
  };

  enum class GrabState : int32_t {
    NORMAL,
    WAIT_FOR_BOX,
    TALL_BOX,
    SHORT_BOX,
    CLAW_CLOSE,
    OPEN_INTAKE,
  };

  State state() const { return state_; }
  GrabState grab_state() const { return grab_state_; }

  // Returns the maximum position for the intake.  This is used to override the
  // intake position to release the box when the state machine is lifting.
  double max_intake_override() const { return max_intake_override_; }

 private:
  bool AtState(uint32_t state) const { return current_node_ == state; }
  bool NearEnd(double threshold = 0.01) const {
    return ::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) <= threshold &&
           ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) <= threshold &&
           follower_.path_distance_to_go() < 1e-3;
  }

  State state_ = State::UNINITIALIZED;

  GrabState grab_state_ = GrabState::NORMAL;

  ::aos::monotonic_clock::time_point claw_close_start_time_ =
      ::aos::monotonic_clock::min_time;

  ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator proximal_zeroing_estimator_;
  ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator distal_zeroing_estimator_;

  double proximal_offset_ = 0.0;
  double distal_offset_ = 0.0;

  bool claw_closed_ = true;
  double max_intake_override_ = 1000.0;

  const ::Eigen::Matrix<double, 2, 2> alpha_unitizer_;

  ::std::vector<Trajectory> trajectories_;
  SearchGraph search_graph_;

  bool close_enough_for_full_power_ = false;

  EKF arm_ekf_;
  TrajectoryFollower follower_;

  // Start at the 0th index.
  uint32_t current_node_ = 0;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};

}  // namespace arm
}  // namespace superstructure
}  // namespace control_loops
}  // namespace y2018

#endif  // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_