| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame^] | 1 | #!/usr/bin/python |
| 2 | |
| 3 | import sys |
| 4 | from y2018_bot3.control_loops.python import drivetrain |
| 5 | from frc971.control_loops.python import polydrivetrain |
| 6 | |
| 7 | import gflags |
| 8 | import glog |
| 9 | |
| 10 | FLAGS = gflags.FLAGS |
| 11 | |
| 12 | try: |
| 13 | gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.') |
| 14 | except gflags.DuplicateFlagError: |
| 15 | pass |
| 16 | |
| 17 | def main(argv): |
| 18 | if FLAGS.plot: |
| 19 | polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain) |
| 20 | elif len(argv) != 5: |
| 21 | glog.fatal('Expected .h file name and .cc file name') |
| 22 | else: |
| 23 | polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018_bot3', |
| 24 | drivetrain.kDrivetrain) |
| 25 | |
| 26 | if __name__ == '__main__': |
| 27 | argv = FLAGS(sys.argv) |
| 28 | glog.init() |
| 29 | sys.exit(main(argv)) |