y2022/control_loops/python/polydrivetrain.py

#!/usr/bin/python3

import sys
from y2022.control_loops.python import drivetrain
from frc971.control_loops.python import polydrivetrain

import gflags
import glog

__author__ = 'Austin Schuh (austin.linux@gmail.com)'

FLAGS = gflags.FLAGS

try:
  gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
except gflags.DuplicateFlagError:
  pass

def main(argv):
  if FLAGS.plot:
    polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
  elif len(argv) != 7:
    glog.fatal('Expected .h file name and .cc file name')
  else:
    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2022',
                                       drivetrain.kDrivetrain)

if __name__ == '__main__':
  argv = FLAGS(sys.argv)
  glog.init()
  sys.exit(main(argv))