y2014_bot3/control_loops/python/drivetrain.py

#!/usr/bin/python3

from __future__ import print_function
from frc971.control_loops.python import drivetrain
import sys

import gflags
import glog

FLAGS = gflags.FLAGS

gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')

kDrivetrain = drivetrain.DrivetrainParams(J=1.8,
                                          mass=37,
                                          robot_radius=0.45 / 2.0,
                                          wheel_radius=0.04445,
                                          G_high=28.0 / 48.0 * 19.0 / 50.0,
                                          G_low=28.0 / 60.0 * 19.0 / 50.0,
                                          q_pos_low=0.12,
                                          q_pos_high=0.14,
                                          q_vel_low=1.0,
                                          q_vel_high=0.95,
                                          has_imu=False,
                                          dt=0.005,
                                          controller_poles=[0.83, 0.83])


def main(argv):
    argv = FLAGS(argv)
    glog.init()

    if FLAGS.plot:
        drivetrain.PlotDrivetrainMotions(kDrivetrain)
    elif len(argv) != 7:
        print("Expected .h, .cc, and .json filenames")
    else:
        # Write the generated constants out to a file.
        drivetrain.WriteDrivetrain(argv[1:4], argv[4:7], 'y2014_bot3',
                                   kDrivetrain)


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