y2022/control_loops/python/turret.py

#!/usr/bin/python3

from aos.util.trapezoid_profile import TrapezoidProfile
from frc971.control_loops.python import control_loop
from frc971.control_loops.python import angular_system
from frc971.control_loops.python import controls
import numpy
import sys
from matplotlib import pylab
import gflags
import glog

FLAGS = gflags.FLAGS

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

kTurret = angular_system.AngularSystemParams(name='Turret',
                                             motor=control_loop.Falcon(),
                                             G=(14.0 / 66.0) * (24.0 / 58.0) *
                                             (18.0 / 110.0),
                                             J=2.0,
                                             q_pos=0.40,
                                             q_vel=20.0,
                                             kalman_q_pos=0.12,
                                             kalman_q_vel=2.0,
                                             kalman_q_voltage=4.0,
                                             kalman_r_position=0.05,
                                             radius=24 * 0.0254)


def main(argv):
    if FLAGS.plot:
        R = numpy.matrix([[numpy.pi], [0.0]])
        angular_system.PlotKick(kTurret, R)
        angular_system.PlotMotion(kTurret, R)

    # Write the generated constants out to a file.
    if len(argv) != 5:
        glog.fatal(
            'Expected .h file name and .cc file name for the turret and integral turret.'
        )
    else:
        namespaces = ['y2022', 'control_loops', 'superstructure', 'turret']
        angular_system.WriteAngularSystem(kTurret, argv[1:3], argv[3:5],
                                          namespaces)


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