y2016/control_loops/python/drivetrain.py

#!/usr/bin/python

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 = 2.0,
                                          mass = 68,
                                          robot_radius = 0.601 / 2.0,
                                          wheel_radius = 0.097155 * 0.9811158901447808 / 118.0 * 115.75,
                                          G_high = 14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0,
                                          G_low = 14.0 / 48.0 * 18.0 / 60.0 * 18.0 / 36.0,
                                          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 = [0.67, 0.67])

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

  if FLAGS.plot:
    drivetrain.PlotDrivetrainMotions(kDrivetrain)
  elif len(argv) != 5:
    print("Expected .h file name and .cc file name")
  else:
    # Write the generated constants out to a file.
    drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2016', kDrivetrain)

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