y2020/control_loops/drivetrain/drivetrain_base.cc

#include "y2020/control_loops/drivetrain/drivetrain_base.h"

#include <chrono>

#include "aos/network/team_number.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2020/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
#include "y2020/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2020/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"

using ::frc971::control_loops::drivetrain::DrivetrainConfig;

namespace chrono = ::std::chrono;

namespace y2020 {
namespace control_loops {
namespace drivetrain {

using ::frc971::constants::ShifterHallEffect;

const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};

const DrivetrainConfig<double> &GetDrivetrainConfig() {
  static DrivetrainConfig<double> kDrivetrainConfig{
      ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
      ::frc971::control_loops::drivetrain::GyroType::IMU_X_GYRO,
      ::frc971::control_loops::drivetrain::IMUType::IMU_Z,

      drivetrain::MakeDrivetrainLoop,
      drivetrain::MakeVelocityDrivetrainLoop,
      drivetrain::MakeKFDrivetrainLoop,
      drivetrain::MakeHybridVelocityDrivetrainLoop,

      chrono::duration_cast<chrono::nanoseconds>(
          chrono::duration<double>(drivetrain::kDt)),
      drivetrain::kRobotRadius,
      drivetrain::kWheelRadius,
      drivetrain::kV,

      drivetrain::kHighGearRatio,
      drivetrain::kLowGearRatio,
      drivetrain::kJ,
      drivetrain::kMass,
      kThreeStateDriveShifter,
      kThreeStateDriveShifter,
      true /* default_high_gear */,
      0 /* down_offset if using constants use
     constants::GetValues().down_error */
      ,
      0.7 /* wheel_non_linearity */,
      1.2 /* quickturn_wheel_multiplier */,
      1.2 /* wheel_multiplier */,
      true /*pistol_grip_shift_enables_line_follow*/,
      (Eigen::Matrix<double, 3, 3>() << 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0,
       0.0)
          .finished() /*imu_transform*/,
  };

  if (::aos::network::GetTeamNumber() !=
      constants::Values::kCodingRobotTeamNumber) {
    // TODO(james): Check X/Y axis
    // transformations.
    kDrivetrainConfig.imu_transform = (Eigen::Matrix<double, 3, 3>() << 1.0,
                                       0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0)
                                          .finished();
    kDrivetrainConfig.gyro_type =
        ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO;
    // TODO(james): CHECK IF THIS IS IMU_X or IMU_FLIPPED_X.
    kDrivetrainConfig.imu_type =
        ::frc971::control_loops::drivetrain::IMUType::IMU_X;
  }

  return kDrivetrainConfig;
};

}  // namespace drivetrain
}  // namespace control_loops
}  // namespace y2020