control_loops.h

Go to the documentation of this file.

 
 
#pragma once
 
#include "units/angular_acceleration.h"
#include "units/angular_velocity.h"
 
namespace controlLoop {
  namespace comp_bot {
    namespace drive {
      struct rotate {
        constexpr static double kP = 1.4;
        constexpr static double kI = 0.0005;
        constexpr static double kD = 0.0;
        constexpr static double kF = 0.0;
        constexpr static double iZone = 500.0;
        constexpr static double allowableError = 0.0;
      };  // namespace rotate
      struct drive {
        constexpr static double kP = 0.11;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static double kF = 0.05;
        constexpr static double iZone = 500.0;
        constexpr static double allowableError = 0.0;
      };  // namespace drive
      struct linear_follower {
        constexpr static double kP = 5.5;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
      };  // namespace linear_follower
      struct rotational_follower {
        constexpr static double kP = 5.5;
        constexpr static double kI = 0.0;
        constexpr static double kD = 0.0;
        constexpr static auto angularVelocity = units::degrees_per_second_t{360};
        constexpr static auto angularAcceleration = units::degrees_per_second_squared_t{360};
      };  // namespace rotational_follower
    }     // namespace drive
    namespace lifter {
      struct armExtension {
        constexpr static double kP = 0.1;
        constexpr static double kI = 0.0002;
        constexpr static double kD = 0;
        constexpr static double kF = 0.08;
        constexpr static double iZone = 300;
        constexpr static double allowableError = 0;
      };
      struct shoulder {
        constexpr static double kP = 0.07;
        constexpr static double kI = 0.0004;
        constexpr static double kD = 0.002;
        constexpr static double kF = 0.0318;
        constexpr static double iZone = 1500;
        constexpr static double allowableError = 0;
      };
      struct wrist {
        constexpr static double kP = 0.07;
        constexpr static double kI = 0;
        constexpr static double kD = 2.0;
        constexpr static double kF = 0;
        constexpr static double iZone = 0;
        constexpr static double allowableError = 0;
      };
    }  // namespace lifter
    namespace bash_guard {
      struct extension {
        constexpr static double kP = 0.1;
        constexpr static double kI = 0;
        constexpr static double kD = 0;
        constexpr static double kF = 0.07;
        constexpr static double iZone = 0;
        constexpr static double allowableError = 0;
      };
    }                           // namespace bash_guard
    namespace oui_oui_placer {  
      constexpr static double kP = 0;
      constexpr static double kI = 0;
      constexpr static double kD = 0;
      constexpr static double kF = 0;
      constexpr static double iZone = 0;
      constexpr static double allowableError = 0;
    }  // namespace oui_oui_placer
  }    // namespace comp_bot
  namespace practice_bot {
    namespace drive {
      using rotate = controlLoop::comp_bot::drive::rotate;
      using drive = controlLoop::comp_bot::drive::drive;
      using linear_follower = controlLoop::comp_bot::drive::linear_follower;
      using rotational_follower = controlLoop::comp_bot::drive::rotational_follower;
    }  // namespace drive
    namespace lifter {
      using armExtension = comp_bot::lifter::armExtension;
      using shoulder = comp_bot::lifter::shoulder;
      using write = comp_bot::lifter::wrist;
    }  // namespace lifter
    namespace bash_guard {
      using extension = comp_bot::bash_guard::extension;
    }  // namespace bash_guard
  }    // namespace practice_bot
}  // namespace controlLoop