def main(argv):
argv = FLAGS(argv)
glog.init()
scenario_plotter = ScenarioPlotter()
intake = Intake()
intake_controller = IntegralIntake()
observer_intake = IntegralIntake()
# Test moving the intake with constant separation.
initial_X = numpy.matrix([[0.0], [0.0]])
R = numpy.matrix([[numpy.pi/2.0], [0.0], [0.0]])
scenario_plotter.run_test(intake, end_goal=R,
controller_intake=intake_controller,
observer_intake=observer_intake, iterations=200)
if FLAGS.plot:
scenario_plotter.Plot()
# Write the generated constants out to a file.
if len(argv) != 5:
glog.fatal('Expected .h file name and .cc file name for the intake and integral intake.')
else:
namespaces = ['y2016_bot3', 'control_loops', 'intake']
intake = Intake("Intake")
loop_writer = control_loop.ControlLoopWriter('Intake', [intake],
namespaces=namespaces)
loop_writer.Write(argv[1], argv[2])
integral_intake = IntegralIntake("IntegralIntake")
integral_loop_writer = control_loop.ControlLoopWriter("IntegralIntake", [integral_intake],
namespaces=namespaces)
integral_loop_writer.Write(argv[3], argv[4])
def main():
# 初始化底层库
# 配置文件
gconfig.init()
# 日志
glog.init()
# 网络
gnet.init(gconfig.SVR_MAIN_IP, gconfig.SVR_MAIN_PORT)
gnet.def_sub_server(gconfig.SVR_SUB_NAME)
# 数据库
#gdb.init()
# mgr
#account_mgr.init()
#player_mgr.init()
# 游戏逻辑
#import svr_main
#svr_main.init()
# 测试 oche
import oche; oche.init()
# 测试 client-svr_main-svr_sub
import svr_test_main; svr_test_main.init()
# 开始服务
gnet.start_loop()
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], 'o2017', kDrivetrain)
def main(argv):
argv = FLAGS(argv)
glog.init()
scenario_plotter = ScenarioPlotter()
J_accelerating = 18
J_decelerating = 7
arm = Arm(name='AcceleratingArm', J=J_accelerating)
arm_integral_controller = IntegralArm(
name='AcceleratingIntegralArm', J=J_accelerating)
arm_observer = IntegralArm()
# Test moving the shoulder with constant separation.
initial_X = numpy.matrix([[0.0], [0.0], [0.0], [0.0], [0.0], [0.0]])
R = numpy.matrix([[numpy.pi / 2.0],
[0.0],
[0.0], #[numpy.pi / 2.0],
[0.0],
[0.0],
[0.0]])
arm.X = initial_X[0:4, 0]
arm_observer.X = initial_X
scenario_plotter.run_test(arm=arm,
end_goal=R,
iterations=300,
controller=arm_integral_controller,
observer=arm_observer)
if len(argv) != 5:
glog.fatal('Expected .h file name and .cc file name for the wrist and integral wrist.')
else:
namespaces = ['y2016', 'control_loops', 'superstructure']
decelerating_arm = Arm(name='DeceleratingArm', J=J_decelerating)
loop_writer = control_loop.ControlLoopWriter(
'Arm', [arm, decelerating_arm], namespaces=namespaces)
loop_writer.Write(argv[1], argv[2])
decelerating_integral_arm_controller = IntegralArm(
name='DeceleratingIntegralArm', J=J_decelerating)
integral_loop_writer = control_loop.ControlLoopWriter(
'IntegralArm',
[arm_integral_controller, decelerating_integral_arm_controller],
namespaces=namespaces)
integral_loop_writer.AddConstant(control_loop.Constant("kV_shoulder", "%f",
arm_integral_controller.shoulder_Kv))
integral_loop_writer.Write(argv[3], argv[4])
if FLAGS.plot:
scenario_plotter.Plot()
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.
namespaces = [
'third_party', 'frc971', 'control_loops', 'drivetrain', 'y2016'
]
drivetrain.WriteDrivetrainFullName(argv[1:3], argv[3:5], namespaces,
namespaces, kDrivetrain)
def main(argv):
argv = FLAGS(argv)
glog.init()
estimator = DownEstimator()
if FLAGS.plot:
real_angles = [0]
real_velocities = [0]
estimated_angles = [0]
estimated_velocities = [0]
for _ in xrange(100):
estimator.Predict(0)
estimator.Update(numpy.sqrt(2) / 2.0, numpy.sqrt(2) / 2.0, 0, 0)
real_angles.append(math.pi / 2)
real_velocities.append(0)
estimated_angles.append(estimator.X_hat[0, 0])
estimated_velocities.append(estimator.X_hat[1, 0])
angle = math.pi / 2
velocity = 1
for i in xrange(100):
measured_velocity = velocity + (random.random() -
0.5) * 0.01 + 0.05
estimator.Predict(measured_velocity)
estimator.Update(
math.sin(angle) + (random.random() - 0.5) * 0.02, 0,
math.cos(angle) + (random.random() - 0.5) * 0.02,
measured_velocity)
real_angles.append(angle)
real_velocities.append(velocity)
estimated_angles.append(estimator.X_hat[0, 0])
estimated_velocities.append(estimator.X_hat[1, 0])
angle += velocity * estimator.dt
pylab.plot(range(len(real_angles)), real_angles)
pylab.plot(range(len(real_velocities)), real_velocities)
pylab.plot(range(len(estimated_angles)), estimated_angles)
pylab.plot(range(len(estimated_velocities)), estimated_velocities)
pylab.show()
if len(argv) != 3:
print "Expected .h file name and .cc file name"
else:
namespaces = ['frc971', 'control_loops', 'drivetrain']
kf_loop_writer = control_loop.ControlLoopWriter("DownEstimator",
[estimator],
namespaces=namespaces)
kf_loop_writer.Write(argv[1], argv[2])
def main(argv):
argv = FLAGS(argv)
glog.init()
estimator = DownEstimator()
if FLAGS.plot:
real_angles = [0]
real_velocities = [0]
estimated_angles = [0]
estimated_velocities = [0]
for _ in xrange(100):
estimator.Predict(0)
estimator.Update(numpy.sqrt(2) / 2.0, numpy.sqrt(2) / 2.0, 0, 0)
real_angles.append(math.pi / 2)
real_velocities.append(0)
estimated_angles.append(estimator.X_hat[0, 0])
estimated_velocities.append(estimator.X_hat[1, 0])
angle = math.pi / 2
velocity = 1
for i in xrange(100):
measured_velocity = velocity + (random.random() - 0.5) * 0.01 + 0.05
estimator.Predict(measured_velocity)
estimator.Update(math.sin(angle) + (random.random() - 0.5) * 0.02, 0,
math.cos(angle) + (random.random() - 0.5) * 0.02,
measured_velocity)
real_angles.append(angle)
real_velocities.append(velocity)
estimated_angles.append(estimator.X_hat[0, 0])
estimated_velocities.append(estimator.X_hat[1, 0])
angle += velocity * estimator.dt
pylab.plot(range(len(real_angles)), real_angles)
pylab.plot(range(len(real_velocities)), real_velocities)
pylab.plot(range(len(estimated_angles)), estimated_angles)
pylab.plot(range(len(estimated_velocities)), estimated_velocities)
pylab.show()
if len(argv) != 3:
print "Expected .h file name and .cc file name"
else:
namespaces = ['frc971', 'control_loops', 'drivetrain']
kf_loop_writer = control_loop.ControlLoopWriter(
"DownEstimator", [estimator],
namespaces = namespaces)
kf_loop_writer.Write(argv[1], argv[2])
def main():
"""
Main function to initialize logging and spin up the server.
After the server is started we have to just sleep forever. There is no Wait() call like there
is in gRPC libraries for other languages.
"""
log.init()
server = grpc.server(futures.ThreadPoolExecutor(max_workers=5))
agent_pb2_grpc.add_RemoteAgentServicer_to_server(RandomAgentServicer(), server)
server.add_insecure_port('[::]:50051')
server.start()
try:
while True:
time.sleep(60 * 60 * 24)
except KeyboardInterrupt:
server.stop(0)
def main():
# 初始化底层库
# 配置文件
gconfig.init()
# 日志
glog.init()
# 网络
gnet.init_sub_server(gconfig.SVR_MAIN_IP, gconfig.SVR_MAIN_PORT, gconfig.SVR_SUB_NAME, gconfig.SVR_SUB_ID)
# 数据库
#gdb.init()
# 测试 client-svr_main-svr_sub
import svr_test_sub
svr_test_sub.init()
# 开始服务
gnet.start_loop()
def main():
# 初始化底层库
# 配置文件
gconfig.init()
# 日志
glog.init()
# 网络
gnet.init_sub_server(gconfig.SVR_MAIN_IP, gconfig.SVR_MAIN_PORT,
gconfig.SVR_SUB_NAME, gconfig.SVR_SUB_ID)
# 数据库
#gdb.init()
# 测试 client-svr_main-svr_sub
import svr_test_sub
svr_test_sub.init()
# 开始服务
gnet.start_loop()
def main():
# 初始化底层库
# 配置文件
gconfig.init()
# 日志
glog.init()
# 网络
gnet.init()
# 数据库
#gdb.init()
# mgr
#account_mgr.init()
#player_mgr.init()
# 游戏逻辑
game.init()
# 开始服务
gnet.start_loop()
def main():
# 初始化底层库
# 配置文件
gconfig.init()
# 日志
glog.init()
# 网络
gnet.init()
# 数据库
#gdb.init()
# mgr
#account_mgr.init()
#player_mgr.init()
# 游戏逻辑
game.init()
# 开始服务
gnet.start_loop()
right_gear_plot.append((vdrivetrain.right_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
fwd_velocity = (vdrivetrain.X[1, 0] + vdrivetrain.X[0, 0]) / 2
turn_velocity = (vdrivetrain.X[1, 0] - vdrivetrain.X[0, 0])
if abs(fwd_velocity) < 0.0000001:
radius_plot.append(turn_velocity)
else:
radius_plot.append(turn_velocity / fwd_velocity)
# TODO(austin):
# Shifting compensation.
# Tighten the turn.
# Closed loop drive.
pylab.plot(t_plot, vl_plot, label='left velocity')
pylab.plot(t_plot, vr_plot, label='right velocity')
pylab.plot(t_plot, ul_plot, label='left voltage')
pylab.plot(t_plot, ur_plot, label='right voltage')
pylab.plot(t_plot, radius_plot, label='radius')
pylab.plot(t_plot, left_gear_plot, label='left gear high')
pylab.plot(t_plot, right_gear_plot, label='right gear high')
pylab.legend()
pylab.show()
return 0
if __name__ == '__main__':
argv = FLAGS(sys.argv)
glog.init()
sys.exit(main(argv))
#!/usr/bin/env python
#coding=utf-8
__author__ = 'yanziang'
import glog as log
import gflags
import logging
FLAGS = gflags.FLAGS
FLAGS.verbosity = logging.DEBUG
def try_log():
log.debug('2333happy deubgging....')
log.info('it works')
log.warn('something not ideal')
log.error('something went wrong')
log.fatal('AAAAAAAAAAA!')
if __name__ == '__main__':
log.init()
try_log()
def main(argv):
argv = FLAGS(argv)
glog.init()
# Simulate the response of the system to a step input.
drivetrain = Drivetrain(left_low=False, right_low=False)
simulated_left = []
simulated_right = []
for _ in xrange(100):
drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
simulated_left.append(drivetrain.X[0, 0])
simulated_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), simulated_left)
pylab.plot(range(100), simulated_right)
pylab.suptitle('Acceleration Test')
pylab.show()
# Simulate forwards motion.
drivetrain = Drivetrain(left_low=False, right_low=False)
close_loop_left = []
close_loop_right = []
left_power = []
right_power = []
R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
for _ in xrange(300):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
left_power.append(U[0, 0])
right_power.append(U[1, 0])
if FLAGS.plot:
pylab.plot(range(300), close_loop_left, label='left position')
pylab.plot(range(300), close_loop_right, label='right position')
pylab.plot(range(300), left_power, label='left power')
pylab.plot(range(300), right_power, label='right power')
pylab.suptitle('Linear Move')
pylab.legend()
pylab.show()
# Try turning in place
drivetrain = Drivetrain()
close_loop_left = []
close_loop_right = []
R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
for _ in xrange(100):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
pylab.suptitle('Angular Move')
pylab.show()
# Try turning just one side.
drivetrain = Drivetrain()
close_loop_left = []
close_loop_right = []
R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
for _ in xrange(100):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
pylab.suptitle('Pivot')
pylab.show()
# Write the generated constants out to a file.
drivetrain_low_low = Drivetrain(
name="DrivetrainLowLow", left_low=True, right_low=True)
drivetrain_low_high = Drivetrain(
name="DrivetrainLowHigh", left_low=True, right_low=False)
drivetrain_high_low = Drivetrain(
name="DrivetrainHighLow", left_low=False, right_low=True)
drivetrain_high_high = Drivetrain(
name="DrivetrainHighHigh", left_low=False, right_low=False)
kf_drivetrain_low_low = KFDrivetrain(
name="KFDrivetrainLowLow", left_low=True, right_low=True)
kf_drivetrain_low_high = KFDrivetrain(
name="KFDrivetrainLowHigh", left_low=True, right_low=False)
kf_drivetrain_high_low = KFDrivetrain(
name="KFDrivetrainHighLow", left_low=False, right_low=True)
kf_drivetrain_high_high = KFDrivetrain(
name="KFDrivetrainHighHigh", left_low=False, right_low=False)
if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
namespaces = ['y2016_bot3', 'control_loops', 'drivetrain']
dog_loop_writer = control_loop.ControlLoopWriter(
"Drivetrain", [drivetrain_low_low, drivetrain_low_high,
drivetrain_high_low, drivetrain_high_high],
namespaces = namespaces)
dog_loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
drivetrain_low_low.dt))
dog_loop_writer.AddConstant(control_loop.Constant("kStallTorque", "%f",
drivetrain_low_low.stall_torque))
dog_loop_writer.AddConstant(control_loop.Constant("kStallCurrent", "%f",
drivetrain_low_low.stall_current))
dog_loop_writer.AddConstant(control_loop.Constant("kFreeSpeedRPM", "%f",
drivetrain_low_low.free_speed))
dog_loop_writer.AddConstant(control_loop.Constant("kFreeCurrent", "%f",
drivetrain_low_low.free_current))
dog_loop_writer.AddConstant(control_loop.Constant("kJ", "%f",
drivetrain_low_low.J))
dog_loop_writer.AddConstant(control_loop.Constant("kMass", "%f",
drivetrain_low_low.m))
dog_loop_writer.AddConstant(control_loop.Constant("kRobotRadius", "%f",
drivetrain_low_low.rb))
dog_loop_writer.AddConstant(control_loop.Constant("kWheelRadius", "%f",
drivetrain_low_low.r))
dog_loop_writer.AddConstant(control_loop.Constant("kR", "%f",
drivetrain_low_low.resistance))
dog_loop_writer.AddConstant(control_loop.Constant("kV", "%f",
drivetrain_low_low.Kv))
dog_loop_writer.AddConstant(control_loop.Constant("kT", "%f",
drivetrain_low_low.Kt))
dog_loop_writer.AddConstant(control_loop.Constant("kLowGearRatio", "%f",
drivetrain_low_low.G_low))
dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
drivetrain_high_high.G_high))
dog_loop_writer.Write(argv[1], argv[2])
kf_loop_writer = control_loop.ControlLoopWriter(
"KFDrivetrain", [kf_drivetrain_low_low, kf_drivetrain_low_high,
kf_drivetrain_high_low, kf_drivetrain_high_high],
namespaces = namespaces)
kf_loop_writer.Write(argv[3], argv[4])
from testbench.subsystems.drivetrain.python import drivetrain from third_party.frc971.control_loops.python import polydrivetrain import gflags import glog __author__ = 'Austin Schuh ([email protected])' FLAGS = gflags.FLAGS try: gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.') except gflags.DuplicateFlagError: pass def main(argv): if FLAGS.plot: polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain) elif len(argv) != 5: glog.fatal('Expected .h file name and .cc file name') else: polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'testbench', drivetrain.kDrivetrain) if __name__ == '__main__': argv = FLAGS(sys.argv) glog.init() sys.exit(main(argv))
def main(argv):
argv = FLAGS(argv)
glog.init()
# Simulate the response of the system to a step input.
drivetrain = Drivetrain(left_low=False, right_low=False)
simulated_left = []
simulated_right = []
for _ in xrange(100):
drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
simulated_left.append(drivetrain.X[0, 0])
simulated_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), simulated_left)
pylab.plot(range(100), simulated_right)
pylab.suptitle('Acceleration Test')
pylab.show()
# Simulate forwards motion.
drivetrain = Drivetrain(left_low=False, right_low=False)
close_loop_left = []
close_loop_right = []
left_power = []
right_power = []
R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
for _ in xrange(300):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
left_power.append(U[0, 0])
right_power.append(U[1, 0])
if FLAGS.plot:
pylab.plot(range(300), close_loop_left, label='left position')
pylab.plot(range(300), close_loop_right, label='right position')
pylab.plot(range(300), left_power, label='left power')
pylab.plot(range(300), right_power, label='right power')
pylab.suptitle('Linear Move')
pylab.legend()
pylab.show()
# Try turning in place
drivetrain = Drivetrain()
close_loop_left = []
close_loop_right = []
R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
for _ in xrange(100):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
pylab.suptitle('Angular Move')
pylab.show()
# Try turning just one side.
drivetrain = Drivetrain()
close_loop_left = []
close_loop_right = []
R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
for _ in xrange(100):
U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
drivetrain.U_min, drivetrain.U_max)
drivetrain.UpdateObserver(U)
drivetrain.Update(U)
close_loop_left.append(drivetrain.X[0, 0])
close_loop_right.append(drivetrain.X[2, 0])
if FLAGS.plot:
pylab.plot(range(100), close_loop_left)
pylab.plot(range(100), close_loop_right)
pylab.suptitle('Pivot')
pylab.show()
# Write the generated constants out to a file.
drivetrain_low_low = Drivetrain(
name="DrivetrainLowLow", left_low=True, right_low=True)
drivetrain_low_high = Drivetrain(
name="DrivetrainLowHigh", left_low=True, right_low=False)
drivetrain_high_low = Drivetrain(
name="DrivetrainHighLow", left_low=False, right_low=True)
drivetrain_high_high = Drivetrain(
name="DrivetrainHighHigh", left_low=False, right_low=False)
kf_drivetrain_low_low = KFDrivetrain(
name="KFDrivetrainLowLow", left_low=True, right_low=True)
kf_drivetrain_low_high = KFDrivetrain(
name="KFDrivetrainLowHigh", left_low=True, right_low=False)
kf_drivetrain_high_low = KFDrivetrain(
name="KFDrivetrainHighLow", left_low=False, right_low=True)
kf_drivetrain_high_high = KFDrivetrain(
name="KFDrivetrainHighHigh", left_low=False, right_low=False)
if len(argv) != 5:
print "Expected .h file name and .cc file name"
else:
namespaces = ['testbench', 'subsystems', 'drivetrain']
dog_loop_writer = control_loop.ControlLoopWriter(
"Drivetrain", [drivetrain_low_low, drivetrain_low_high,
drivetrain_high_low, drivetrain_high_high],
namespaces = namespaces)
dog_loop_writer.AddConstant(control_loop.Constant("kDt", "%f",
drivetrain_low_low.dt))
dog_loop_writer.AddConstant(control_loop.Constant("kStallTorque", "%f",
drivetrain_low_low.stall_torque))
dog_loop_writer.AddConstant(control_loop.Constant("kStallCurrent", "%f",
drivetrain_low_low.stall_current))
dog_loop_writer.AddConstant(control_loop.Constant("kFreeSpeedRPM", "%f",
drivetrain_low_low.free_speed))
dog_loop_writer.AddConstant(control_loop.Constant("kFreeCurrent", "%f",
drivetrain_low_low.free_current))
dog_loop_writer.AddConstant(control_loop.Constant("kJ", "%f",
drivetrain_low_low.J))
dog_loop_writer.AddConstant(control_loop.Constant("kMass", "%f",
drivetrain_low_low.m))
dog_loop_writer.AddConstant(control_loop.Constant("kRobotRadius", "%f",
drivetrain_low_low.rb))
dog_loop_writer.AddConstant(control_loop.Constant("kWheelRadius", "%f",
drivetrain_low_low.r))
dog_loop_writer.AddConstant(control_loop.Constant("kR", "%f",
drivetrain_low_low.resistance))
dog_loop_writer.AddConstant(control_loop.Constant("kV", "%f",
drivetrain_low_low.Kv))
dog_loop_writer.AddConstant(control_loop.Constant("kT", "%f",
drivetrain_low_low.Kt))
dog_loop_writer.AddConstant(control_loop.Constant("kLowGearRatio", "%f",
drivetrain_low_low.G_low))
dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
drivetrain_high_high.G_high))
dog_loop_writer.Write(argv[1], argv[2])
kf_loop_writer = control_loop.ControlLoopWriter(
"KFDrivetrain", [kf_drivetrain_low_low, kf_drivetrain_low_high,
kf_drivetrain_high_low, kf_drivetrain_high_high],
namespaces = namespaces)
kf_loop_writer.Write(argv[3], argv[4])
