def handle_chassis_inputs(self, joystick: wpilib.Joystick,
gamepad: wpilib.XboxController) -> None:
throttle = scale_value(joystick.getThrottle(), 1, -1, 0.1, 1)
vx = 3 * throttle * rescale_js(-joystick.getY(), 0.1)
vz = 3 * throttle * rescale_js(-joystick.getTwist(), 0.1)
self.chassis.drive(vx, vz)
if joystick.getRawButtonPressed(3):
# TODO reset heading
pass
def handle_chassis_inputs(self, joystick: wpilib.Joystick,
gamepad: wpilib.XboxController) -> None:
throttle = scale_value(joystick.getThrottle(), 1, -1, 0.1, 1)
vx = 3 * throttle * rescale_js(-joystick.getY(), 0.1)
vz = 3 * throttle * rescale_js(-joystick.getTwist(), 0.1)
self.chassis.drive(vx, vz)
if joystick.getRawButtonPressed(3):
self.chassis.reset_odometry(
geometry.Pose2d(-3, 0, geometry.Rotation2d(
math.pi))) # the starting position on the field
self.target_estimator.reset()
def handle_chassis_inputs(self, joystick: wpilib.Joystick) -> None:
throttle = scale_value(joystick.getThrottle(), 1, -1, 0, 1)
vx = 3 * throttle * rescale_js(-joystick.getY(), 0.1)
vz = 3 * throttle * rescale_js(-joystick.getTwist(), 0.1)
self.chassis.drive(vx, vz)
