def __init__(self, physics_controller):
self.logger = logging.getLogger("PhysicsEngine")
self.physics_controller = physics_controller
self.drivetrain = drivetrains.MecanumDrivetrain()
self.initial = True
self.simulated_position = 0.0
self.user_renderer = get_user_renderer()
def __init__(self, physics_controller):
"""
:param physics_controller: `pyfrc.physics.core.Physics` object
to communicate simulation effects to
"""
self.physics_controller = physics_controller
# Motors
self.lf_motor = hal.simulation.PWMSim(1)
self.lr_motor = hal.simulation.PWMSim(2)
self.rf_motor = hal.simulation.PWMSim(3)
self.rr_motor = hal.simulation.PWMSim(4)
# Gyro
self.gyro = hal.simulation.AnalogGyroSim(1)
self.drivetrain = drivetrains.MecanumDrivetrain()
# Precompute the encoder constant
self.frontLeftEncoder = hal.simulation.EncoderSim(0)
self.rearLeftEncoder = hal.simulation.EncoderSim(1)
self.frontRightEncoder = hal.simulation.EncoderSim(2)
self.rearRightEncoder = hal.simulation.EncoderSim(3)
# -> encoder counts per revolution / wheel circumference
self.encoderDistanceCalculation = 1024 / (0.0254 * 6 * math.pi)
self.frontLeftEncoderDistance = 0
self.rearLeftEncoderDistance = 0
self.frontRightEncoderDistance = 0
self.rearRightEncoderDistance = 0
def __init__(self, controller):
self.controller = controller
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.drivetrain = drivetrains.MecanumDrivetrain(x_wheelbase=units.inchesToFeet(Constants.X_WHEEL_BASE), y_wheelbase=units.inchesToFeet(
Constants.Y_WHEEL_BASE), speed=units.inchesToFeet(Constants.THEORETICAL_MAX_VELOCITY))
self.starting_x = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_x'])
self.starting_y = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_y'])
def __init__(self, physics_controller):
"""
:param physics_controller: `pyfrc.physics.core.Physics` object
to communicate simulation effects to
"""
self.physics_controller = physics_controller
# Motors
self.lf_motor = hal.simulation.PWMSim(1)
self.lr_motor = hal.simulation.PWMSim(2)
self.rf_motor = hal.simulation.PWMSim(3)
self.rr_motor = hal.simulation.PWMSim(4)
# Gyro
self.gyro = hal.simulation.AnalogGyroSim(1)
self.drivetrain = drivetrains.MecanumDrivetrain()
def __init__(self, physics_controller):
"""
:param physics_controller: `pyfrc.physics.core.PhysicsInterface` object
to communicate simulation effects to
"""
self.physics_controller = physics_controller
# Motors
self.lf_motor = hal.simulation.PWMSim(1)
self.lr_motor = hal.simulation.PWMSim(2)
self.rf_motor = hal.simulation.PWMSim(3)
self.rr_motor = hal.simulation.PWMSim(4)
self.navx = hal.simulation.SimDeviceSim("navX-Sensor[4]")
self.navx_yaw = self.navx.getDouble("Yaw")
self.drivetrain = drivetrains.MecanumDrivetrain()
def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
"""
:param physics_controller: `pyfrc.physics.core.Physics` object
to communicate simulation effects to
:param robot: your robot object
"""
self.physics_controller = physics_controller
# Motors
self.lf_motor = wpilib.simulation.PWMSim(
robot.frontLeftMotor.getChannel())
self.lr_motor = wpilib.simulation.PWMSim(
robot.rearLeftMotor.getChannel())
self.rf_motor = wpilib.simulation.PWMSim(
robot.frontRightMotor.getChannel())
self.rr_motor = wpilib.simulation.PWMSim(
robot.rearRightMotor.getChannel())
self.navx = wpilib.simulation.SimDeviceSim("navX-Sensor[4]")
self.navx_yaw = self.navx.getDouble("Yaw")
self.drivetrain = drivetrains.MecanumDrivetrain()
def __init__(self, physics_controller):
"""
:param physics_controller: `pyfrc.physics.core.Physics` object
to communicate simulation effects to
"""
self.fl_encoder = self.fr_encoder = self.rl_encoder = self.rr_encoder = 0
self.physics_controller = physics_controller
"""
# Change these parameters to fit your robot!
"""
# Create a lift simulation
self.lift_motion = motion.LinearMotion("Lift", 6, 360)
self.mecaum_drivetrain = drivetrains.MecanumDrivetrain(x_wheelbase=2,
y_wheelbase=2,
speed=5)
self.tank_drivetrain = drivetrains.FourMotorDrivetrain(x_wheelbase=2,
speed=5)
self.physics_controller.add_device_gyro_channel("navxmxp_spi_4_angle")
