def __init__(self, physics_controller):
'''
:param physics_controller: `pyfrc.physics.core.PhysicsInterface` object
to communicate simulation effects to
'''
self.physics_controller = physics_controller
self.position = 0
self.physics_controller.add_device_gyro_channel('adxrs450_spi_0_angle')
targets = [
# right
VisionSim.Target(15, 13, 250, 0),
# middle
VisionSim.Target(16.5, 15.5, 295, 65),
# left
VisionSim.Target(15, 18, 0, 110)
]
self.vision = VisionSim(targets,
61.0,
1.5,
15,
15,
physics_controller=physics_controller)
def __init__(self, physics_controller):
'''
:param physics_controller: `pyfrc.physics.core.PhysicsInterface` object
to communicate simulation effects to
'''
self.physics_controller = physics_controller
self.position = 0
self.ft_per_sec = 5
self.wheel_circumference = 18.8
self.physics_controller.add_device_gyro_channel('adxrs450_spi_0_angle')
if VisionSim is not None:
targets = [
# right
VisionSim.Target(16, 12, 250, 20), # angle is 122.23
# middle
VisionSim.Target(18.5, 16, 295, 65), # angle is 180
# left
VisionSim.Target(16, 20, 320, 110), # angle is -142
]
self.vision = VisionSim(targets,
61.0,
1.5,
15,
15,
physics_controller=self.physics_controller)
else:
self.vision = None
def __init__(self, physics_controller):
"""
The constructor must take the following arguments:
:param physics_controller: The physics controller interface
:type physics_controller: :class:`.PhysicsInterface`
"""
self.physics_controller = physics_controller
self.position = 0
self.physics_controller.add_device_gyro_channel("navxmxp_spi_4_angle")
# Change these parameters to fit your robot!
bumper_width = 3.25 * units.inch
self.drivetrain = tankmodel.TankModel.theory(
motor_cfgs.MOTOR_CFG_CIM, # motor configuration
137 * units.lbs, # robot mass
1 / 75, # drivetrain gear ratio
2, # motors per side
35 * units.inch, # robot wheelbase
29 * units.inch + bumper_width * 2, # robot width
29 * units.inch + bumper_width * 2, # robot length
8 * units.centimeter, # wheel diameter
)
# Precompute the encoder constant
# -> encoder counts per revolution / wheel circumference
self.kEncoder = (4096) / (.08 * math.pi)
self.l_distance = 0
self.r_distance = 0
targets = [
# right
VisionSim.Target(15, 13, 250, 0),
# middle
VisionSim.Target(16.5, 15.5, 295, 65),
# left
VisionSim.Target(15, 18, 0, 110),
VisionSim.Target(10, 25, 250, 0),
]
self.vision = VisionSim(targets,
61.0,
1.5,
20,
15,
physics_controller=physics_controller)
def initialize(self, hal_data):
self.visionTable = NetworkTables.getTable('limelight')
self.visionTable.putNumber('tv', 1)
self.visionTable.putNumber('tx', 0)
self.visionTable.putNumber('ty', 0)
self.visionTable.putNumber('ts', 0)
self.visionTable.putNumber('ta', 5)
visionTarget = VisionSim.Target(self.visionX, self.visionY,
self.visionAngleStart,
self.visionAngleEnd)
self.visionSim = VisionSim([visionTarget], 60, 2, 50)
hal_data['alliance_station'] = self.allianceStation
def initialize(self, hal_data):
self.visionTable = NetworkTables.getTable('limelight')
self.visionTable.putNumber('tv',
1) # some arbitrary default vision data
self.visionTable.putNumber('tx', 0)
self.visionTable.putNumber('ty', 0)
self.visionTable.putNumber('ts', 0)
self.visionTable.putNumber('ta', 5)
visionTarget = VisionSim.Target(self.visionX, self.visionY,
self.visionAngleStart,
self.visionAngleEnd)
self.visionSim = VisionSim([visionTarget], 60, 2, 50)
hal_data['alliance_station'] = self.allianceStation
self._drivePositionState = None
ctre.TalonSRX._use_notifier = False # speed up position mode in simulator by a lot
def __init__(self, physics_controller):
"""
:param physics_controller: `pyfrc.physics.core.Physics` object
to communicate simulation effects to
"""
self.physics_controller = physics_controller
self.position = 0
self.physics_controller.add_device_gyro_channel("navxmxp_i2c_1_angle")
self.physics_controller.add_device_gyro_channel("navxmxp_spi_4_angle")
targets = [
#everything on the left side of the field
VisionSim.Target(18.5, 12.5, 90, 270), # front cargo
VisionSim.Target(0, 2, -90, 90), # pickup station
VisionSim.Target(22, 11.25, 180, 360), # cargo side 1
VisionSim.Target(23.75, 11.25, 180, 360), # cargo side 2
VisionSim.Target(25.5, 11.25, 180, 360), # cargo side 3
VisionSim.Target(17.5, 2, 90 - 29, 90 - 29 + 180), # rocket fromt
VisionSim.Target(21, 2, -90 + 29, -90 + 29 + 180), # rocket back
#everything on the left side of the field
VisionSim.Target(18.5, 27 - 12.5, 90, 270), # front cargo
VisionSim.Target(0, 27 - 2, -90, 90), # pickup station
VisionSim.Target(22, 27 - 11.25, 0, 180), # cargo side 1
VisionSim.Target(23.75, 27 - 11.25, 0, 180), # cargo side 2
VisionSim.Target(25.5, 27 - 11.25, 0, 180), # cargo side 3
VisionSim.Target(17.5, 27 - 2, 90 + 29,
90 + 29 + 180), # rocket fromt
VisionSim.Target(21, 27 - 2, -90 - 29,
-90 - 29 + 180), # rocket back
VisionSim.Target(18.5, 14.5, 90, 270), # front right cargo
]
self.vision = VisionSim(
targets,
61.0, #camera FOV
.1, #close limit (ft)
10, #far limit (ft)
15, #update rate (hz)
physics_controller=physics_controller)
