def out(i):
nonlocal f
if f:
print(i)
motors.leftSet(-(int(speed * (1-i)) if i > 0 else speed))
motors.rightSet(int(speed * (1+i)) if i < 0 else speed)
else:
f = True
def rotateLeftUntil(self, func, speed, pre1=None, pre2=None):
u.stage()
if pre1 is not None:
pre1()
total_l, total_r = 0, 0
def inp():
nonlocal total_l, total_r
print(total_l, total_r)
total_l += e.left()
total_r += e.right()
if total_r == 0 or total_l == 0:
i = 1
else:
ratio = total_r / -total_l
adjust = abs(ratio - 1) / (-total_l + total_r)
i = 1 + adjust if ratio > 1 else 1 - adjust
if i > 10:
return 10
return i
f = False
def out(i):
nonlocal f
if f:
print(i)
motors.leftSet(-(int(speed * (1-i)) if i > 0 else speed))
motors.rightSet(int(speed * (1+i)) if i < 0 else speed)
else:
f = True
kp = 5
ki = 1
kd = 1
kf = 1
source = inp
output = out
ctrlr = wpilib.PIDController(kp, ki, kd, kf, source, output)
ctrlr.setInputRange(0, 10)
ctrlr.setOutputRange(-1.0, 1.0)
ctrlr.setAbsoluteTolerance(0.1)
ctrlr.setContinuous()
ctrlr.setSetpoint(1)
inp()
if pre2 is not None:
pre2()
motors.leftSet(-speed)
motors.rightSet(speed)
time.sleep(0.01)
if func():
motors.bothSet(0)
ctrlr.enable()
while not func():
pass
ctrlr.disable()
motors.bothSet(0)
u.unstage()
def out(i):
motors.leftSet(int(speed * i))
motors.rightSet(-int(speed * i))
a.append(i)
def out(i):
motors.leftSet(int(speed * (1-i)) if i > 0 else speed)
motors.rightSet(int(speed * (1+i)) if i < 0 else speed)
def clock():
motors.leftSet(30)
motors.rightSet(-30)
def counter():
motors.leftSet(-30)
motors.rightSet(30)