def __init__(self, physics_controller):
'''
:param physics_controller: `pyfrc.physics.core.PhysicsInterface` object
to communicate simulation effects to
'''
self.physics_controller = physics_controller
self.drivetrain = drivetrains.FourMotorDrivetrain()
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")
def __init__(self, physics_controller):
self.physics_controller = physics_controller
self.drive = drivetrains.FourMotorDrivetrain()
def __init__(self, controller):
self.controller = controller
self.drivetrain = self.drivetrain = drivetrains.FourMotorDrivetrain(
deadzone=drivetrains.linear_deadzone(0.05))
self.deadZone = 0.05
def test_four_motor_drivetrain(lf_motor, lr_motor, rf_motor, rr_motor, output):
result = drivetrains.FourMotorDrivetrain(speed=1 * units.fps).calculate(
lf_motor, lr_motor, rf_motor, rr_motor)
result = (result.vx_fps, result.omega)
assert abs(result[0] - output[0]) < 0.001
assert abs(result[1] - output[1]) < 0.001