def __init__(self, robot):
super().__init__()
# go forwards, turn to the right (positive), go forwards again
self.addSequential(driveForwards.DriveForward(robot, INITIALDISTANCE))
self.addSequential(turnRobot.TurnRobot(robot, 0, reset=False))
self.addSequential(turnRobot.TurnRobot(robot, TURNANGLE))
self.addSequential(
driveForwards.DriveForward(robot, (160 - INITIALDISTANCE) /
math.cos(math.radians(-TURNANGLE))))
def __init__(self, robot):
super().__init__()
points = [pf.Waypoint(0, 0, 0), pf.Waypoint(13, 0, 0)]
info, trajectory = pf.generate(
points,
pf.FIT_HERMITE_CUBIC,
pf.SAMPLES_HIGH,
max_velocity=PassAutoLine.MAXVELOCITY,
max_acceleration=PassAutoLine.MAXACCELERATION,
max_jerk=120.0,
)
# Wheelbase Width = 2 ft
modifier = pf.modifiers.TankModifier(trajectory).modify(
robotmap.robotDiameter / 12)
# Do something with the new Trajectories...
left = modifier.getLeftTrajectory()
right = modifier.getRightTrajectory()
leftFollower = pf.followers.EncoderFollower(left)
leftFollower.configureEncoder(robot.drivetrain.encoderLeft,
robotmap.encoderPerRev,
robotmap.wheelDiameter)
leftFollower.configurePIDVA(1.0, 0.0, 0.0,
1 / PassAutoLine.MAXVELOCITY, 0)
rightFollower = pf.followers.EncoderFollower(right)
rightFollower.configureEncoder(robot.drivetrain.encoderRight,
robotmap.encoderPerRev,
robotmap.wheelDiameter)
rightFollower.configurePIDVA(1.0, 0.0, 0.0,
1 / PassAutoLine.MAXVELOCITY, 0)
self.leftFollower = leftFollower
self.rightFollower = rightFollower
self.addSequential(driveForwards.DriveForward(robot, 160))
def __init__(self, robot):
super().__init__()
self.addSequential(driveForwards.DriveForward(robot, fieldConstants.autoLine))
def __init__(self, robot):
super().__init__()
self.addSequential(driveForwards.DriveForward(robot, 160))
self.addSequential(shootIntake.ShootIntake(robot, 2))
self.addSequential(shootIntake.ShootIntake(robot, 1))
def __init__(self, robot):
super().__init__()
self.addSequential(driveForwards.DriveForward(robot, 160))