def init_task(self, context): self.active_waypoint_index = 0 self.dead_reckoning = DeadReckoning(chassis=context.chassis, counts_per_revolution=3310) self.motion_limit = MotionLimit( linear_acceleration_limit=context.chassis. get_max_translation_speed() / PatrolTask.ACCEL_TIME, angular_acceleration_limit=context.chassis.get_max_rotation_speed( ) / PatrolTask.ACCEL_TIME)
def init_task(self, context): # Maximum translation speed in mm/s self.max_trn = context.chassis.get_max_translation_speed() # Maximum rotation speed in radians/2 self.max_rot = context.chassis.get_max_rotation_speed() self._set_relative_motion(context) self.dead_reckoning = DeadReckoning(chassis=context.chassis, counts_per_revolution=3310) self.motion_limit = MotionLimit( linear_acceleration_limit=context.chassis.get_max_translation_speed() / ManualMotionTask.ACCEL_TIME, angular_acceleration_limit=context.chassis.get_max_rotation_speed() / ManualMotionTask.ACCEL_TIME) self.rate_limit = RateLimit(limit_function=RateLimit.fixed_rate_limit_function(1 / ManualMotionTask.ACCEL_TIME)) self.limit_mode = 0