def __init__(self, distance, speed): super().__init__() self.drive = drive.Drive() self.requires(self.drive) self.odemetry = odemetry.Odemetry() self.speed = speed self.distance = distance
def __init__(self, allocentric=False): super().__init__() self.allocentric = allocentric self.drive = drive.Drive() self.requires(self.drive) self.drive.zeroSensors() self.odemetry = odemetry.Odemetry()
def __init__(self, filename): super().__init__() self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.spline = hs.HermiteSpline(filename=filename) self.follower = purepursuit.PurePursuit(self.spline) self.follower.computeVelocities()
def __init__(self): super().__init__() self.drive = drive.Drive() self.longarm = longarm.LongArm() self.shortarm = shortarm.ShortArm() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.requires(self.longarm) self.requires(self.shortarm)
def __init__(self, controller): self.controller = controller self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.drivetrain = drivetrains.MecanumDrivetrain(x_wheelbase=units.inchesToFeet(Constants.X_WHEEL_BASE), y_wheelbase=units.inchesToFeet( Constants.Y_WHEEL_BASE), speed=units.inchesToFeet(Constants.THEORETICAL_MAX_VELOCITY)) self.starting_x = units.feetToInches( config.config_obj['pyfrc']['robot']['starting_x']) self.starting_y = units.feetToInches( config.config_obj['pyfrc']['robot']['starting_y'])
def __init__(self, allocentric=False): super().__init__() self.allocentric = allocentric self.drive = drive.Drive() self.requires(self.drive) self.drive.zeroSensors() self.odemetry = odemetry.Odemetry() self.multiplier = 1000 self.last_snap = 0 self.setInterruptible(True)
def __init__(self, setpoint, relative=False): super().__init__() self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.setpoint = units.degreesToRadians(setpoint) self.relative = relative self.timer = wpilib.Timer() self.timestamp = 0 self.last_timestamp = 0 self.cur_error = 0
def __init__(self, controller): self.controller = controller self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.drivetrain = drivetrains.TwoMotorDrivetrain( x_wheelbase=units.inchesToFeet(Constants.WHEEL_BASE), speed=units.inchesToFeet(Constants.THEORETICAL_MAX_VELOCITY)) self.starting_x = units.feetToInches( config.config_obj['pyfrc']['robot']['starting_x']) self.starting_y = units.feetToInches( config.config_obj['pyfrc']['robot']['starting_y']) self.kl_encoder = Constants.DRIVE_ENCODER_TICKS_PER_REVOLUTION_LEFT / \ Constants.WHEEL_CIRCUMFERENCE self.kr_encoder = Constants.DRIVE_ENCODER_TICKS_PER_REVOLUTION_RIGHT / \ Constants.WHEEL_CIRCUMFERENCE
def __init__(self, setpoint): """Turn to setpoint (degrees).""" super().__init__() self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.setpoint = setpoint src = self.odemetry.pidgyro self.PID = PIDController(Constants.TURN_TO_ANGLE_KP, Constants.TURN_TO_ANGLE_KI, Constants.TURN_TO_ANGLE_KD, src, self._setMotors) self.PID.setInputRange(-180.0, 180.0) self.PID.setOutputRange(-0.7, 0.7) self.PID.setContinuous(True) self.PID.setAbsoluteTolerance(Constants.TURN_TO_ANGLE_TOLERANCE) self.PID.setPIDSourceType(PIDController.PIDSourceType.kDisplacement)
def __init__(self, setpoint): """Turn to setpoint (degrees).""" super().__init__() self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.setpoint = setpoint src = self.odemetry.pidgyro self.PID = PIDController(Constants.TURN_TO_ANGLE_KP, Constants.TURN_TO_ANGLE_KI, Constants.TURN_TO_ANGLE_KD, src, self._setMotors) logging.debug( "Turn to angle constructed with angle {}".format(setpoint)) self.PID.setInputRange(-180.0, 180.0) self.PID.setOutputRange(-Constants.TURN_TO_ANGLE_MAX_OUTPUT, Constants.TURN_TO_ANGLE_MAX_OUTPUT) self.PID.setContinuous(True) self.PID.setAbsoluteTolerance(Constants.TURN_TO_ANGLE_TOLERANCE) self.PID.setPIDSourceType(PIDController.PIDSourceType.kDisplacement)
def __init__(self, setpoint, relative=False): super().__init__() self.drive = drive.Drive() self.odemetry = odemetry.Odemetry() self.requires(self.drive) self.setpoint = units.degreesToRadians(setpoint) self.kp = Constants.TURN_TO_ANGLE_KP self.ki = Constants.TURN_TO_ANGLE_KI self.kd = Constants.TURN_TO_ANGLE_KD self.error_tolerance = Constants.TURN_TO_ANGLE_TOLERANCE self.timeout = Constants.TURN_TO_ANGLE_TIMEOUT self.controller = pid.PID( self.setpoint, self.kp, self.ki, self.kd, True, -180, 180) self.timestamp = 0 self.last_timestamp = 0 self.cur_error = 0 self.relative = relative self.timer = wpilib.Timer() self.timeout = 1000
def __init__(self): super().__init__() self.odemetry = odemetry.Odemetry()