def __init__(self):
super().__init__()
self.front_cargo_bay = Waypoint(5.6 - SwerveChassis.LENGTH / 2, 0.2, 0,
0.75)
self.setup_loading_bay = Waypoint(3.3, 3.3, math.pi, 2)
self.loading_bay = Waypoint(0.2 + SwerveChassis.LENGTH / 2, 3.4,
math.pi, 1)
self.side_cargo_bay = Waypoint(7, 0.8 + SwerveChassis.WIDTH / 2,
-math.pi / 2, 1)
self.side_cargo_bay_alignment_point = Waypoint(
7, 1.8 + SwerveChassis.WIDTH / 2, -math.pi / 2, 0.75)
self.start_pos = Waypoint(
1.2 + SwerveChassis.LENGTH / 2,
0,
0,
2,
# + SwerveChassis.WIDTH / 2
)
self.completed_runs = 0
self.desired_angle = 0
self.desired_angle_navx = 0
self.minimum_path_completion = 0.85
self.acceleration = 1
self.deceleration = -0.5
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.25)
def __init__(self):
super().__init__()
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.25)
self.acceleration = 1
self.deceleration = -0.5
def __init__(self):
super().__init__()
self.points = (
Waypoint(0, 0, 0, 1),
Waypoint(0.8, 0, 0, 0.5),
Waypoint(1, 0, 0, 0.2),
)
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.25)
def __init__(self):
super().__init__()
self.coordinates: Coordinates = left_coordinates
self.completed_runs = 0
self.desired_angle = 0
self.desired_angle_navx = 0
self.minimum_path_completion = 0.85
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.25)
def on_enable(self):
super().on_enable()
self.chassis.odometry_x = 0
self.chassis.odometry_y = 0
self.points = (
self.current_pos,
Waypoint(2, 0, 0, 1),
Waypoint(2, 2, 0, 1),
Waypoint(0, 2, 0, 1),
)
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.0)
def __init__(self):
super().__init__()
self.pursuit = PurePursuit(look_ahead=0.2,
look_ahead_speed_modifier=0.25)