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()
