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