def execute(self): """Called repeatedly when this Command is scheduled to run""" speed = self._speed time_left = self._duration - self._stopwatch.elapsed_time_in_secs() if (time_left < self._ramp_threshold): speed = speed * time_left / self._ramp_threshold self.robot.drivetrain.arcade_drive(speed, 0.0) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY) if dpad_y != 0.0: self.robot.drivetrain.arcade_drive(self.DPAD_LINEAR_SPEED * dpad_y, 0.0) else: left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY) right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY) self.robot.drivetrain.tankDrive(left_track, right_track) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" current = self.robot.drivetrain.get_gyro_angle() degrees_left = self._target_degrees - current if degrees_left >= 0: direction = 1.0 else: direction = -1.0 turn_speed = self._speed * direction # Set drivetrain using speed and direction self.robot.drivetrain.arcade_drive(0.0, turn_speed, False) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" current = self.robot.drivetrain.get_gyro_angle() degrees_left = self._target_degrees - current if (degrees_left) >= 0: direction = 1.0 else: direction = -1.0 turn_speed = self._speed * direction if degrees_left < self._ramp_threshold: turn_speed = turn_speed * (degrees_left) / self._ramp_threshold # Set drivetrain using speed and direction self.robot.drivetrain.arcade_drive(0.0, turn_speed) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" modifier = self.robot.oi.get_button_state(UserController.DRIVER, JoystickButtons.RIGHTTRIGGER) dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY) if dpad_y != 0.0: self.robot.drivetrain.arcade_drive(self._dpad_scaling * dpad_y, 0.0) else: left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY) right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY) if modifier: self.robot.drivetrain.tank_drive(self._stick_scaling * left_track, self._stick_scaling * right_track) else: self.robot.drivetrain.tank_drive(left_track, right_track) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" # Get encoder count current = self.robot.drivetrain.get_encoder_value() distance_left = self._target_position - current # Determine direction using target and current encoder values if distance_left >= 0: direction = -1.0 else: direction = 1.0 linear_drive_amount = self._speed * direction # Set drivetrain using speed and direction self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0, False) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" # Get encoder count current = self.robot.drivetrain.get_encoder_value() distance_left = self._target_position - current # Determine direction using target and current encoder values if (distance_left) >= 0: direction = 1.0 else: direction = -1.0 linear_drive_amount = self._speed * direction if (distance_left < self._ramp_threshold): linear_drive_amount = linear_drive_amount * (distance_left) / self._ramp_threshold # Set drivetrain using speed and direction self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0) return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" return Command.execute(self)
def execute(self): """Called repeatedly when this Command is scheduled to run""" speed = self._speed self.robot.drivetrain.arcade_drive(speed, 0.0, False) return Command.execute(self)