def __init__(self, robot): super().__init__() # go forwards, turn to the right (positive), go forwards again self.addSequential(driveForwards.DriveForward(robot, INITIALDISTANCE)) self.addSequential(turnRobot.TurnRobot(robot, 0, reset=False)) self.addSequential(turnRobot.TurnRobot(robot, TURNANGLE)) self.addSequential( driveForwards.DriveForward(robot, (160 - INITIALDISTANCE) / math.cos(math.radians(-TURNANGLE))))
def __init__(self, robot): super().__init__() points = [pf.Waypoint(0, 0, 0), pf.Waypoint(13, 0, 0)] info, trajectory = pf.generate( points, pf.FIT_HERMITE_CUBIC, pf.SAMPLES_HIGH, max_velocity=PassAutoLine.MAXVELOCITY, max_acceleration=PassAutoLine.MAXACCELERATION, max_jerk=120.0, ) # Wheelbase Width = 2 ft modifier = pf.modifiers.TankModifier(trajectory).modify( robotmap.robotDiameter / 12) # Do something with the new Trajectories... left = modifier.getLeftTrajectory() right = modifier.getRightTrajectory() leftFollower = pf.followers.EncoderFollower(left) leftFollower.configureEncoder(robot.drivetrain.encoderLeft, robotmap.encoderPerRev, robotmap.wheelDiameter) leftFollower.configurePIDVA(1.0, 0.0, 0.0, 1 / PassAutoLine.MAXVELOCITY, 0) rightFollower = pf.followers.EncoderFollower(right) rightFollower.configureEncoder(robot.drivetrain.encoderRight, robotmap.encoderPerRev, robotmap.wheelDiameter) rightFollower.configurePIDVA(1.0, 0.0, 0.0, 1 / PassAutoLine.MAXVELOCITY, 0) self.leftFollower = leftFollower self.rightFollower = rightFollower self.addSequential(driveForwards.DriveForward(robot, 160))
def __init__(self, robot): super().__init__() self.addSequential(driveForwards.DriveForward(robot, fieldConstants.autoLine))
def __init__(self, robot): super().__init__() self.addSequential(driveForwards.DriveForward(robot, 160)) self.addSequential(shootIntake.ShootIntake(robot, 2)) self.addSequential(shootIntake.ShootIntake(robot, 1))
def __init__(self, robot): super().__init__() self.addSequential(driveForwards.DriveForward(robot, 160))