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55 lines
2.1 KiB
Python
55 lines
2.1 KiB
Python
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
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import wpimath
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from examplesmartmotorcontroller import ExampleSmartMotorController
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class MyRobot(wpilib.TimedRobot):
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kDt = 0.02
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def __init__(self) -> None:
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super().__init__()
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self.joystick = wpilib.Joystick(1)
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self.motor = ExampleSmartMotorController(1)
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# Note: These gains are fake, and will have to be tuned for your robot.
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self.feedforward = wpimath.SimpleMotorFeedforwardMeters(1, 1, 1)
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# Create a motion profile with the given maximum voltage and characteristics kV, kA
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# These gains should match your feedforward kV, kA for best results.
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self.profile = wpimath.ExponentialProfileMeterVolts(
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wpimath.ExponentialProfileMeterVolts.Constraints.fromCharacteristics(
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10, 1, 1
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)
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)
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self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
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self.setpoint = wpimath.ExponentialProfileMeterVolts.State(0, 0)
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# Note: These gains are fake, and will have to be tuned for your robot.
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self.motor.setPID(1.3, 0.0, 0.7)
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def teleopPeriodic(self) -> None:
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if self.joystick.getRawButtonPressed(2):
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self.goal = wpimath.ExponentialProfileMeterVolts.State(5, 0)
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elif self.joystick.getRawButtonPressed(3):
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self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
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# Retrieve the profiled setpoint for the next timestep. This setpoint moves
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# toward the goal while obeying the constraints.
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next_state = self.profile.calculate(self.kDt, self.setpoint, self.goal)
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# Send setpoint to offboard controller PID
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self.motor.setSetpoint(
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ExampleSmartMotorController.PIDMode.kPosition,
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self.setpoint.position,
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self.feedforward.calculate(next_state.velocity) / 12.0,
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)
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self.setpoint = next_state
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