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https://github.com/wpilibsuite/allwpilib
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54 lines
1.6 KiB
Python
54 lines
1.6 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 math
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import wpilib
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import wpimath
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class MyRobot(wpilib.TimedRobot):
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kDt = 0.02
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kMaxVelocity = 1.75
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kMaxAcceleration = 0.75
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kP = 1.3
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kI = 0.0
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kD = 0.7
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kS = 1.1
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kG = 1.2
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kV = 1.3
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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.encoder = wpilib.Encoder(1, 2)
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self.motor = wpilib.PWMSparkMax(1)
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# Create a PID controller whose setpoint's change is subject to maximum
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# velocity and acceleration constraints.
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self.constraints = wpimath.TrapezoidProfile.Constraints(
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self.kMaxVelocity, self.kMaxAcceleration
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)
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self.controller = wpimath.ProfiledPIDController(
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self.kP, self.kI, self.kD, self.constraints, self.kDt
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)
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self.feedforward = wpimath.ElevatorFeedforward(self.kS, self.kG, self.kV)
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self.encoder.setDistancePerPulse(1 / 360 * 2 * math.pi * 1.5)
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def teleopPeriodic(self) -> None:
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if self.joystick.getRawButtonPressed(2):
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self.controller.setGoal(5)
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elif self.joystick.getRawButtonPressed(3):
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self.controller.setGoal(0)
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# Run controller and update motor output
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self.motor.setVoltage(
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self.controller.calculate(self.encoder.getDistance())
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+ self.feedforward.calculate(self.controller.getSetpoint().velocity)
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)
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