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[robotpy] Fixup errors missed in #8479 (#8660)

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Looks like a race condition happened in the landing of the examples PR
and #8479 which caused some of the python examples to fail.
This commit is contained in:
PJ Reiniger
2026-03-07 00:21:43 -05:00
committed by GitHub
parent b29bde123f
commit ccfb3ab1cd
18 changed files with 55 additions and 55 deletions
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10
robotpyExamples/SwerveBot/drivetrain.py
View File

@@ -71,16 +71,16 @@ class Drivetrain:
if fieldRelative:
robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
swerveModuleStates = self.kinematics.toSwerveModuleStates(
swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)
)
wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
swerveModuleStates, kMaxVelocity
)
self.frontLeft.setDesiredState(swerveModuleStates[0])
self.frontRight.setDesiredState(swerveModuleStates[1])
self.backLeft.setDesiredState(swerveModuleStates[2])
self.backRight.setDesiredState(swerveModuleStates[3])
self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
self.frontRight.setDesiredVelocity(swerveModuleStates[1])
self.backLeft.setDesiredVelocity(swerveModuleStates[2])
self.backRight.setDesiredVelocity(swerveModuleStates[3])
def updateOdometry(self) -> None:
"""Updates the field relative position of the robot."""

24
robotpyExamples/SwerveBot/swervemodule.py
View File

@@ -76,12 +76,12 @@ class SwerveModule:
# to be continuous.
self.turningPIDController.enableContinuousInput(-math.pi, math.pi)
def getState(self) -> wpimath.SwerveModuleState:
"""Returns the current state of the module.
def getVelocity(self) -> wpimath.SwerveModuleVelocity:
"""Returns the current velocity of the module.
:returns: The current state of the module.
:returns: The current velocity of the module.
"""
return wpimath.SwerveModuleState(
return wpimath.SwerveModuleVelocity(
self.driveEncoder.getRate(),
wpimath.Rotation2d(self.turningEncoder.getDistance()),
)
@@ -96,32 +96,32 @@ class SwerveModule:
wpimath.Rotation2d(self.turningEncoder.getDistance()),
)
def setDesiredState(self, desiredState: wpimath.SwerveModuleState) -> None:
"""Sets the desired state for the module.
def setDesiredVelocity(self, desiredVelocity: wpimath.SwerveModuleVelocity) -> None:
"""Sets the desired velocity for the module.
:param desiredState: Desired state with velocity and angle.
:param desiredVelocity: Desired state with velocity and angle.
"""
encoderRotation = wpimath.Rotation2d(self.turningEncoder.getDistance())
# Optimize the reference state to avoid spinning further than 90 degrees
desiredState.optimize(encoderRotation)
desiredVelocity.optimize(encoderRotation)
# Scale velocity by cosine of angle error. This scales down movement perpendicular to the desired
# direction of travel that can occur when modules change directions. This results in smoother
# driving.
desiredState.cosineScale(encoderRotation)
desiredVelocity.cosineScale(encoderRotation)
# Calculate the drive output from the drive PID controller.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), desiredState.velocity
self.driveEncoder.getRate(), desiredVelocity.velocity
)
driveFeedforward = self.driveFeedforward.calculate(desiredState.velocity)
driveFeedforward = self.driveFeedforward.calculate(desiredVelocity.velocity)
# Calculate the turning motor output from the turning PID controller.
turnOutput = self.turningPIDController.calculate(
self.turningEncoder.getDistance(), desiredState.angle.radians()
self.turningEncoder.getDistance(), desiredVelocity.angle.radians()
)
turnFeedforward = self.turnFeedforward.calculate(