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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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18
robotpyExamples/SwerveDrivePoseEstimator/swervemodule.py
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@@ -77,12 +77,12 @@ class SwerveModule:
# to be continuous.
self.turningPIDController.enableContinuousInput(-math.pi, math.pi)
def getState(self) -> wpimath.SwerveModuleState:
def getState(self) -> wpimath.SwerveModuleVelocity :
"""Returns the current state of the module.
:returns: The current state of the module.
"""
return wpimath.SwerveModuleState(
return wpimath.SwerveModuleVelocity (
self.driveEncoder.getRate(),
wpimath.Rotation2d(self.turningEncoder.getDistance()),
)
@@ -97,31 +97,31 @@ class SwerveModule:
wpimath.Rotation2d(self.turningEncoder.getDistance()),
)
def setDesiredState(self, desiredState: wpimath.SwerveModuleState) -> None:
def setDesiredVelocity(self, desiredVelocity: wpimath.SwerveModuleVelocity) -> None:
"""Sets the desired state 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(