mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
104 lines
3.2 KiB
Python
104 lines
3.2 KiB
Python
#
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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 commands2
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import wpilib
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import romi
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class Drivetrain(commands2.Subsystem):
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kCountsPerRevolution = 1440.0
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kWheelDiameterInch = 2.75591
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def __init__(self) -> None:
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# The Romi has the left and right motors set to
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# PWM channels 0 and 1 respectively
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self.leftMotor = wpilib.Spark(0)
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self.rightMotor = wpilib.Spark(1)
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# We need to invert one side of the drivetrain so that positive voltages
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# result in both sides moving forward. Depending on how your robot's
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# gearbox is constructed, you might have to invert the left side instead.
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self.rightMotor.setInverted(True)
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# The Romi has onboard encoders that are hardcoded
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# to use DIO pins 4/5 and 6/7 for the left and right
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self.leftEncoder = wpilib.Encoder(4, 5)
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self.rightEncoder = wpilib.Encoder(6, 7)
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# Set up the differential drive controller
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self.drive = wpilib.DifferentialDrive(self.leftMotor, self.rightMotor)
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# Set up the RomiGyro
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self.gyro = romi.RomiGyro()
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# Use inches as unit for encoder distances
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self.leftEncoder.setDistancePerPulse(
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(math.pi * self.kWheelDiameterInch) / self.kCountsPerRevolution
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)
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self.rightEncoder.setDistancePerPulse(
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(math.pi * self.kWheelDiameterInch) / self.kCountsPerRevolution
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)
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self.resetEncoders()
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def arcadeDrive(self, fwd: float, rot: float) -> None:
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"""
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Drives the robot using arcade controls.
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:param fwd: the commanded forward movement
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:param rot: the commanded rotation
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"""
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self.drive.arcadeDrive(fwd, rot)
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def resetEncoders(self) -> None:
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"""Resets the drive encoders to currently read a position of 0."""
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self.leftEncoder.reset()
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self.rightEncoder.reset()
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def getLeftEncoderCount(self) -> int:
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return self.leftEncoder.get()
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def getRightEncoderCount(self) -> int:
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return self.rightEncoder.get()
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def getLeftDistanceInch(self) -> float:
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return self.leftEncoder.getDistance()
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def getRightDistanceInch(self) -> float:
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return self.rightEncoder.getDistance()
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def getAverageDistanceInch(self) -> float:
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"""Gets the average distance of the TWO encoders."""
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return (self.getLeftDistanceInch() + self.getRightDistanceInch()) / 2.0
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def getGyroAngleX(self) -> float:
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"""Current angle of the Romi around the X-axis.
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:returns: The current angle of the Romi in degrees
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"""
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return self.gyro.getAngleX()
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def getGyroAngleY(self) -> float:
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"""Current angle of the Romi around the Y-axis.
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:returns: The current angle of the Romi in degrees
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"""
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return self.gyro.getAngleY()
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def getGyroAngleZ(self) -> float:
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"""Current angle of the Romi around the Z-axis.
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:returns: The current angle of the Romi in degrees
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"""
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return self.gyro.getAngleZ()
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def resetGyro(self) -> None:
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"""Reset the gyro"""
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self.gyro.reset()
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