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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
69 lines
2.4 KiB
Python
69 lines
2.4 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 commands2
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import wpilib
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import constants
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class DriveSubsystem(commands2.Subsystem):
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def __init__(self) -> None:
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self.left1 = wpilib.PWMVictorSPX(constants.kLeftMotor1Port)
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self.left2 = wpilib.PWMVictorSPX(constants.kLeftMotor2Port)
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self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port)
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self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port)
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self.left1.addFollower(self.left2)
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self.right1.addFollower(self.right2)
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# We need to invert one side of the drivetrain so that positive velocities
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# result in both sides moving forward. Depending on how your robot's
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# drivetrain is constructed, you might have to invert the left side instead.
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self.right1.setInverted(True)
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# The robot's drive
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self.drive = wpilib.DifferentialDrive(self.left1, self.right1)
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# The left-side drive encoder
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self.leftEncoder = wpilib.Encoder(
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*constants.kLeftEncoderPorts,
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reverseDirection=constants.kLeftEncoderReversed
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)
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# The right-side drive encoder
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self.rightEncoder = wpilib.Encoder(
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*constants.kRightEncoderPorts,
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reverseDirection=constants.kRightEncoderReversed
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)
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# Sets the distance per pulse for the encoders
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self.leftEncoder.setDistancePerPulse(constants.kEncoderDistancePerPulse)
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self.rightEncoder.setDistancePerPulse(constants.kEncoderDistancePerPulse)
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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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def getAverageEncoderDistance(self) -> float:
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"""Gets the average distance of the TWO encoders."""
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return (self.leftEncoder.getDistance() + self.rightEncoder.getDistance()) / 2.0
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def setMaxOutput(self, maxOutput: float):
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"""
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Sets the max output of the drive. Useful for scaling the
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drive to drive more slowly.
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"""
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self.drive.setMaxOutput(maxOutput)
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