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64 lines
2.3 KiB
Python
64 lines
2.3 KiB
Python
#!/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 wpilib
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import wpimath
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import drivetrain
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class MyRobot(wpilib.TimedRobot):
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def __init__(self) -> None:
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"""Robot initialization function"""
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super().__init__()
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self.controller = wpilib.NiDsXboxController(0)
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self.swerve = drivetrain.Drivetrain()
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# Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
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self.xspeedLimiter = wpimath.SlewRateLimiter(3)
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self.yspeedLimiter = wpimath.SlewRateLimiter(3)
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self.rotLimiter = wpimath.SlewRateLimiter(3)
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def autonomousPeriodic(self) -> None:
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self.driveWithJoystick(False)
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self.swerve.updateOdometry()
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def teleopPeriodic(self) -> None:
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self.driveWithJoystick(True)
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def driveWithJoystick(self, fieldRelative: bool) -> None:
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# Get the x speed. We are inverting this because Xbox controllers return
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# negative values when we push forward.
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xSpeed = (
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-self.xspeedLimiter.calculate(
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wpimath.applyDeadband(self.controller.getLeftY(), 0.02)
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)
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* drivetrain.kMaxSpeed
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)
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# Get the y speed or sideways/strafe speed. We are inverting this because
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# we want a positive value when we pull to the left. Xbox controllers
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# return positive values when you pull to the right by default.
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ySpeed = (
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-self.yspeedLimiter.calculate(
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wpimath.applyDeadband(self.controller.getLeftX(), 0.02)
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)
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* drivetrain.kMaxSpeed
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)
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# Get the rate of angular rotation. We are inverting this because we want a
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# positive value when we pull to the left (remember, CCW is positive in
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# mathematics). Xbox controllers return positive values when you pull to
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# the right by default.
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rot = (
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-self.rotLimiter.calculate(
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wpimath.applyDeadband(self.controller.getRightX(), 0.02)
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)
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* drivetrain.kMaxAngularSpeed
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)
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self.swerve.drive(xSpeed, ySpeed, rot, fieldRelative, self.getPeriod())
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