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53 lines
2.0 KiB
Python
53 lines
2.0 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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from drivetrain import Drivetrain
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class MyRobot(wpilib.TimedRobot):
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def __init__(self) -> None:
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super().__init__()
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self.controller = wpilib.NiDsXboxController(0)
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self.mecanum = 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.mecanum.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 = -self.xspeedLimiter.calculate(self.controller.getLeftY())
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xSpeed *= Drivetrain.kMaxSpeed
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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 = -self.yspeedLimiter.calculate(self.controller.getLeftX())
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ySpeed *= Drivetrain.kMaxSpeed
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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 = -self.rotLimiter.calculate(self.controller.getRightX())
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rot *= Drivetrain.kMaxAngularSpeed
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self.mecanum.drive(xSpeed, ySpeed, rot, fieldRelative, self.getPeriod())
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