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35 lines
1.1 KiB
Python
35 lines
1.1 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 typing
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import commands2
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from subsystems.drivetrain import Drivetrain
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class ArcadeDrive(commands2.Command):
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def __init__(
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self,
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drive: Drivetrain,
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forward: typing.Callable[[], float],
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rotation: typing.Callable[[], float],
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) -> None:
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"""Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
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lambdas. This command does not terminate.
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:param drivetrain: The drivetrain subsystem on which this command will run
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:param forward: Callable supplier of forward/backward speed
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:param rotation: Callable supplier of rotational speed
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"""
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self.drive = drive
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self.forward = forward
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self.rotation = rotation
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self.addRequirements(self.drive)
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def execute(self) -> None:
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self.drive.arcadeDrive(self.forward(), self.rotation())
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