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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.
36 lines
1.1 KiB
Python
36 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 commands2
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import constants
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from .drivedistance import DriveDistance
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from .releasehatch import ReleaseHatch
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from subsystems.drivesubsystem import DriveSubsystem
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from subsystems.hatchsubsystem import HatchSubsystem
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class ComplexAuto(commands2.SequentialCommandGroup):
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"""
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A complex auto command that drives forward, releases a hatch, and then drives backward.
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"""
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def __init__(self, drive: DriveSubsystem, hatch: HatchSubsystem):
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super().__init__(
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# Drive forward the specified distance
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DriveDistance(
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constants.kAutoDriveDistanceInches, constants.kAutoDriveVelocity, drive
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),
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# Release the hatch
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ReleaseHatch(hatch),
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# Drive backward the specified distance
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DriveDistance(
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constants.kAutoBackupDistanceInches, -constants.kAutoDriveVelocity, drive
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),
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)
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