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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.
37 lines
1.1 KiB
Python
37 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 wpilib
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from constants import IntakeConstants
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class Intake:
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def __init__(self) -> None:
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self.motor = wpilib.PWMSparkMax(IntakeConstants.kMotorPort)
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self.piston = wpilib.DoubleSolenoid(
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0,
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wpilib.PneumaticsModuleType.CTREPCM,
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IntakeConstants.kPistonFwdChannel,
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IntakeConstants.kPistonRevChannel,
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)
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def deploy(self) -> None:
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self.piston.set(wpilib.DoubleSolenoid.Value.kForward)
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def retract(self) -> None:
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self.piston.set(wpilib.DoubleSolenoid.Value.kReverse)
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self.motor.set(0) # turn off the motor
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def activate(self, velocity: float) -> None:
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if self.isDeployed():
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self.motor.set(velocity)
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else: # if piston isn't open, do nothing
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self.motor.set(0)
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def isDeployed(self) -> bool:
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return self.piston.get() == wpilib.DoubleSolenoid.Value.kForward
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