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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.
58 lines
2.3 KiB
Python
58 lines
2.3 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 math
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import commands2
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from subsystems.drivetrain import Drivetrain
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class TurnDegrees(commands2.Command):
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def __init__(self, velocity: float, degrees: float, drive: Drivetrain) -> None:
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"""Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
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degrees) and rotational velocity.
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:param velocity: The velocity which the robot will drive. Negative is in reverse.
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:param degrees: Degrees to turn. Leverages encoders to compare distance.
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:param drive: The drive subsystem on which this command will run
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"""
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self.degrees = degrees
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self.velocity = velocity
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self.drive = drive
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self.addRequirements(drive)
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def initialize(self) -> None:
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"""Called when the command is initially scheduled."""
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# Set motors to stop, read encoder values for starting point
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self.drive.arcadeDrive(0, 0)
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self.drive.resetEncoders()
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def execute(self) -> None:
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"""Called every time the scheduler runs while the command is scheduled."""
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self.drive.arcadeDrive(0, self.velocity)
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def end(self, interrupted: bool) -> None:
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"""Called once the command ends or is interrupted."""
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self.drive.arcadeDrive(0, 0)
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def isFinished(self) -> bool:
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"""Returns true when the command should end."""
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# Need to convert distance travelled to degrees. The Standard
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# XRP Chassis found here, https://www.sparkfun.com/products/22230,
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# has a wheel placement diameter (163 mm) - width of the wheel (8 mm) = 155 mm
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# or 6.102 inches. We then take into consideration the width of the tires.
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inchPerDegree = math.pi * 6.102 / 360
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# Compare distance travelled from start to distance based on degree turn
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return self._getAverageTurningDistance() >= inchPerDegree * self.degrees
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def _getAverageTurningDistance(self) -> float:
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leftDistance = abs(self.drive.getLeftDistanceInch())
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rightDistance = abs(self.drive.getRightDistanceInch())
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return (leftDistance + rightDistance) / 2.0
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