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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.
53 lines
1.8 KiB
Python
53 lines
1.8 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 ntcore
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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.inst = ntcore.NetworkTableInstance.getDefault()
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self.doubleArrayTopic = self.inst.getDoubleArrayTopic("m_doubleArrayTopic")
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self.controller = wpilib.NiDsXboxController(0)
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self.drive = Drivetrain(self.doubleArrayTopic)
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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.velocityLimiter = 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.teleopPeriodic()
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self.drive.updateOdometry()
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def simulationPeriodic(self) -> None:
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self.drive.simulationPeriodic()
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def robotPeriodic(self) -> None:
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self.drive.periodic()
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def teleopPeriodic(self) -> None:
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# Get the x velocity. We are inverting this because Xbox controllers return
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# negative values when we push forward.
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xVelocity = -self.velocityLimiter.calculate(self.controller.getLeftY())
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xVelocity *= Drivetrain.kMaxVelocity
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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.kMaxAngularVelocity
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self.drive.drive(xVelocity, rot)
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