mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
55 lines
2.1 KiB
Python
55 lines
2.1 KiB
Python
#!/usr/bin/env python3
|
|
#
|
|
# Copyright (c) FIRST and other WPILib contributors.
|
|
# Open Source Software; you can modify and/or share it under the terms of
|
|
# the WPILib BSD license file in the root directory of this project.
|
|
#
|
|
|
|
import wpilib
|
|
import wpimath
|
|
|
|
from examplesmartmotorcontroller import ExampleSmartMotorController
|
|
|
|
|
|
class MyRobot(wpilib.TimedRobot):
|
|
kDt = 0.02
|
|
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
self.joystick = wpilib.Joystick(1)
|
|
self.motor = ExampleSmartMotorController(1)
|
|
# Note: These gains are fake, and will have to be tuned for your robot.
|
|
self.feedforward = wpimath.SimpleMotorFeedforwardMeters(1, 1, 1)
|
|
|
|
# Create a motion profile with the given maximum voltage and characteristics kV, kA
|
|
# These gains should match your feedforward kV, kA for best results.
|
|
self.profile = wpimath.ExponentialProfileMeterVolts(
|
|
wpimath.ExponentialProfileMeterVolts.Constraints.fromCharacteristics(
|
|
10, 1, 1
|
|
)
|
|
)
|
|
self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
|
|
self.setpoint = wpimath.ExponentialProfileMeterVolts.State(0, 0)
|
|
|
|
# Note: These gains are fake, and will have to be tuned for your robot.
|
|
self.motor.setPID(1.3, 0.0, 0.7)
|
|
|
|
def teleopPeriodic(self) -> None:
|
|
if self.joystick.getRawButtonPressed(2):
|
|
self.goal = wpimath.ExponentialProfileMeterVolts.State(5, 0)
|
|
elif self.joystick.getRawButtonPressed(3):
|
|
self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
|
|
|
|
# Retrieve the profiled setpoint for the next timestep. This setpoint moves
|
|
# toward the goal while obeying the constraints.
|
|
next_state = self.profile.calculate(self.kDt, self.setpoint, self.goal)
|
|
|
|
# Send setpoint to offboard controller PID
|
|
self.motor.setSetpoint(
|
|
ExampleSmartMotorController.PIDMode.kPosition,
|
|
self.setpoint.position,
|
|
self.feedforward.calculate(next_state.velocity) / 12.0,
|
|
)
|
|
|
|
self.setpoint = next_state
|