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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.
99 lines
2.6 KiB
Python
99 lines
2.6 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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import enum
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class ExampleSmartMotorController(wpilib.MotorController):
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"""A simplified stub class that simulates the API of a common "smart" motor controller.
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Has no actual functionality.
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"""
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class PIDMode(enum.Enum):
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kPosition = enum.auto()
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kVelocity = enum.auto()
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kMovementWitchcraft = enum.auto()
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def __init__(self, port: int) -> None:
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"""Creates a new ExampleSmartMotorController.
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Args:
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port: The port for the controller.
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"""
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super().__init__()
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self._velocity = 0.0
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self._inverted = False
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self._leader = None
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def setPID(self, kp: float, ki: float, kd: float) -> None:
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"""Example method for setting the PID gains of the smart controller.
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Args:
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kp: The proportional gain.
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ki: The integral gain.
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kd: The derivative gain.
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"""
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pass
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def setSetPoint(
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self, mode: PIDMode, setpoint: float, arbfeedforward: float
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) -> None:
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"""Example method for setting the setpoint of the smart controller in PID mode.
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Args:
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mode: The mode of the PID controller.
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setpoint: The controller setpoint.
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arbfeedforward: An arbitrary feedforward output (from -1 to 1).
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"""
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pass
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def follow(self, leader: "ExampleSmartMotorController") -> None:
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"""Places this motor controller in follower mode.
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Args:
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leader: The leader to follow.
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"""
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self._leader = leader
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def getEncoderDistance(self) -> float:
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"""Returns the encoder distance.
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Returns:
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The current encoder distance.
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"""
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return 0
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def getEncoderRate(self) -> float:
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"""Returns the encoder rate.
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Returns:
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The current encoder rate.
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"""
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return 0
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def resetEncoder(self) -> None:
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"""Resets the encoder to zero distance."""
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pass
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def set(self, velocity: float) -> None:
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self._velocity = -velocity if self._inverted else velocity
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def get(self) -> float:
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return self._velocity
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def setInverted(self, isInverted: bool) -> None:
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self._inverted = isInverted
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def getInverted(self) -> bool:
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return self._inverted
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def disable(self) -> None:
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self._velocity = 0.0
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def stopMotor(self) -> None:
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self._velocity = 0.0
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