mirror of
https://github.com/wpilibsuite/allwpilib
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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`
49 lines
1.6 KiB
Python
49 lines
1.6 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 commands2
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import wpilib
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from subsystems.drivetrain import Drivetrain
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class TurnTime(commands2.Command):
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"""Creates a new TurnTime command. This command will turn your robot for a
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desired rotational velocity and time.
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"""
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def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
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"""Creates a new TurnTime.
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:param velocity: The velocity which the robot will turn. Negative is in reverse.
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:param time: How much time to turn in seconds
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:param drive: The drive subsystem on which this command will run
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"""
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self.rotationalVelocity = velocity
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self.duration = time
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self.drive = drive
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self.addRequirements(drive)
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self.startTime = 0.0
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def initialize(self) -> None:
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"""Called when the command is initially scheduled."""
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self.startTime = wpilib.Timer.getTimestamp()
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self.drive.arcadeDrive(0, 0)
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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.rotationalVelocity)
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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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return wpilib.Timer.getTimestamp() - self.startTime >= self.duration
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