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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.
35 lines
1.2 KiB
Python
35 lines
1.2 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 typing
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import commands2
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from subsystems.drivetrain import Drivetrain
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class ArcadeDrive(commands2.Command):
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def __init__(
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self,
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drive: Drivetrain,
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xaxisVelocitySupplier: typing.Callable[[], float],
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zaxisRotateSupplier: typing.Callable[[], float],
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) -> None:
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"""Creates a new ArcadeDrive. This command will drive your robot according to the velocity supplier
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lambdas. This command does not terminate.
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:param drivetrain: The drivetrain subsystem on which this command will run
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:param xaxisVelocitySupplier: Callable supplier of forward/backward velocity
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:param zaxisRotateSupplier: Callable supplier of rotational velocity
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"""
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self.drive = drive
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self.xaxisVelocitySupplier = xaxisVelocitySupplier
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self.zaxisRotateSupplier = zaxisRotateSupplier
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self.addRequirements(self.drive)
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def execute(self) -> None:
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self.drive.arcadeDrive(self.xaxisVelocitySupplier(), self.zaxisRotateSupplier())
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