mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
#
|
|
# 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 typing
|
|
import commands2
|
|
from subsystems.drivetrain import Drivetrain
|
|
|
|
|
|
class ArcadeDrive(commands2.Command):
|
|
def __init__(
|
|
self,
|
|
drive: Drivetrain,
|
|
xaxisSpeedSupplier: typing.Callable[[], float],
|
|
zaxisRotateSupplier: typing.Callable[[], float],
|
|
) -> None:
|
|
"""Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
|
|
lambdas. This command does not terminate.
|
|
|
|
:param drivetrain: The drivetrain subsystem on which this command will run
|
|
:param xaxisSpeedSupplier: Callable supplier of forward/backward speed
|
|
:param zaxisRotateSupplier: Callable supplier of rotational speed
|
|
"""
|
|
|
|
self.drive = drive
|
|
self.xaxisSpeedSupplier = xaxisSpeedSupplier
|
|
self.zaxisRotateSupplier = zaxisRotateSupplier
|
|
|
|
self.addRequirements(self.drive)
|
|
|
|
def execute(self) -> None:
|
|
self.drive.arcadeDrive(self.xaxisSpeedSupplier(), self.zaxisRotateSupplier())
|