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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.
44 lines
1.6 KiB
Python
44 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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from subsystems.drivetrain import Drivetrain
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class DriveDistance(commands2.Command):
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def __init__(self, velocity: float, inches: float, drive: Drivetrain) -> None:
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"""Creates a new DriveDistance. This command will drive your your robot for a desired distance at
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a desired velocity.
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:param velocity: The velocity at which the robot will drive
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:param inches: The number of inches the robot will drive
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:param drive: The drivetrain subsystem on which this command will run
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"""
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self.distance = inches
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self.velocity = velocity
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self.drive = drive
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self.addRequirements(drive)
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def initialize(self) -> None:
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"""Called when the command is initially scheduled."""
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self.drive.arcadeDrive(0, 0)
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self.drive.resetEncoders()
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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(self.velocity, 0)
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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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# Compare distance travelled from start to desired distance
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return abs(self.drive.getAverageDistanceInch()) >= self.distance
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