mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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`
51 lines
1.8 KiB
Python
51 lines
1.8 KiB
Python
#!/usr/bin/env python3
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#
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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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from wpimath import TrapezoidProfile
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import examplesmartmotorcontroller
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import wpimath
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class MyRobot(wpilib.TimedRobot):
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kDt = 0.02
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def __init__(self):
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super().__init__()
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self.joystick = wpilib.Joystick(1)
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self.motor = examplesmartmotorcontroller.ExampleSmartMotorController(1)
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# Note: These gains are fake, and will have to be tuned for your robot.
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self.feedforward = wpimath.SimpleMotorFeedforwardMeters(1, 1.5)
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# Create a motion profile with the given maximum velocity and maximum
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# acceleration constraints for the next setpoint.
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self.profile = TrapezoidProfile(TrapezoidProfile.Constraints(1.75, 0.75))
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self.goal = TrapezoidProfile.State()
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self.setpoint = TrapezoidProfile.State()
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# Note: These gains are fake, and will have to be tuned for your robot.
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self.motor.setPID(1.3, 0.0, 0.7)
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def teleopPeriodic(self):
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if self.joystick.getRawButtonPressed(2):
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self.goal = TrapezoidProfile.State(5, 0)
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elif self.joystick.getRawButtonPressed(3):
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self.goal = TrapezoidProfile.State(0, 0)
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# Retrieve the profiled setpoint for the next timestep. This setpoint moves
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# toward the goal while obeying the constraints.
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self.setpoint = self.profile.calculate(self.kDt, self.setpoint, self.goal)
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# Send setpoint to offboard controller PID
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self.motor.setSetPoint(
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examplesmartmotorcontroller.ExampleSmartMotorController.PIDMode.kPosition,
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self.setpoint.position,
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self.feedforward.calculate(self.setpoint.velocity) / 12,
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)
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