Source code for pyfrc.physics.motion

import hal
import typing


[docs]class LinearMotion: """ Helper for simulating motion involving a encoder directly coupled to a motor. Here's an example that shows a linear motion of 6ft at 2 ft/s with a 360-count-per-ft encoder, coupled to a PWM motor on port 0 and the first encoder object:: import hal.simulation from pyfrc.physics import motion class PhysicsEngine: def __init__(self, physics_controller): self.motion = pyfrc.physics.motion.LinearMotion('Motion', 2, 360, 6) self.motor = hal.simulation.PWMSim(0) self.encoder = hal.simulation def update_sim(self, now, tm_diff): motor_value = self.motor.getValue() count = self.motion.compute(motor_value, tm_diff) self.encoder.setCount(count) .. versionadded:: 2018.3.0 """ #: Current computed position of motion, in feet position_ft = 0 #: Current computed position of motion (encoder ticks) position_ticks = 0 def __init__( self, name: str, motor_ft_per_sec: float, ticks_per_feet: int, max_position: typing.Optional[float] = None, min_position: typing.Optional[float] = 0, ): """ :param name: Name of motion, shown in simulation UI :param motor_ft_per_sec: Motor travel in feet per second (or whatever units you want) :param ticks_per_feet: Number of encoder ticks per feet :param max_position: Maximum position that this motion travels to :param min_position: Minimum position that this motion travels to """ self.name = name self.motor_ft_per_sec = motor_ft_per_sec self.ticks_per_feet = ticks_per_feet self.min_position = min_position self.max_position = max_position self.device = hal.SimDevice(self.name) self.position = self.device.createDouble("position", True, 0.0) def compute(self, motor_val, tm_diff): self.position_ft += motor_val * tm_diff * self.motor_ft_per_sec if self.max_position is not None: self.position_ft = min( max(self.position_ft, self.min_position), self.max_position ) self.position_ticks = int(self.position_ft * self.ticks_per_feet) # This causes a label to be rendered in the UI self.position.set(self.position_ft) return self.position_ticks