mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
228 lines
8.4 KiB
Python
228 lines
8.4 KiB
Python
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###################################################################################
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# MIT License
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#
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# Copyright (c) PhotonVision
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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###################################################################################
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import math
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import swervemodule
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import wpilib
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import wpilib.simulation
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import wpimath.estimator
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import wpimath.geometry
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import wpimath.kinematics
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kMaxSpeed = 3.0 # 3 meters per second
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kMaxAngularSpeed = math.pi # 1/2 rotation per second
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kInitialPose = wpimath.geometry.Pose2d(
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wpimath.geometry.Translation2d(1.0, 1.0),
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wpimath.geometry.Rotation2d.fromDegrees(0.0),
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)
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class Drivetrain:
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"""
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Represents a swerve drive style drivetrain.
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"""
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def __init__(self) -> None:
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self.frontLeftLocation = wpimath.geometry.Translation2d(0.381, 0.381)
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self.frontRightLocation = wpimath.geometry.Translation2d(0.381, -0.381)
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self.backLeftLocation = wpimath.geometry.Translation2d(-0.381, 0.381)
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self.backRightLocation = wpimath.geometry.Translation2d(-0.381, -0.381)
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self.frontLeft = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
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self.frontRight = swervemodule.SwerveModule(3, 4, 4, 5, 6, 7, 2)
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self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11, 3)
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self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15, 4)
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self.debugField = wpilib.Field2d()
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wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
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self.gyro = wpilib.AnalogGyro(0)
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self.simGyro = wpilib.simulation.AnalogGyroSim(self.gyro)
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self.kinematics = wpimath.kinematics.SwerveDrive4Kinematics(
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self.frontLeftLocation,
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self.frontRightLocation,
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self.backLeftLocation,
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self.backRightLocation,
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)
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self.poseEst = wpimath.estimator.SwerveDrive4PoseEstimator(
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self.kinematics,
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self.gyro.getRotation2d(),
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(
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self.frontLeft.getPosition(),
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self.frontRight.getPosition(),
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self.backLeft.getPosition(),
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self.backRight.getPosition(),
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),
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kInitialPose,
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)
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self.targetChassisSpeeds = wpimath.kinematics.ChassisSpeeds()
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self.gyro.reset()
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def drive(
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self,
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xSpeed: float,
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ySpeed: float,
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rot: float,
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fieldRelative: bool,
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periodSeconds: float,
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) -> None:
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"""
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Method to drive the robot using joystick info.
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:param xSpeed: Speed of the robot in the x direction (forward).
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:param ySpeed: Speed of the robot in the y direction (sideways).
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:param rot: Angular rate of the robot.
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:param fieldRelative: Whether the provided x and y speeds are relative to the field.
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:param periodSeconds: Time
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"""
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swerveModuleStates = self.kinematics.toSwerveModuleStates(
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wpimath.kinematics.ChassisSpeeds.discretize(
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(
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wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
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xSpeed, ySpeed, rot, self.gyro.getRotation2d()
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)
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if fieldRelative
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else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot)
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),
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periodSeconds,
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)
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)
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wpimath.kinematics.SwerveDrive4Kinematics.desaturateWheelSpeeds(
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swerveModuleStates, kMaxSpeed
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)
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self.frontLeft.setDesiredState(swerveModuleStates[0])
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self.frontRight.setDesiredState(swerveModuleStates[1])
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self.backLeft.setDesiredState(swerveModuleStates[2])
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self.backRight.setDesiredState(swerveModuleStates[3])
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self.targetChassisSpeeds = self.kinematics.toChassisSpeeds(swerveModuleStates)
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def updateOdometry(self) -> None:
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"""Updates the field relative position of the robot."""
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self.poseEst.update(
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self.gyro.getRotation2d(),
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(
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self.frontLeft.getPosition(),
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self.frontRight.getPosition(),
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self.backLeft.getPosition(),
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self.backRight.getPosition(),
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),
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)
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def addVisionPoseEstimate(
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self, pose: wpimath.geometry.Pose3d, timestamp: float
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) -> None:
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self.poseEst.addVisionMeasurement(pose, timestamp)
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def resetPose(self) -> None:
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self.poseEst.resetPosition(
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self.gyro.getRotation2d(),
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(
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self.frontLeft.getPosition(),
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self.frontRight.getPosition(),
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self.backLeft.getPosition(),
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self.backRight.getPosition(),
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),
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kInitialPose,
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)
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def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
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return [
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self.frontLeft.getState(),
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self.frontRight.getState(),
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self.backLeft.getState(),
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self.backRight.getState(),
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]
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def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
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p = self.poseEst.getEstimatedPosition()
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flTrans = wpimath.geometry.Transform2d(
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self.frontLeftLocation, self.frontLeft.getAbsoluteHeading()
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)
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frTrans = wpimath.geometry.Transform2d(
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self.frontRightLocation, self.frontRight.getAbsoluteHeading()
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)
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blTrans = wpimath.geometry.Transform2d(
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self.backLeftLocation, self.backLeft.getAbsoluteHeading()
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)
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brTrans = wpimath.geometry.Transform2d(
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self.backRightLocation, self.backRight.getAbsoluteHeading()
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)
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return [
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p.transformBy(flTrans),
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p.transformBy(frTrans),
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p.transformBy(blTrans),
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p.transformBy(brTrans),
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]
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def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
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return self.kinematics.toChassisSpeeds(self.getModuleStates())
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def log(self):
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table = "Drive/"
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pose = self.poseEst.getEstimatedPosition()
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wpilib.SmartDashboard.putNumber(table + "X", pose.X())
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wpilib.SmartDashboard.putNumber(table + "Y", pose.Y())
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wpilib.SmartDashboard.putNumber(table + "Heading", pose.rotation().degrees())
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chassisSpeeds = self.getChassisSpeeds()
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wpilib.SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx)
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wpilib.SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy)
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wpilib.SmartDashboard.putNumber(
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table + "Omega Degrees", chassisSpeeds.omega_dps
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)
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wpilib.SmartDashboard.putNumber(
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table + "Target VX", self.targetChassisSpeeds.vx
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)
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wpilib.SmartDashboard.putNumber(
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table + "Target VY", self.targetChassisSpeeds.vy
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)
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wpilib.SmartDashboard.putNumber(
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table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps
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)
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self.frontLeft.log()
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self.frontRight.log()
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self.backLeft.log()
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self.backRight.log()
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self.debugField.getRobotObject().setPose(self.poseEst.getEstimatedPosition())
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self.debugField.getObject("SwerveModules").setPoses(self.getModulePoses())
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def simulationPeriodic(self):
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self.frontLeft.simulationPeriodic()
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self.frontRight.simulationPeriodic()
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self.backLeft.simulationPeriodic()
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self.backRight.simulationPeriodic()
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self.simGyro.setRate(-1.0 * self.getChassisSpeeds().omega_dps)
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self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)
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