def __init__(self, gamepad):
self.Gamepad = gamepad
self.Arm1 = wpilib.CANTalon(6)
self.Arm1.reverseSensor(True)
self.Arm2 = wpilib.CANTalon(7)
self.Arm2.reverseSensor(True)
self.Control = ArmReplay(self.Arm1, self.Arm2)
self.Replay = None
self.LastPathName = ""
self.ControlEnabled = True
class Arm:
# use JoystickLib.Gamepad!
def __init__(self, gamepad):
self.Gamepad = gamepad
self.Arm1 = wpilib.CANTalon(6)
self.Arm1.reverseSensor(True)
self.Arm2 = wpilib.CANTalon(7)
self.Arm2.reverseSensor(True)
self.Control = ArmReplay(self.Arm1, self.Arm2)
self.Replay = None
self.LastPathName = ""
self.ControlEnabled = True
def update(self):
if self.Gamepad.getRawButton(Gamepad.LJ):
print("Arm emergency stop!")
self.Replay.disable()
self.Arm1.disable()
self.Arm2.disable()
self.Replay = None
self.ControlEnabled = False
if not self.ControlEnabled:
return
self.Control.update()
if self.Gamepad.getRawButton(Gamepad.LB):
if self.Replay is not None:
self.Replay.update()
else:
print("No path loaded!")
if self.Gamepad.getRawButton(Gamepad.START):
print("Arm path reset")
if self.Replay is not None:
self.Replay.disable()
self.Replay = None
pov = self.Gamepad.getPOV()
if not pov == -1:
pov = round(pov / 90)
if pov == 0 or pov == 4: # could round up
self.loadReplay("1")
elif pov == 1:
self.loadReplay("2")
elif pov == 2:
self.loadReplay("3")
elif pov == 3:
self.loadReplay("4")
if self.Gamepad.getRawButton(Gamepad.BACK):
if self.LastPathName == "":
print("No path loaded!")
else:
print("Return path for", self.LastPathName)
last = self.LastPathName
self.loadReplay(self.LastPathName + "a")
self.LastPathName = last
def loadReplay(self, name):
if self.Replay is not None:
self.Replay.disable()
try:
self.Replay = ArmReplayReader(self.Control, name)
except Exception as e:
print("Error while loading path")
print(e)
return
self.Replay.enable()
self.LastPathName = name
print("Arm path", name, "is loaded and ready")