def createObjects(self):
#Sticks
self.driverStick = wpilib.Joystick(1)
self.operatorStick = wpilib.Joystick(0)
#CAN Talons
self.lf = wpilib.CANTalon(2)
self.lr = wpilib.CANTalon(3)
self.rf = wpilib.CANTalon(4)
self.rb = wpilib.CANTalon(5)
#robot drive to eventually control our mecanum drive train
self.robotDrive = wpilib.RobotDrive(self.lf, self.lr, self.rf, self.rb)
#Intake motor
self.intakeController = wpilib.CANTalon(6)
#Shooter motor
self.intakeController = wpilib.CANTalon(7)
#Climber motor
self.climbController = wpilib.CANTalon(8)
#agitator
# Maybe be deprecated because of a simpler solution
self.aggitController = wpilib.CANTalon(9)
# IMU Gyroscope
self.navX = navx.AHRS.create_spi()
#network tables
self.sd = NetworkTable.getTable('smartdashboard')
self.viz = NetworkTable.getTable('visiondashboard')
def buildInto(self, parentTable: NetworkTable,
metaTable: NetworkTable) -> None:
self.buildMetadata(metaTable)
table = parentTable.getSubTable(self.getTitle())
table.getEntry(".type").setString("ShuffleboardLayout")
for component in self.getComponents():
component.buildInto(table,
metaTable.getSubTable(component.getTitle()))
def __init__(self, table: NetworkTable, field: str) -> None:
"""Initialize the NetworkButton.
:param table: the :class:`.NetworkTable` instance to use, or the name of the
table to use.
:param field: field to use.
"""
if isinstance(table, NetworkTable):
self.entry = table.getEntry(field)
else:
table = NetworkTablesInstance.getDefault().getTable(table)
self.entry = table.getEntry(field)
def __init__(self, table: NetworkTable, field: str) -> None:
"""Initialize the NetworkButton.
:param table: the :class:`.NetworkTable` instance to use, or the name of the
table to use.
:param field: field to use.
"""
if isinstance(table, NetworkTable):
self.entry = table.getEntry(field)
else:
table = NetworkTablesInstance.getDefault().getTable(table)
self.entry = table.getEntry(field)
def setTable(self, table: NetworkTable) -> None:
"""
Set the network table. Must be called prior to any Add* functions being called.
:param table: Network table
"""
self.table = table
self.controllableEntry = table.getEntry(".controllable")
def setTable(self, table: NetworkTable) -> None:
"""
Set the network table. Must be called prior to any Add* functions being called.
:param table: Network table
"""
self.table = table
self.controllableEntry = table.getEntry(".controllable")
def __init__(
self, table: NetworkTable, key: str, update: Callable, setter: Callable
) -> None:
self.entry = table.getEntry(key)
self.key = key
self.update = update
self.setter = setter
self.listener = None
def __init__(
self,
table: NetworkTable,
key: str,
update: Callable,
setter: Callable,
listen_local: bool,
) -> None:
self.entry = table.getEntry(key)
self.key = key
self.update = update
self.setter = setter
self.listener = None
# python-specific: sendable chooser needs to be able to hear local updates
self.listen_local = listen_local
def __init__(
self,
table: NetworkTable,
key: str,
update: Callable,
setter: Callable,
listen_local: bool,
) -> None:
self.entry = table.getEntry(key)
self.key = key
self.update = update
self.setter = setter
self.listener = None
# python-specific: sendable chooser needs to be able to hear local updates
self.listen_local = listen_local
def __init__(self):
self.isCalibrating = False
self.isCalibrated = False
self.sd = NetworkTable.getTable('SmartDashboard')
self.positions = [
self.sd.getAutoUpdateValue('Arm/Bottom', 3600),
self.sd.getAutoUpdateValue('Arm/Middle', 2635),
self.sd.getAutoUpdateValue('Arm/Top', -20),
]
self.position_threshold = self.sd.getAutoUpdateValue(
'Arm/On Target Threshold', 25)
self.wanted_pid = (self.sd.getAutoUpdateValue('Arm/P', 2),
self.sd.getAutoUpdateValue('Arm/I', 0),
self.sd.getAutoUpdateValue('Arm/D', 0))
self.calibrate_timer = wpilib.Timer()
def __init__(self):
self.isCalibrating = False
self.isCalibrated = False
self.sd = NetworkTable.getTable("SmartDashboard")
self.positions = [
self.sd.getAutoUpdateValue("Arm/Bottom", 3000),
self.sd.getAutoUpdateValue("Arm/Middle", 2300),
self.sd.getAutoUpdateValue("Arm/Top", -20),
]
self.position_threshold = self.sd.getAutoUpdateValue("Arm/On Target Threshold", 25)
self.wanted_pid = (
self.sd.getAutoUpdateValue("Arm/P", 2),
self.sd.getAutoUpdateValue("Arm/I", 0),
self.sd.getAutoUpdateValue("Arm/D", 0),
)
self.calibrate_timer = wpilib.Timer()
def __init__(self, motor, sensor, limit_port):
super().__init__(limit_port, -1)
self.sensor = sensor
self.motor = motor
sd = NetworkTable.getTable("SmartDashboard")
self.positions = [
sd.getAutoUpdateValue("Tote Forklift|bottom", 400),
sd.getAutoUpdateValue("Tote Forklift|stack1", 4300),
sd.getAutoUpdateValue("Tote Forklift|stack2", 7638),
sd.getAutoUpdateValue("Tote Forklift|stack3", 9250),
sd.getAutoUpdateValue("Tote Forklift|stack4", 10200),
sd.getAutoUpdateValue("Tote Forklift|stack5", 11600),
sd.getAutoUpdateValue("Tote Forklift|stack6", 11600),
]
self.wanted_pid = (
sd.getAutoUpdateValue("Tote Forklift|P", 10),
sd.getAutoUpdateValue("Tote Forklift|I", 0),
sd.getAutoUpdateValue("Tote Forklift|D", 0),
)
def __init__(self, limit_port, init_down_speed):
self.target_position = None
self.target_index = None
self.init_down_speed = init_down_speed
self.limit = wpilib.DigitalInput(limit_port)
self.isCalibrated = False
self.want_manual = False
self.manual_value = 0
self.want_auto = False
self.mode = ForkliftMode.MANUAL
self.last_mode = ForkliftMode.MANUAL
# These need to be set by subclasses
self.wanted_pid = None
self.current_pid = (0, 0, 0)
self.new_pid = None
self.sd = NetworkTable.getTable("SmartDashboard")
def createObjects(self):
# Joysticks
self.joystick1 = wpilib.Joystick(0)
self.joystick2 = wpilib.Joystick(1)
# Motors (l/r = left/right, f/r = front/rear)
self.lf_motor = wpilib.CANTalon(5)
self.lr_motor = wpilib.CANTalon(10)
self.rf_motor = wpilib.CANTalon(15)
self.rr_motor = wpilib.CANTalon(20)
# Drivetrain object
self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
# Left and right arm motors (there's two, which both control the raising and lowering the arm)
self.leftArm = wpilib.CANTalon(25)
self.rightArm = wpilib.CANTalon(30)
# Motor that spins the bar at the end of the arm.
# There was originally going to be one on the right, but we decided against that in the end.
# In retrospect, that was probably a mistake.
self.leftBall = wpilib.Talon(9)
# Motor that reels in the winch to lift the robot.
self.winchMotor = wpilib.Talon(0)
# Motor that opens the winch.
self.kickMotor = wpilib.Talon(1)
# Aiming flashlight
self.flashlight = wpilib.Relay(0)
# Timer to keep light from staying on for too long
self.lightTimer = wpilib.Timer()
# Flashlight has three intensities. So, when it's turning off, it has to go off on, off on, off.
# self.turningOffState keeps track of which on/off it's on.
self.turningOffState = 0
# Is currently on or off? Used to detect if UI button is pressed.
self.lastState = False
# Drive encoders; measure how much the motor has spun
self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)
# Distance sensors
self.back_sensor = distance_sensors.SharpIRGP2Y0A41SK0F(0)
self.ultrasonic = wpilib.AnalogInput(1)
# NavX (purple board on top of the RoboRIO)
self.navX = navx.AHRS.create_spi()
# Initialize SmartDashboard, the table of robot values
self.sd = NetworkTable.getTable('SmartDashboard')
# How much will the control loop pause in between (0.025s = 25ms)
self.control_loop_wait_time = 0.025
# Button to reverse controls
self.reverseButton = ButtonDebouncer(self.joystick1, 1)
# Initiate functional buttons on joysticks
self.shoot = ButtonDebouncer(self.joystick2, 1)
self.raiseButton = ButtonDebouncer(self.joystick2, 3)
self.lowerButton = ButtonDebouncer(self.joystick2, 2)
self.lightButton = ButtonDebouncer(self.joystick1, 6)
def createObjects(self):
"""
Create basic components (motor controllers, joysticks, etc.).
"""
# NavX
self.navx = navx.AHRS.create_spi()
# Initialize SmartDashboard
self.sd = NetworkTable.getTable('SmartDashboard')
# Joysticks
self.left_joystick = wpilib.Joystick(0)
self.right_joystick = wpilib.Joystick(1)
self.secondary_joystick = wpilib.Joystick(2)
# Triggers and buttons
self.secondary_trigger = ButtonDebouncer(self.secondary_joystick, 1)
# Drive motors
self.fr_module = swervemodule.SwerveModule(ctre.CANTalon(30), wpilib.VictorSP(3), wpilib.AnalogInput(0), sd_prefix='fr_module', zero=1.85, has_drive_encoder=True)
self.fl_module = swervemodule.SwerveModule(ctre.CANTalon(20), wpilib.VictorSP(1), wpilib.AnalogInput(2), sd_prefix='fl_module', zero=3.92, inverted=True)
self.rr_module = swervemodule.SwerveModule(ctre.CANTalon(10), wpilib.VictorSP(2), wpilib.AnalogInput(1), sd_prefix='rr_module', zero=4.59)
self.rl_module = swervemodule.SwerveModule(ctre.CANTalon(5), wpilib.VictorSP(0), wpilib.AnalogInput(3), sd_prefix='rl_module', zero=2.44, has_drive_encoder=True, inverted=True)
# Drive control
self.field_centric_button = ButtonDebouncer(self.left_joystick, 6)
self.predict_position = ButtonDebouncer(self.left_joystick, 7)
self.field_centric_drive = True
self.field_centric_hot_switch = toggle_button.TrueToggleButton(self.left_joystick, 1)
self.left_shimmy = toggle_button.TrueToggleButton(self.right_joystick, 4)
self.right_shimmy = toggle_button.TrueToggleButton(self.right_joystick, 5)
self.align_button = toggle_button.TrueToggleButton(self.right_joystick, 10)
# Shooting motors
self.shooter_motor = ctre.CANTalon(15)
self.belt_motor = wpilib.spark.Spark(9)
self.light_controller = wpilib.VictorSP(8)
# Pistons for gear picker
self.picker = wpilib.DoubleSolenoid(6, 7)
self.pivot = wpilib.DoubleSolenoid(4, 5)
self.pessure_sensor = pressure_sensor.REVAnalogPressureSensor(navx.pins.getNavxAnalogInChannel(0))
# Toggling button on secondary joystick
self.pivot_toggle_button = ButtonDebouncer(self.secondary_joystick, 2)
# Or, up and down buttons on right joystick
self.pivot_down_button = ButtonDebouncer(self.right_joystick, 2)
self.pivot_up_button = ButtonDebouncer(self.right_joystick, 3)
# Climb motors
self.climb_motor1 = wpilib.spark.Spark(4)
self.climb_motor2 = wpilib.spark.Spark(5)
# Camera gimble
self.gimbal_yaw = wpilib.Servo(6)
self.gimbal_pitch = wpilib.Servo(7)
# PDP
self.pdp = wpilib.PowerDistributionPanel(0)
def __init__(self):
self._motor1_speed = 0
self._motor2_speed = 0
self.nt = NetworkTable.getTable('SmartDashboard')
def setup(self):
self.sd = NetworkTable.getTable('SmartDashboard')
def buildInto(self, parentTable: NetworkTable, metaTable: NetworkTable) -> None:
self.buildMetadata(metaTable)
table = parentTable.getSubTable(self.getTitle())
table.getEntry(".type").setString("ShuffleboardLayout")
for component in self.getComponents():
component.buildInto(table, metaTable.getSubTable(component.getTitle()))
def setup(self):
self.sd = NetworkTable.getTable('SmartDashboard')
self._picker_state = 1
self._pivot_state = 1
def appendData(key, data, table: NetworkTable):
key = str(key)
if isinstance(data, (str)):
table.putString(key, data)
elif isinstance(data, (int, float)):
table.putNumber(key, data)
elif isinstance(data, (bool)):
table.putBoolean(key, data)
elif isinstance(data, (bytes)):
table.putRaw(key, data)
elif isinstance(data, (dict)):
table.putString(key, data)
else:
table.putValue(key, data)
return True
