def robotInit(self):
self.talons = {
} # dictionary, maps talon number to WPI_TalonSRX object
self.joy = wpilib.Joystick(0)
self.app = None
sea.startDashboard(self, motortest_app.MotorTester)
def robotInit(self):
#set up drivetrain
self.drivetrain = self.initDrivetrain()
sea.setSimulatedDrivetrain(self.drivetrain)
#set up dashboard
self.app = None
sea.startDashboard(self, dashboard.PracticeDashboard)
def robotInit(self):
self.joystick = wpilib.Joystick(0)
wheelADriveTalon = ctre.WPI_TalonSRX(1)
wheelARotateTalon = ctre.WPI_TalonSRX(0)
wheelBDriveTalon = ctre.WPI_TalonSRX(3)
wheelBRotateTalon = ctre.WPI_TalonSRX(2)
wheelCDriveTalon = ctre.WPI_TalonSRX(5)
wheelCRotateTalon = ctre.WPI_TalonSRX(4)
for talon in [
wheelADriveTalon, wheelARotateTalon, wheelBDriveTalon,
wheelBRotateTalon, wheelCDriveTalon, wheelCRotateTalon
]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
wheelADrive = sea.AngledWheel(wheelADriveTalon,
.75,
.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelBDrive = sea.AngledWheel(wheelBDriveTalon,
-.75,
.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelCDrive = sea.AngledWheel(wheelCDriveTalon,
0,
-.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelARotate = sea.SwerveWheel(wheelADrive, wheelARotateTalon, 1612.8,
True)
wheelBRotate = sea.SwerveWheel(wheelBDrive, wheelBRotateTalon, 1612.8,
True)
wheelCRotate = sea.SwerveWheel(wheelCDrive, wheelCRotateTalon, 1680,
True) # 1670, 1686, 1680
self.superDrive = sea.SuperHolonomicDrive()
sea.setSimulatedDrivetrain(self.superDrive)
for wheelrotate in [wheelARotate, wheelBRotate, wheelCRotate]:
self.superDrive.addWheel(wheelrotate)
for wheel in self.superDrive.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
self.robotOrigin = None
self.app = None
sea.startDashboard(self, swervebot_app.SwerveBotDashboard)
def robotInit(self):
self.joystick = wpilib.Joystick(0)
self.superDrive = sea.SuperHolonomicDrive()
sea.setSimulatedDrivetrain(self.superDrive)
self.makeSwerveWheel(1, 0, .75, .75, 1612.8, True)
self.makeSwerveWheel(3, 2, -.75, .75, 1612.8, True)
self.makeSwerveWheel(5, 4, 0, -.75, 1680, True) # 1670, 1686, 1680
self.setDriveMode(ctre.ControlMode.PercentOutput)
self.robotOrigin = None
self.app = None
sea.startDashboard(self, swervebot_app.SwerveBotDashboard)
self.ahrs = navx.AHRS.create_spi()
def robotInit(self):
# DEVICES
self.joystick = wpilib.Joystick(0)
self.buttonBoard = wpilib.Joystick(1)
self.opticalSensors = [
wpilib.AnalogInput(0), wpilib.AnalogInput(1),
wpilib.AnalogInput(2), wpilib.AnalogInput(3)]
ahrs = navx.AHRS.create_spi()
self.pdp = wpilib.PowerDistributionPanel(50)
self.vision = NetworkTables.getTable('limelight')
self.vision.putNumber('pipeline', 1)
# SUBSYSTEMS
self.superDrive = drivetrain.initDrivetrain()
self.superDrive.gear = None
self.multiDrive = sea.MultiDrive(self.superDrive)
self.grabberArm = grabber.GrabberArm()
self.climber = climber.Climber()
# HELPER OBJECTS
self.pathFollower = sea.PathFollower(self.superDrive, ahrs)
startPosition = coordinates.startCenter.inQuadrant(1)
self.pathFollower.setPosition(startPosition.x, startPosition.y, startPosition.orientation)
self.autoScheduler = auto_scheduler.AutoScheduler()
self.autoScheduler.updateCallback = self.updateScheduler
self.autoScheduler.idleFunction = self.autoIdle
self.autoScheduler.actionList.append(auto_actions.createEndAction(self, 7))
self.timingMonitor = sea.TimingMonitor()
# MANUAL DRIVE STATE
self.driveVoltage = False
self.manualGear = None
self.fieldOriented = True
self.holdGear = False
self.manualAuxModeMachine = sea.StateMachine()
self.auxDisabledState = sea.State(self.auxDisabledMode)
self.defenseState = sea.State(self.manualDefenseMode)
self.hatchState = sea.State(self.manualHatchMode)
self.cargoState = sea.State(self.manualCargoMode)
self.climbState = sea.State(self.manualClimbMode)
self.controlModeMachine = sea.StateMachine()
self.autoState = sea.State(self.autoScheduler.runSchedule)
self.manualState = sea.State(self.manualDriving, self.manualAuxModeMachine)
# DASHBOARD
self.genericAutoActions = auto_actions.createGenericAutoActions(
self, self.pathFollower, self.grabberArm)
self.app = None # dashboard
sea.startDashboard(self, dashboard.CompetitionBotDashboard)
wpilib.CameraServer.launch('camera.py:main')
def robotInit(self):
self.talons = [None] * 99
self.joy = wpilib.Joystick(0)
self.app = None
sea.startDashboard(self, motortest_app.MotorTester)
def robotInit(self):
# devices
self.controller = wpilib.XboxController(0)
self.buttonBoard = wpilib.Joystick(1)
ahrs = navx.AHRS.create_spi()
self.pdp = wpilib.PowerDistributionPanel(50)
self.ledStrip = wpilib.PWM(0)
self.ledInput = -0.99
self.superDrive = drivetrain.initDrivetrain()
self.pathFollower = sea.PathFollower(self.superDrive, ahrs)
# for autonomous mode
self.autoScheduler = autoScheduler.AutoScheduler()
self.autoScheduler.idleFunction = self.autoIdle
self.autoScheduler.updateCallback = self.updateScheduler
# controls the state of the robot
self.controlModeMachine = sea.StateMachine()
self.manualState = sea.State(self.driving)
self.autoState = sea.State(self.autoScheduler.runSchedule)
self.testState = sea.State(self.testing)
# for shifting gear box
self.compressor = wpilib.Compressor(0)
self.piston1 = wpilib.DoubleSolenoid(0, 1)
self.piston2 = wpilib.DoubleSolenoid(2, 3)
# drive gears
self.superDrive.gear = None
self.driveGear = drivetrain.mediumVoltageGear
self.driveMode = "velocity"
self.driveSpeed = "medium"
self.driveGears = \
{"voltage" : \
{"slow" : drivetrain.slowVoltageGear,
"medium" : drivetrain.mediumVoltageGear,
"fast" : drivetrain.fastVoltageGear},
"velocity" : \
{"slow" : drivetrain.slowVelocityGear,
"medium" : drivetrain.mediumVelocityGear,
"fast" : drivetrain.fastVelocityGear},
"position" : \
{"slow" : drivetrain.slowPositionGear,
"medium" : drivetrain.mediumPositionGear,
"fast" : drivetrain.fastPositionGear}
}
# testing
self.testSettings = { \
"wheelNum" : 0,
"motorNum" : 0,
"speed" : 0
}
# for dashboard motor data
self.motorData = [dict() for _ in range(len(self.superDrive.motors))]
# sets initial values so the dashboard doesn't break when it tries to get
# them before the values are updated in self.updateMotorData
for motor in range(len(self.superDrive.motors)):
initAmps = round(self.superDrive.motors[motor].getOutputCurrent(), 2)
initTemp = round(self.superDrive.motors[motor].getMotorTemperature(), 2)
self.motorData[motor]["amps"] = initAmps
self.motorData[motor]["temp"] = initTemp
self.motorData[motor]["maxAmp"] = initAmps
self.motorData[motor]["maxTemp"] = initTemp
self.app = None
sea.startDashboard(self, dashboard.CompetitionDashboard)