def robotInit(self): """ This function is run when the robot is first started up and should be used for any initialization code. """ # make this true to ignore joystick errors self.debug = False self.enabled_time = 0 # Initialize the subsystems self.drivetrain = DriveTrain(self) self.navigation = Navigation(self) self.pneumatics = Pneumatics(self) self.peripherals = Peripherals(self) #wpilib.SmartDashboard.putData(self.drivetrain) # This MUST be here. If the OI creates Commands (which it very likely # will), constructing it during the construction of CommandBase (from # which commands extend), subsystems are not guaranteed to be # yet. Thus, their requires() statements may grab null pointers. Bad # news. Don't move it. self.oi = OI(self) wpilib.SmartDashboard.putData(Scheduler.getInstance()) # instantiate the command used for the autonomous period self.autonomousCommand = None
def __init__(self): self.timer = Timer() self.driver_station = DriverStation(controller=XboxController(0)) # self.gyroscope = AHRS.create_i2c() # self.left_encoder = Encoder() # self.right_encoder = Encoder() self.drivetrain = TankDrivetrain(timer=self.timer, left_motors=[TalonSRX(10), TalonSRX(6)], right_motors=[TalonSRX(12), TalonSRX(18)]) self.pneumatics = Pneumatics(compressor=Compressor(0), start_compressor=True, timer=self.timer) self.beak = BeakMechanism(beak_solenoid=DoubleSolenoid(0, 4, 5), diag_solenoid=DoubleSolenoid(0, 0, 1), driver_station=self.driver_station, timer=self.timer, cooldown=0.5) # self.odometry = EncoderOdometry(left_encoder=self.left_encoder, right_encoder=self.right_encoder, gyro=self.gyroscope) '''
def robotInit(self): """ This function is run when the robot is first started up and should be used for any initialization code. """ # Initialize the subsystems self.drivetrain = DriveTrain(self) self.collector = Collector(self) self.shooter = Shooter(self) self.pneumatics = Pneumatics(self) self.pivot = Pivot(self) wpilib.SmartDashboard.putData(self.drivetrain) wpilib.SmartDashboard.putData(self.collector) wpilib.SmartDashboard.putData(self.shooter) wpilib.SmartDashboard.putData(self.pneumatics) wpilib.SmartDashboard.putData(self.pivot) # This MUST be here. If the OI creates Commands (which it very likely # will), constructing it during the construction of CommandBase (from # which commands extend), subsystems are not guaranteed to be # yet. Thus, their requires() statements may grab null pointers. Bad # news. Don't move it. self.oi = OI(self) #instantiate the command used for the autonomous period self.autoChooser = wpilib.SendableChooser() self.autoChooser.addDefault("Drive and Shoot", DriveAndShootAutonomous(self)) self.autoChooser.addObject("Drive Forward", DriveForward(self)) wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser) self.autonomousCommand = None # Pressurize the pneumatics self.pneumatics.start()
def __init__(self): Command.__init__(self, "SolenoidControl") self.pneumatic_subsystem = Pneumatics() self.piston = self.pneumatic_subsystem.dsolenoid self.sol_value = wpilib.DoubleSolenoid.Value