def robotInit(self): # Robot initialization function # VictorSPX = Motor Controllers self.frontLeftMotor = ctre.WPI_VictorSPX(0) self.rearLeftMotor = ctre.WPI_VictorSPX(1) self.frontRightMotor = ctre.WPI_VictorSPX(4) self.rearRightMotor = ctre.WPI_VictorSPX(5) self.basketMotor = ctre.WPI_VictorSPX(3) # Digital Inputs (Limit Switch) self.basketLimitSwitch = wpilib.DigitalInput(0) # Motor controller groups for each side of the robot self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor, self.rearLeftMotor) self.right = wpilib.SpeedControllerGroup(self.frontRightMotor, self.rearRightMotor) # Differential drive with left and right motor controller groups self.myRobot = DifferentialDrive(self.left, self.right) self.myRobot.setExpiration(0.1) self.direction = -1 # Declare gamepad self.gamepad = wpilib.Joystick(0) # Declare buttons # Controller mapping (1-10): B (East), A (South), Y (North), X (West), Right Bumper, Left Bumper, ?, ?, ?, ? self.toggleHatchButton = JoystickButton(self.gamepad, 1) self.toggleBasketButton = JoystickButton(self.gamepad, 2) self.toggleDirectionButton = JoystickButton(self.gamepad, 3) self.speedUpButton = JoystickButton(self.gamepad, 4) self.raiseBasketButton = JoystickButton(self.gamepad, 5) self.lowerBasketButton = JoystickButton(self.gamepad, 6) # Determine if already acted on self.hatchActed = False self.basketActed = False self.directionActed = False # Solenoids self.hatchSolenoid = wpilib.DoubleSolenoid(0, 1) self.basketSolenoid = wpilib.DoubleSolenoid(2, 3) # Compressor self.compressor = wpilib.Compressor(0) # Camera Server wpilib.CameraServer.launch()
def robotInit(self): super().__init__() # gc.collect() # #CommandBasedRobot.__init__() # # Instances of classes # # # Instantiate Subsystems # # self.shifters = Shifters() self.drivetrain = Drivetrain(self) # gc.collect() # self.shooter = Shooter(self) # self.carrier = Carrier(self) # self.feeder = Feeder(self) # self.intake = Intake(self) # self.winch = Winch(self) # self.climber = Climber(self) # # # Instantiate Joysticks self.left_joy = wpilib.Joystick(0) self.right_joy = wpilib.Joystick(1)
def robotInit(self): """Robot initialization function""" # object that handles basic drive operations self.frontLeftMotor = wpilib.Talon(0) self.rearLeftMotor = wpilib.Talon(1) self.frontRightMotor = wpilib.Talon(2) self.rearRightMotor = wpilib.Talon(3) self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor, self.rearLeftMotor) self.right = wpilib.SpeedControllerGroup(self.frontRightMotor, self.rearRightMotor) self.myRobot = DifferentialDrive(self.left, self.right) self.myRobot.setExpiration(0.1) # joysticks 1 & 2 on the driver station self.leftStick = wpilib.Joystick(0) self.rightStick = wpilib.Joystick(1)
def module_init(self): # Setup a device references self.joystick = wpilib.Joystick(0) self.left_front_motor = wpilib.CANTalon(1) self.left_front_motor.enableControl() self.left_rear_motor = wpilib.CANTalon(2) self.left_rear_motor.enableControl() self.right_front_motor = wpilib.CANTalon(3) self.right_front_motor.enableControl() self.right_rear_motor = wpilib.CANTalon(4) self.right_rear_motor.enableControl()
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1) self.robot_drive = wpilib.RobotDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.limit1 = wpilib.DigitalInput(1) self.limit2 = wpilib.DigitalInput(2) self.position = wpilib.AnalogInput(2)
def robotInit(self): self.gamepad = wpilib.Joystick(0) self.flywheelMotor = CANTalon(5) self.speed = 20000 self.flywheelMotor.setFeedbackDevice( CANTalon.FeedbackDevice.QuadEncoder) self.inSpeedMode = False self.flywheelMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
def __init__(self): super().__init__() self.drive_stick = wpilib.Joystick(1) self.arm_stick = wpilib.Joystick(2) self.front_right_motor = wpilib.Jaguar(2) self.front_left_motor = wpilib.Jaguar(1) self.back_left_motor = wpilib.Jaguar(3) self.back_right_motor = wpilib.Jaguar(4) self.intake_wheels_motor = wpilib.Jaguar(10) self.intake_arm_motor = wpilib.Jaguar(6) self.shooter_servo = wpilib.Servo(7) self.shooter_motor = wpilib.Jaguar(5) self.encoder = wpilib.Encoder(1, 2, True) self.mecanum_drive = MecanumDrive(self.front_right_motor, self.front_left_motor, self.back_right_motor, self.back_left_motor, self.drive_stick) self.intake = Intake(self.intake_wheels_motor, self.intake_arm_motor, self.arm_stick) self.shooter_service = ShooterService(self.shooter_motor, self.shooter_servo, self.arm_stick) self.shooter = Shooter(self.shooter_motor, self.encoder, self.shooter_servo, self.arm_stick, self.shooter_service) self.autonomous = Autonomous(self.shooter_service, self.intake_arm_motor, self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
def robotInit(self): self.frontRight = wpilib.Talon(0) self.rearRight = wpilib.Talon(1) self.frontRight.setInverted(True) self.rearRight.setInverted(True) self.right = wpilib.SpeedControllerGroup(self.frontRight, self.rearRight) self.frontLeft = wpilib.Talon(2) self.rearLeft = wpilib.Talon(3) self.left = wpilib.SpeedControllerGroup(self.frontLeft, self.rearLeft) self.leftStick = wpilib.Joystick(0) self.rightStick = wpilib.Joystick(1) self.timer = wpilib.Timer() self.leftEncoder = wpilib.Encoder(8, 9) self.leftEncoder.setDistancePerPulse(1 / 2 * math.pi / 256) self.leftEncoder.setSamplesToAverage(10) self.table = NetworkTables.getTable('limelight')
def createObjects(self): # Inputs # TODO: Update these dynamically self.stick = wpilib.Joystick(2) # self.gamepad = wpilib.XboxController(1) # self.gamepad_alt = wpilib.XboxController(2) self.gamepad = wpilib.XboxController(0) self.gamepad_alt = wpilib.XboxController(1) # Drive motors self.left_motor = wpilib.Spark(0) self.right_motor = wpilib.Spark(1) self.drive_train = wpilib.drive.DifferentialDrive( self.left_motor, self.right_motor) # Elevator encoder (gearbox) self.lift_encoder = ExternalEncoder(0, 1) # TODO: Fix the pid # self.lift_encoder.encoder.setDistancePerPulse(WHEEL_REVOLUTION) # Drive encoders self.left_encoder = ExternalEncoder(2, 3) self.right_encoder = ExternalEncoder(4, 5, True) self.left_encoder.encoder.setDistancePerPulse(WHEEL_REVOLUTION) self.right_encoder.encoder.setDistancePerPulse(WHEEL_REVOLUTION) # Elevator motors self.lift_master = CANTalon(2) self.lift_follower1 = CANTalon(3) self.lift_follower2 = CANTalon(4) self.lift_follower1.follow(self.lift_master) self.lift_follower2.follow(self.lift_master) # Intake motors self.left_intake_motor = wpilib.Spark(2) self.right_intake_motor = wpilib.Spark(3) self.right_intake_motor.setInverted(True) # Intake grabbers self.grabber_solenoid = wpilib.DoubleSolenoid(1, 0, 1) # PDP self.pdp = wpilib.PowerDistributionPanel(0) wpilib.SmartDashboard.putData("PowerDistributionPanel", self.pdp) # Misc self.navx = navx.AHRS.create_spi() self.net_table = NetworkTables.getTable("SmartDashboard") # Launch camera server wpilib.CameraServer.launch()
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.left_motor = wpilib.VictorSP(0) self.right_motor = wpilib.VictorSP(1) self.drive = wpilib.drive.DifferentialDrive(self.left_motor, self.right_motor) self.drive.setRightSideInverted(True) self.stick = wpilib.Joystick(0) self.timer = wpilib.Timer()
def robotInit(self): self.joystick = wpilib.Joystick(0) self.driveButton = wpilib.buttons.JoystickButton(self.joystick, 2) self.lMotor = ctre.WPI_VictorSPX(1) self.rMotor = ctre.WPI_VictorSPX(2) self.driveTrain = wpilib.drive.DifferentialDrive( self.lMotor, self.rMotor) self.driveTrain.setRightSideInverted(False) self.tankDrive = False
def robotInit(self): '''Robot initialization function''' # object that handles basic drive operations self.motor1 = WPI_TalonSRX(1) self.motor2 = WPI_TalonSRX(2) self.drive = wpilib.drive.DifferentialDrive(self.motor1, self.motor2) # joysticks 1 & 2 on the driver station #self.motor1 = WPI_TalonSRX(2) self.stick = wpilib.Joystick(0)
def robotInit(self): '''Robot initialization function''' self.map = RobotMap() self.createMotors(self.map.CAN.driveMotors) #inti the drive train driveTrain.init(self.driveMotors) subsystems.init() self.autonomousProgram = autonomous.AutonomousProgram() self.driveStick = wpilib.Joystick( self.map.joystickMap.movementJoystick)
def robotInit(self): # Create motors self.lf_motor = rev.CANSparkMax(4, rev.MotorType.kBrushless) self.lb_motor = rev.CANSparkMax(1, rev.MotorType.kBrushless) self.rf_motor = rev.CANSparkMax(2, rev.MotorType.kBrushless) self.rb_motor = rev.CANSparkMax(3, rev.MotorType.kBrushless) # You must call getPIDController() on an existing CANSparkMax or # SparkMax object to fully use PID functionality # self.l_pidController = self.lf_motor.getPIDController() # self.r_pidController = self.rf_motor.getPIDController() # Instantiate built-in encoder to display position # self.l_encoder = self.lf_motor.getEncoder() # self.r_encoder = self.rf_motor.getEncoder() self.joystick = wpilib.Joystick(0) # PID Coefficents and Controller Output Range self.coeff = {"p": 0.22, "i": 1.188, "d": 0, "iz": 0, "ff": 0} self.kMinOutput = -0.5 self.kMaxOutput = 0.5 # Motor max RPM self.maxRPM = 5700 # The restoreFactoryDefaults() method can be used to reset the # configuration parameters in the SPARK MAX to their factory default # state. If no argument is passed, these parameters will not persist # between power cycles # Set PID Coefficents # self.l_pidController.setP(self.coeff["p"]) # self.l_pidController.setI(self.coeff["i"]) # self.l_pidController.setD(self.coeff["d"]) # self.l_pidController.setIZone(self.coeff["iz"]) # self.l_pidController.setFF(self.coeff["ff"]) # self.l_pidController.setOutputRange(self.kMinOutput, self.kMaxOutput) # self.r_pidController.setP(self.coeff["p"]) # self.r_pidController.setI(self.coeff["i"]) # self.r_pidController.setD(self.coeff["d"]) # self.r_pidController.setIZone(self.coeff["iz"]) # self.r_pidController.setFF(self.coeff["ff"]) # self.r_pidController.setOutputRange(self.kMinOutput, self.kMaxOutput) # Push PID Coefficients to SmartDashboard wpilib.SmartDashboard.putNumber("P Gain", self.coeff["p"]) wpilib.SmartDashboard.putNumber("I Gain", self.coeff["i"]) wpilib.SmartDashboard.putNumber("D Gain", self.coeff["d"]) wpilib.SmartDashboard.putNumber("I Zone", self.coeff["iz"]) wpilib.SmartDashboard.putNumber("Feed Forward", self.coeff["ff"]) wpilib.SmartDashboard.putNumber("Min Output", self.kMinOutput) wpilib.SmartDashboard.putNumber("Max Output", self.kMaxOutput)
def robotInit(self): """Robot-wide initialization code should go here""" self.stick = wpilib.Joystick(0) # TODO: change to correct motors self.intake_motor = wpilib.PWMTalonSRX(1) self.belt_motor = wpilib.PWMSparkMax(2) self.ball_sensor1 = wpilib.AnalogInput(1) self.ball_sensor2 = wpilib.AnalogInput(2) self.ball_sensor3 = wpilib.AnalogInput(3)
def robotInit(self): """Robot initialization function""" # create motor controller objects m_left = wpilib.Talon(0) m_right = wpilib.Talon(1) # object that handles basic drive operations self.myRobot = wpilib.drive.DifferentialDrive(m_left, m_right) self.myRobot.setExpiration(0.1) # joystick #0 self.stick = wpilib.Joystick(0)
def robotInit(self): self.BRmotor = ctre.wpi_talonsrx.WPI_TalonSRX(40) self.BLmotor = ctre.wpi_talonsrx.WPI_TalonSRX(50) self.FRmotor = ctre.wpi_talonsrx.WPI_TalonSRX(10) self.FLmotor = ctre.wpi_talonsrx.WPI_TalonSRX(30) self.servo = wpilib.Servo(8) self.timer = wpilib.Timer() self.robot_drive = wpilib.RobotDrive(self.FLmotor, self.BLmotor, self.FRmotor, self.BRmotor) self.joystick = wpilib.Joystick(0)
def robotInit(self): self.left_slave_motor = ctre.WPI_TalonSRX(LEFT_SLAVE_MOTOR_ID) self.left_master_motor = ctre.WPI_TalonSRX(LEFT_MASTER_MOTOR_ID) self.right_slave_motor = ctre.WPI_TalonSRX(RIGHT_SLAVE_MOTOR_ID) self.right_master_motor = ctre.WPI_TalonSRX(RIGHT_MASTER_MOTOR_ID) self.left_slave_motor.follow(self.left_master_motor) self.right_slave_motor.follow(self.right_master_motor) self.drive = wpilib.drive.DifferentialDrive(self.left_master_motor, self.right_master_motor) self.stick = wpilib.Joystick(MAIN_JOYSTICK_ID)
def robotInit(self): #This is a function or method """ This function is called upon program startup and should be used for any initialization code. """ self.robot_drive = wpilib.RobotDrive(5, 6) self.stick = wpilib.Joystick(0) self.motor1 = ctre.WPI_TalonSRX( 1) # Initialize the TalonSRX on device 1. self.motor2 = ctre.WPI_TalonSRX(2) self.motor3 = ctre.WPI_TalonSRX(3) self.motor4 = ctre.WPI_TalonSRX(4)
def setUp(self): print('setUp()') with patch('drivetrain.Drivetrain') as mock: dt_inst = mock.return_value self.drive_inst = dt_inst.drive # self.left_motors = Left_Motors() # self.right_motors = Right_Motors() # # self.dt = Drivetrain(robot_instance) # # def test_set_drivetrain_type(self): # print('test_set_drivetrain_type()') # assert(self.param.set_drivetrain_type( # wpilib.drive.DifferentialDrive, # self.robot_instance.left_motors, self.robot_instance.right_motors\ # == wpilib.drive.DifferentialDrive( # self.left_motors, self.right_motors) # )) self.left_joy = wpilib.Joystick(0) self.right_joy = wpilib.Joystick(1)
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ #self.left_motor = wpilib.Spark(0) #self.right_motor = wpilib.Spark(1) #self.drive = wpilib.drive.DifferentialDrive(self.left_motor, self.right_motor) self.stick = wpilib.Joystick(1) self.timer = wpilib.Timer() self.motor = wpilib.Talon(0)
def robotInit(self): self.stick1 = wpilib.Joystick(0) self.stick2 = wpilib.Joystick(1) self.rightTop = ctre.WPI_VictorSPX(21) self.rightMiddle = ctre.WPI_TalonSRX(20) self.rightBottom = ctre.WPI_VictorSPX(22) self.drive_right = wpilib.drive.SpeedControllerGroup( rightTop, rightMiddle, rightBottom) self.leftTop = ctre.WPI_VictorSPX(11) self.leftMiddle = ctre.WPI_TalonSRX(10) self.leftBottom = ctre.WPI_VictorSPX(12) self.drive_left = wpilib.drive.SpeedControllerGroup( leftTop, leftMiddle, leftBottom) self.drive = wpilib.DifferentialDrive(self.drive_right, self.drive_left) def teleopPeriodic(self): self.drive.tankDrive(self.stick1.getY(), self.stick.getX())
def createObjects(self): """Initialize all wpilib motors & sensors""" # TODO: create button example here # self.component1_motor = wpilib.Talon(1) # self.some_motor = wpilib.Talon(2) self.lMotor = wpilib.Talon(1) self.rMotor = wpilib.Talon(2) self.joystick = wpilib.Joystick(0)
def robotInit(self): '''Robot-wide initialization code should go here''' self.lstick = wpilib.Joystick(0) self.motor_D1 = wpilib.Victorsp(1) self.motor_I1 = wpilib.Victorsp(2) self.G_motor = wpilib.SpeedControllerGroup(self.motor_D1, self.motor_I1) self.robotdrive = wpilib.drive.differentialdrive( self.motor_D1, self.motor_I1)
def init_drive_train(self): fl, bl, fr, br = (30, 40, 50, 10) # practice bot br, fr, bl, fl = (1, 7, 2, 5) # on competition robot self.br_motor = ctre.wpi_talonsrx.WPI_TalonSRX(br) self.bl_motor = ctre.wpi_talonsrx.WPI_TalonSRX(bl) self.fl_motor = ctre.wpi_talonsrx.WPI_TalonSRX(fl) self.fr_motor = ctre.wpi_talonsrx.WPI_TalonSRX(fr) self.fr_motor.setInverted(True) self.br_motor.setInverted(True) self.gyro = navx.AHRS.create_spi() self.joystick = wpilib.Joystick(0) self.joystick2 = wpilib.Joystick(1) self.robot_drive = wpilib.RobotDrive(self.fl_motor, self.bl_motor, self.fr_motor, self.br_motor) self.robot_drive = wpilib.RobotDrive(self.fl_motor, self.bl_motor, self.fr_motor, self.br_motor)
def createObjects(self): """Create non-components here.""" self.module_a = SwerveModule( # top left module "a", steer_talon=ctre.WPI_TalonSRX(48), drive_talon=ctre.WPI_TalonSRX(49), x_pos=0.25, y_pos=0.31, drive_free_speed=Robot.module_drive_free_speed) self.module_b = SwerveModule( # bottom left modulet "b", steer_talon=ctre.WPI_TalonSRX(46), drive_talon=ctre.WPI_TalonSRX(47), x_pos=-0.25, y_pos=0.31, drive_free_speed=Robot.module_drive_free_speed) self.module_c = SwerveModule( # bottom right modulet "c", steer_talon=ctre.WPI_TalonSRX(44), drive_talon=ctre.WPI_TalonSRX(45), x_pos=-0.25, y_pos=-0.31, drive_free_speed=Robot.module_drive_free_speed) self.module_d = SwerveModule( # top right modulet "d", steer_talon=ctre.WPI_TalonSRX(42), drive_talon=ctre.WPI_TalonSRX(43), x_pos=0.25, y_pos=-0.31, drive_free_speed=Robot.module_drive_free_speed) self.intake_left_motor = ctre.WPI_TalonSRX(14) self.intake_right_motor = ctre.WPI_TalonSRX(2) self.clamp_arm = wpilib.Solenoid(0) self.intake_kicker = wpilib.Solenoid(1) self.extension_arms = wpilib.Solenoid(3) self.infrared = SharpIRGP2Y0A41SK0F(0) self.lifter_motor = ctre.WPI_TalonSRX(3) self.centre_switch = wpilib.DigitalInput(1) self.top_switch = wpilib.DigitalInput(2) # create the imu object self.imu = NavX() # boilerplate setup for the joystick self.joystick = wpilib.Joystick(0) self.gamepad = wpilib.XboxController(1) self.spin_rate = 5 self.sd = NetworkTables.getTable("SmartDashboard")
def createObjects(self): drive = Drive lift = Lift #collection = Collection self.compressor = wpilib.Compressor() #Establishing Dashboard self.HUD = wpilib.SmartDashboard self.limitSwitchIn = wpilib.DigitalInput(0) #Left motors self.motor_l1 = ctre.WPI_TalonSRX(8) self.motor_l2 = ctre.WPI_TalonSRX(9) self.motor_l3 = ctre.WPI_TalonSRX(10) #Right motors self.motor_r1 = ctre.WPI_TalonSRX(2) self.motor_r2 = ctre.WPI_TalonSRX(3) self.motor_r3 = ctre.WPI_TalonSRX(4) #Lift motors self.lift_motor1 = ctre.WPI_TalonSRX(1) self.lift_motor2 = ctre.WPI_TalonSRX(7) #Collection motors self.collection_motor = ctre.WPI_TalonSRX(11) self.climbing_motor1 = ctre.WPI_TalonSRX(5) self.climbing_motor2 = ctre.WPI_TalonSRX(12) #DoubleSolenoids self.doubleS = wpilib.DoubleSolenoid(0, 1) self.doubleS2 = wpilib.DoubleSolenoid(2, 3) #Controllers self.stick = wpilib.Joystick(0) self.stick2 = wpilib.Joystick(1)
def createObjects(self): # Define Driving Motors self.rightDrive = wpilib.VictorSP(0) self.leftDrive = wpilib.VictorSP(1) # Create Robot Drive self.robotDrive = wpilib.drive.DifferentialDrive(self.rightDrive, self.leftDrive) # Create Shifter Pneumatics self.shifterSolenoid = wpilib.DoubleSolenoid(0, 0, 1) # Joysticks and Controllers self.driveJoystick = wpilib.Joystick(0) self.driveController = XboxController(0) self.subsystemJoystick = wpilib.Joystick(1) self.subsystemController = XboxController(1) # Create NavX and Accel self.navX = navx.AHRS.create_spi() self.accel = wpilib.BuiltInAccelerometer() # Set Drivespeed self.driveSpeed = 0 # Create Cube Intake Pneumatics self.intakeSolenoid = wpilib.Solenoid(0, 2) # Create Timer (For Making Timed Events) self.timer = wpilib.Timer() # Initialize Compressor self.compressor = wpilib.Compressor() # Create CameraServer wpilib.CameraServer.launch("common/multipleCameras.py:main") # Set Gear in Dashboard wpilib.SmartDashboard.putString("Shift State", "Low Gear")
def createObjects(self): """Initialize all wpilib motors & sensors""" # setup camera # setup master and slave drive motors self.drive_slave_left = lazytalonfx.LazyTalonFX( self.DRIVE_SLAVE_LEFT_ID) self.drive_master_left = lazytalonfx.LazyTalonFX( self.DRIVE_MASTER_LEFT_ID) self.drive_master_left.follow(self.drive_slave_left) self.drive_slave_right = lazytalonfx.LazyTalonFX( self.DRIVE_SLAVE_RIGHT_ID) self.drive_master_right = lazytalonfx.LazyTalonFX( self.DRIVE_MASTER_RIGHT_ID) self.drive_master_right.follow(self.drive_slave_right) # setup actuator motors self.intake_motor = lazytalonsrx.LazyTalonSRX(self.INTAKE_ID) self.low_tower_motor = lazytalonsrx.LazyTalonSRX(self.LOW_TOWER_ID) self.high_tower_motor = lazytalonsrx.LazyTalonSRX(self.HIGH_TOWER_ID) self.turret_motor = lazytalonsrx.LazyTalonSRX(self.TURRET_ID) self.turret_motor.setEncoderConfig(lazytalonsrx.CTREMag, True) self.flywheel_motor = rev.CANSparkMax(self.FLYWHEEL_MOTOR_ID, rev.MotorType.kBrushless) self.climb_winch_slave = lazytalonsrx.LazyTalonSRX( self.CLIMB_WINCH_SLAVE_ID) self.climb_winch_master = lazytalonsrx.LazyTalonSRX( self.CLIMB_WINCH_MASTER_ID) self.climb_winch_slave.follow(self.climb_winch_master) self.slider_motor = lazytalonsrx.LazyTalonSRX(self.SLIDER_ID) # setup imu self.imu = lazypigeonimu.LazyPigeonIMU(self.intake_motor) # setup proximity sensors self.tower_sensors = [wpilib.DigitalInput(i) for i in range(0, 5)] self.intake_sensors = [wpilib.DigitalInput(8), wpilib.DigitalInput(9)] # setup joysticks self.driver = wpilib.Joystick(0) self.operator = wpilib.XboxController(1) self.nt = NetworkTables.getTable("robot") self.manual_indexer = True self.chassis_slow = False
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.robot_drive = wpilib.RobotDrive(0,1,2,3) self.stick = wpilib.Joystick(0) self.Motor1 = wpilib.VictorSP(4) self.Motor2 = wpilib.VictorSP(5) self.Switch1 = wpilib.DigitalInput(0) self.Switch2 = wpilib.DigitalInput(1) self.Servo1 = wpilib.Servo(6) self.Servo2 = wpilib.Servo(7)