def __init__(self):
"""Instantiates the motor object."""
super().__init__("DoubleMotor")
self.motor = wpilib.PWMVictorSPX(5)
self.motor2 = wpilib.PWMVictorSPX(6)
def __init__(self):
super().__init__("Mecanum")
# motors and the channels they are connected to
self.frontLeftMotor = wpilib.VictorSP(1)
self.rearLeftMotor = wpilib.PWMVictorSPX(2)
self.frontRightMotor = wpilib.VictorSP(0)
self.rearRightMotor = wpilib.PWMVictorSPX(3)
# invert the left side motors
self.frontLeftMotor.setInverted(False)
# you may need to change or remove this to match your robot
self.rearLeftMotor.setInverted(False)
self.rearRightMotor.setInverted(False) #added this to match motor
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.drive.setSafetyEnabled(False)
def __init__(self) -> None:
super().__init__()
self.left1 = wpilib.PWMVictorSPX(constants.kLeftMotor1Port)
self.left2 = wpilib.PWMVictorSPX(constants.kLeftMotor2Port)
self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port)
self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port)
# The robot's drive
self.drive = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(self.left1, self.left2),
wpilib.SpeedControllerGroup(self.right1, self.right2),
)
# The left-side drive encoder
self.leftEncoder = wpilib.Encoder(
*constants.kLeftEncoderPorts,
reverseDirection=constants.kLeftEncoderReversed)
# The right-side drive encoder
self.rightEncoder = wpilib.Encoder(
*constants.kRightEncoderPorts,
reverseDirection=constants.kRightEncoderReversed)
# Sets the distance per pulse for the encoders
self.leftEncoder.setDistancePerPulse(
constants.kEncoderDistancePerPulse)
self.rightEncoder.setDistancePerPulse(
constants.kEncoderDistancePerPulse)
def robotInit(self) -> None:
# Create the motors, on pins 0 -to 4.
self.right_motor_back = wpilib.PWMVictorSPX(0)
self.right_motor_front = wpilib.PWMVictorSPX(1)
self.left_motor_front = wpilib.PWMVictorSPX(2)
self.left_motor_back = wpilib.PWMVictorSPX(3)
# Because we're using a gearbox (don't remember which), we need to make speed groups.
self.right_speed_group = wpilib.SpeedControllerGroup(self.right_motor_back, self.right_motor_front)
self.left_speed_group = wpilib.SpeedControllerGroup(self.left_motor_back, self.left_motor_front)
# Differential drive from the two speed controllers.
self.drive = wpilib.drive.DifferentialDrive(self.left_speed_group, self.right_speed_group)
wpilib.CameraServer.launch("vision.py:main")
def __init__(self):
#Initialize Left motors
# Two motors cause TuffBox
# Also 0 is generally reserved for PDP or something
left_one = (wpilib.PWMVictorSPX(3))
left_two = (wpilib.VictorSP(6))
self.left_motor_group = wpilib.SpeedControllerGroup(left_one, left_two)
def robotInit(self):
#drive define
self.fL = wpilib.PWMTalonFX(0)
self.fR = wpilib.PWMTalonFX(1)
self.bL = wpilib.PWMTalonFX(2)
self.bR = wpilib.PWMTalonFX(3)
#shooter define
self.wheelL = wpilib.PWMVictorSPX(4)
self.wheelR = wpilib.PWMVictorSPX(5)
self.conveyor = wpilib.PWMVictorSPX(6)
#lift
self.liftUp = wpilib.PWMVictorSPX(7)
self.liftDown = wpilib.PWMVictorSPX(8)
self.driverXbox = wpilib.XboxController(0)
def __init__(self):
super().__init__("Arcade")
# motors and the channels they are connected to
self.frontLeftMotor = wpilib.PWMVictorSPX(0)
self.rearLeftMotor = wpilib.PWMVictorSPX(1)
self.frontRightMotor = wpilib.PWMVictorSPX(2)
self.rearRightMotor = wpilib.PWMVictorSPX(3)
self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor,
self.rearLeftMotor)
self.right = wpilib.SpeedControllerGroup(self.frontRightMotor,
self.rearRightMotor)
self.drive = DifferentialDrive(self.left, self.right)
self.drive.setExpiration(0.1)
self.drive.setSafetyEnabled(False)
def robotInit(self):
self.tankDrive = DifferentialDrive(
wpilib.PWMVictorSPX(0), wpilib.PWMVictorSPX(1)
)
self.leftEncoder = wpilib.Encoder(0, 1)
self.rightEncoder = wpilib.Encoder(2, 3)
self.elevatorMotor = wpilib.PWMVictorSPX(2)
self.elevatorPot = wpilib.AnalogPotentiometer(0)
# Add a 'max speed' widget to a tab named 'Configuration', using a number slider
# The widget will be placed in the second column and row and will be two columns wide
self.maxSpeed = (
Shuffleboard.getTab("Configuration")
.add(title="Max Speed", value=1)
.withWidget("Number Slider")
.withPosition(1, 1)
.withSize(2, 1)
.getEntry()
)
# Add the tank drive and encoders to a 'Drivebase' tab
driveBaseTab = Shuffleboard.getTab("Drivebase")
driveBaseTab.add(title="Tank Drive", value=self.tankDrive)
# Put both encoders in a list layout
encoders = (
driveBaseTab.getLayout(type="List Layout", title="Encoders")
.withPosition(0, 0)
.withSize(2, 2)
)
encoders.add(title="Left Encoder", value=self.leftEncoder)
encoders.add(title="Right Encoder", value=self.rightEncoder)
# Add the elevator motor and potentiometer to an 'Elevator' tab
elevatorTab = Shuffleboard.getTab("Elevator")
elevatorTab.add(title="Motor", value=self.elevatorMotor)
elevatorTab.add(title="Potentiometer", value=self.elevatorPot)
def __init__(self):
#Initialize Right motors
right_one = (wpilib.PWMVictorSPX(2))
right_two = (wpilib.PWMVictorSPX(9))
self.right_motor_group = wpilib.SpeedControllerGroup(
right_one, right_two)
def robotInit(self):
#Networktables
self.netTable = NetworkTables.getTable('SmartDashboard')
#Hud Data Handlers
self.statUpdater = SU.StatusUpdater(self, self.netTable)
#Camera Server
wpilib.CameraServer.launch()
#Drive Motors
self.motor1 = ctre.WPI_TalonSRX(1)
self.motor2 = ctre.WPI_TalonSRX(2)
self.motor3 = ctre.WPI_TalonSRX(9)
self.motor4 = ctre.WPI_TalonSRX(10)
#Intake Motors
self.stage1Left = ctre.WPI_TalonSRX(5)
self.stage1Right = ctre.WPI_TalonSRX(6)
self.stage2Left = ctre.WPI_TalonSRX(4)
self.stage2Right = ctre.WPI_TalonSRX(7)
self.stage3Left = ctre.WPI_TalonSRX(3)
self.stage3Right = ctre.WPI_TalonSRX(8)
#Pan Arm Controls
self.leftPanArm = wpilib.PWMVictorSPX(0)
self.rightPanArm = wpilib.PWMVictorSPX(1)
#Shifters
self.shifter = wpilib.DoubleSolenoid(1, 2)
#Climb
self.pto = wpilib.DoubleSolenoid(3, 4)
self.climbLift = wpilib.Solenoid(5)
#User Inputs
self.playerOne = wpilib.XboxController(0)
self.playerTwo = wpilib.XboxController(1)
#Navx
self.navx = navx.AHRS.create_spi()
self.power_board = wpilib.PowerDistributionPanel()
#User Inputs
self.playerOne = wpilib.XboxController(0)
self.playerTwo = wpilib.XboxController(1)
#Navx
self.navx = navx.AHRS.create_spi()
#Points
#self.points = []
#Setup Logic
self.rightDriveMotors = wpilib.SpeedControllerGroup(
self.motor3, self.motor4)
self.leftDriveMotors = wpilib.SpeedControllerGroup(
self.motor1, self.motor2)
self.leftDriveMotors.setInverted(True)
self.robotDrive = DifferentialDrive(self.leftDriveMotors,
self.rightDriveMotors)
self.lowerIntakeMotors = wpilib.SpeedControllerGroup(
self.stage1Left, self.stage1Right, self.stage2Left,
self.stage2Right)
self.stage3 = wpilib.SpeedControllerGroup(self.stage3Left,
self.stage3Right)
if wpilib.SolenoidBase.getPCMSolenoidVoltageStickyFault(0) == True:
wpilib.SolenoidBase.clearAllPCMStickyFaults(0)
self.pto.set(wpilib.DoubleSolenoid.Value.kReverse)
#Drive.py init
self.drive = drive.Drive(self.robotDrive, self.navx, self.motor1,
self.motor2, self.motor3, self.motor4,
self.shifter)
#Intake.py
self.intake = intake.Intake(self.lowerIntakeMotors, self.stage3,
self.leftPanArm, self.rightPanArm)
#Driver Station Instance
self.driverStation = wpilib.DriverStation.getInstance()
#Auto mode variables
self.components = {'drive': self.drive, 'intake': self.intake}
self.automodes = AutonomousModeSelector('autonomous', self.components)
def create_pwm_victor_spx(channel):
return wpilib.PWMVictorSPX(channel)
def __init__(self):
"""Instantiates the motor object."""
super().__init__("SingleMotor2")
self.motor = wpilib.PWMVictorSPX(7)
