class Pneumatics(Component):
def __init__(self):
super().__init__()
self.comp = Compressor()
def update(self):
"""
Monitors the PDP for amp draw, and disables the compressor if amp draw is above a threshold to prevent brownouts.
:return:
"""
self.comp.start()
def stop(self):
"""Disables EVERYTHING. Only use in case of critical failure"""
#self.comp.stop()
pass
class PneumaticsSubsystem(Subsystem):
def __init__(self):
self.mainCompressor = Compressor(PCMID)
self.intakeSolenoid = Solenoid(PCMID, intakeSolenoidChannel)
self.isExtended = False
self.mainCompressor.start()
def initDefaultCommand(self):
pass
def flipSolenoid(self):
if self.isExtended == False:
self.isExtended = True
else:
self.isExtended == False
self.intakeSolenoid.set(isExtended)
def getIsExtended(self):
return self.isExtended
from grt.sensors.attack_joystick import Attack3Joystick
from grt.sensors.xbox_joystick import XboxJoystick
from grt.core import SensorPoller
from grt.mechanism.drivetrain import DriveTrain
from grt.mechanism.drivecontroller import ArcadeDriveController
from grt.sensors.encoder import Encoder
from grt.mechanism.mechcontroller import MechController
from grt.sensors.navx import NavX
from grt.macro.straight_macro import StraightMacro
from grt.mechanism.pickup import Pickup
from grt.mechanism.manual_shooter import ManualShooter
from queue import Queue
#Compressor initialization
c = Compressor()
c.start()
#Manual pickup Talons and Objects
pickup_achange_motor1 = CANTalon(45)
pickup_achange_motor2 = CANTalon(46)
pickup_achange_motor1.changeControlMode(CANTalon.ControlMode.Follower)
pickup_achange_motor1.set(47)
pickup_achange_motor1.reverseOutput(True)
pickup_roller_motor = CANTalon(8)
pickup = Pickup(pickup_achange_motor1, pickup_achange_motor2,
pickup_roller_motor)
#Manual shooter Talons and Objects
