def __init__(self, robot):
# Setup the joystick for the driver
self.driverJoystick = Joystick(DRIVER_JOYSTICK)
# self.driverRightAnalog = Joystick(DRIVER_JOYSTICK)
# self.driverRightAnalog.setXChannel(4)
# self.driverRightAnalog.setYChannel(5)
# Setup the joystick for the operator
self.operatorJoystick = Joystick(OPERATOR_JOYSTICK)
# self.operatorRightAnalog = Joystick(DRIVER_JOYSTICK)
# self.operatorRightAnalog.setXChannel(4)
# self.operatorRightAnalog.setYChannel(5)
# Driver commands and control
btn(self.driverJoystick, 1).whileHeld(IntakeMotorsIn(robot))
btn(self.driverJoystick, 2).whileHeld(IntakeMotorsOut(robot, INTAKE_OUT_SWITCH_FAST))
btn(self.driverJoystick, 3).whileHeld(IntakeMotorsOut(robot, INTAKE_OUT_SCALE))
btn(self.driverJoystick, 4).whileHeld(IntakeMotorsOut(robot, INTAKE_OUT_SWITCH_SLOW))
# Operator commands and control
# Per Dylan, boom control A-intake X-switch Y- scale
btn(self.operatorJoystick, 1).whenPressed(IntakePneumaticsOpenClose(robot))
btn(self.operatorJoystick, 3).whenPressed(BoomToSwitch(robot))
btn(self.operatorJoystick, 2).whenPressed(BoomToIntake(robot))
btn(self.operatorJoystick, 4).whenPressed(BoomToScale(robot))
def createObjects(self):
self.shiftBaseSolenoid = wpilib.DoubleSolenoid(
rMap.conf_shifterSolenoid1, rMap.conf_shifterSolenoid2)
self.rightFrontBaseMotor = CANTalon(rMap.conf_rightFrontBaseTalon)
self.rightRearBaseMotor = CANTalon(rMap.conf_rightRearBaseTalon)
self.leftFrontBaseMotor = CANTalon(rMap.conf_leftFrontBaseTalon)
self.leftRearBaseMotor = CANTalon(rMap.conf_leftRearBaseTalon)
self.rightFrontBaseMotor.enableControl()
self.rightRearBaseMotor.enableControl()
self.rightRearBaseMotor.setControlMode(CANTalon.ControlMode.Follower)
self.rightRearBaseMotor.set(rMap.conf_rightFrontBaseTalon)
self.leftFrontBaseMotor.enableControl()
self.leftRearBaseMotor.enableControl()
self.leftFrontBaseMotor.setInverted(True)
self.leftRearBaseMotor.setControlMode(CANTalon.ControlMode.Follower)
self.leftRearBaseMotor.set(rMap.conf_leftFrontBaseTalon)
self.leftJoy = Joystick(rMap.conf_left_joy)
self.rightJoy = Joystick(rMap.conf_right_joy)
self.xbox = Joystick(rMap.conf_xbox)
self.robotDrive = wpilib.RobotDrive(self.leftFrontBaseMotor,
self.rightFrontBaseMotor)
def createControllers(self, ConSpec):
con = None
if ConSpec['jobType'] == 'main':
if ConSpec['Type'] == 'xbox':
con = XboxController(ConSpec['Id'])
elif ConSpec['Type'] == 'xtreme':
con = Joystick(ConSpec['Id'])
elif ConSpec['Type'] == 'gameCube':
con = Joystick(ConSpec['Id'])
else:
print("IDK your Controller")
elif ConSpec['jobType'] == 'side':
if ConSpec['Type'] == 'xbox':
con = XboxController(ConSpec['Id'])
elif ConSpec['Type'] == 'xtreme':
con = Joystick(ConSpec['Id'])
elif ConSpec['Type'] == 'custom':
con = Joystick(ConSpec['Id'])
else:
print("IDK your Controller")
else:
print("IDK your Controller")
return con
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.pneumaticControlModuleCANID = robotmap.PCM
self.kDriveTrain = robotmap.DriveTrain
self.kCubeGrabber = robotmap.CubeGrabber
self.kSticks = robotmap.Sticks
self.dStick = Joystick(self.kSticks['drive'])
self.cStick = Joystick(self.kSticks['control'])
self.drive = Drive(self)
self.cubeGrabber = Grabber(self)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.drive = Drive()
self.stick = Joystick(0)
def robotInit(self):
# Note the lack of the camera server initialization here.
# Initializing drive motors
RLMotor = Spark(self.RLMotorChannel)
RRMotor = Spark(self.RRMotorChannel)
FLMotor = Spark(self.FLMotorChannel)
FRMotor = Spark(self.FRMotorChannel)
# Grouping drive motors into left and right.
self.Left = SpeedControllerGroup(RLMotor, FLMotor)
self.Right = SpeedControllerGroup(RRMotor, FRMotor)
# Initializing drive Joystick.
self.DriveStick = Joystick(self.DriveStickChannel)
# Initializing drive function.
self.drive = DifferentialDrive(self.Left, self.Right)
# Sets the right side motors to be inverted.
self.drive.setRightSideInverted(rightSideInverted=True)
# Turns the drive off after .1 seconds of inactivity.
self.drive.setExpiration(0.1)
# Components is a dictionary that contains any variables you want to put into it. All of the variables put into
# components dictionary is given to the autonomous modes.
self.components = {"drive": self.drive}
# Sets up the autonomous mode selector by telling it where the autonomous modes are at and what the autonomous
# modes should inherit.
self.automodes = autonomous.AutonomousModeSelector(
"Sim_Autonomous", self.components)
def robotInit(self):
"""Set up everything we need for a working robot."""
self.stick = Joystick(0)
self.toLoop = Infinite()
JoystickButton(self.stick, 1).whenHeld(Test())
JoystickButton(self.stick, 2).whenHeld(SecondTest())
def createObjects(self):
""" Create motors, sensors and all your components here. """
self.chassis_left_master = WPI_TalonSRX(1)
self.chassis_left_slave = WPI_TalonSRX(2)
self.chassis_right_master = WPI_TalonSRX(3)
self.chassis_right_slave = WPI_TalonSRX(4)
self.chassis_gyro = AHRS.create_spi()
self.joystick = Joystick(0)
def __init__(self, port):
"""
:param port: The port on the driver station that the controller is
plugged into.
:type port: int
"""
self.joy = Joystick(port)
self.debounce = DpadDebouncer()
class oi:
ps4_ctrl = Joystick(0)
def __init__(self):
pass
#example button press action
#triangle = JoystickButton(ps4_ctrl, 3)
#triangle.whenPressed("place command here")
def robotInit(self):
self.controller = Joystick(0)
self.joystick = Joystick(1)
CameraServer.launch('vision.py:main')
self.autoChooser = SendableChooser()
self.autoChooser.addDefault("switch_scale", switch_scale)
# self.autoChooser.addObject("drive_forward", drive_straight)
SmartDashboard.putData("Autonomous Mode Chooser", self.autoChooser)
self.autoSideChooser = SendableChooser()
self.autoSideChooser.addDefault("left", "L")
self.autoSideChooser.addObject("right", "R")
self.autoSideChooser.addObject("middle", "M")
SmartDashboard.putData("Side Chooser", self.autoSideChooser)
RobotMap.driver_component.set_low_gear()
def init():
"""
Initialize operator input (OI) objects.
"""
global joystick, controller, start_btn, divider
joystick = Joystick(robotmap.joystick.port)
controller = XboxController(robotmap.joystick.port)
start_btn = JoystickButton(joystick, 7)
divider = 1
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTriggerButton)
trigger.whenPressed(Crash())
return joystick
def init():
global joystick, A, B, X, Y, bumper_L, bumper_R, back, start, stick_L, stick_R
joystick = Joystick(robotmap.joystick)
A = JoystickButton(joystick, 1)
B = JoystickButton(joystick, 2)
X = JoystickButton(joystick, 3)
Y = JoystickButton(joystick, 4)
bumper_L = JoystickButton(joystick, 5)
bumper_R = JoystickButton(joystick, 6)
back = JoystickButton(joystick, 7)
start = JoystickButton(joystick, 8)
stick_L = JoystickButton(joystick, 9)
stick_R = JoystickButton(joystick, 10)
def __init__(self):
self.reversed = True
self.arcade_drive = True
self.turbo = False
self.controls = {
"reverse": 2, # top
"arcade_switch": 3,
"turbo": 1, # trigger
"reset": 4
}
self.driver_controller = Joystick(0)
self.left_power = 0
self.right_power = 0
def init():
global logger, joystick, A, B, X, Y, bumper_L, bumper_R, back, start, stick_L, stick_R
logger = logging.getLogger("OI")
joystick = Joystick(robotmap.joystick)
A = JoystickButton(joystick, 1)
B = JoystickButton(joystick, 2)
X = JoystickButton(joystick, 3)
Y = JoystickButton(joystick, 4)
bumper_L = JoystickButton(joystick, 5)
bumper_R = JoystickButton(joystick, 6)
back = JoystickButton(joystick, 7)
start = JoystickButton(joystick, 8)
stick_L = JoystickButton(joystick, 9)
stick_R = JoystickButton(joystick, 10)
logger.debug("OI initialized")
def get_joystick():
joystick = Joystick(0)
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whenPressed(SwitchMode())
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(OperateConveyor())
button_11 = JoystickButton(joystick, 11)
button_11.whenPressed(AutoTargetY())
button_12 = JoystickButton(joystick, 12)
button_12.whenPressed(AutoTargetX())
button_9 = JoystickButton(joystick, 9)
button_9.whenPressed(AutoTargetAngle())
return joystick
def createObjects(self):
'''Create motors and stuff here'''
with self.consumeExceptions():
Map.load_json(
os.path.join(os.path.dirname(os.path.realpath(__file__)),
"map.json"))
self.chassis_ports = Map.get_map(
)["subsystems"]["chassis"]["can_motors"]
self.chassis_left_master = WPI_TalonSRX(
self.chassis_ports["left_master"])
self.chassis_left_slave = WPI_TalonSRX(
self.chassis_ports["left_slave"])
self.chassis_right_master = WPI_TalonSRX(
self.chassis_ports["right_master"])
self.chassis_right_slave = WPI_TalonSRX(
self.chassis_ports["right_slave"])
self.chassis_navx = AHRS.create_spi()
self.left_joystick = Joystick(
Map.get_map()["operator_ports"]["left_stick"])
def __init__(self):
self.stick = Joystick(0)
def __init__(self, port):
self.joystick = Joystick(port)
def __init__(self, channel):
self.channel = channel
self.joystick = Joystick(channel)
self.button_mapping = {}
self.invert_mapping = {}
def __init__(self, robot):
self.robot = robot
self.firstDriver = Joystick(0)
def robotInit(self):
self.driver = Joystick(0)
CameraServer.launch('vision.py:main')
from wpilib import VictorSP, Joystick, Solenoid
from util.enums import init_buttons
SWERVE = 0
TANK = 1
LOGGING = False
controller = Joystick(0)
driving_motors = []
steering_motors = []
gate_mtr = VictorSP(5)
auto_state = 0
encoders = None
enc_ratio = 0.8692153
drop_sole = None
shoot_sole = None
# driving motors and steering motors setup
for i in range(4):
driving_motors.append(VictorSP(i))
# steering_motors.append(VictorSP(i + 4))
init_buttons(controller)
def __init__(self, port):
"""
Initializes the joystick with some USB port.
"""
super().__init__()
self.j = Joystick(port)
def robotInit(self):
self.joystick = Joystick(0)
self.motor = Talon(10)
self.motor.configClearPositionOnLimitF(True)
def robotInit(self):
self.maxVolts = 10
self.joystick = Joystick(0)
self.motor: Talon = Talon(31)
self.motor.configClearPositionOnLimitF(True)
self.motor.configVoltageCompSaturation(self.maxVolts)
def __init__(self, robot):
self.driver = Joystick(0)
JoystickButton(self.driver, 3).whenPressed(OpenGripper(robot))
JoystickButton(self.driver, 4).whenPressed(CloseGripper(robot))
JoystickButton(self.driver, 1).whenPressed(ToggleGripper(robot))
def get_joysticks():
left = Joystick(0)
right = Joystick(1)
return left, right
