class Attack3Joystick(Sensor):
"""
Sensor wrapper for the Attack 3 Joystick.
Has boolean attributes for buttons: trigger, button2-9
and double x_axis, y_axis for joystick position
"""
x_axis = y_axis = 0
trigger = button2 = button3 = \
button4 = button5 = button6 = \
button7 = button8 = button9 = \
button10 = button11 = False
def __init__(self, port):
"""
Initializes the joystick with some USB port.
"""
super().__init__()
self.j = Joystick(port)
def poll(self):
for i, state_id in enumerate(BUTTON_TABLE, 1):
self.update_state(state_id,
self.j.getRawButton(i))
self.x_axis = self.j.getX()
self.y_axis = self.j.getY()
class Attack3Joystick(Sensor):
"""
Sensor wrapper for the Attack 3 Joystick.
Has boolean attributes for buttons: trigger, button2-9
and double x_axis, y_axis for joystick position
"""
x_axis = y_axis = 0
trigger = button2 = button3 = \
button4 = button5 = button6 = \
button7 = button8 = button9 = \
button10 = button11 = False
def __init__(self, port):
"""
Initializes the joystick with some USB port.
"""
super().__init__()
self.j = Joystick(port)
def poll(self):
for i, state_id in enumerate(BUTTON_TABLE, 1):
self.update_state(state_id, self.j.getRawButton(i))
self.x_axis = self.j.getX()
self.y_axis = self.j.getY()
class MyRobot(TimedRobot):
# Defines the channels that are used on the inputs. In the simulator, they have to match up with the physics.py file
# This is really useful when you have a variable used hundreds of times and you want to have it set so you can
# change it all in one go.
RLMotorChannel = 2
RRMotorChannel = 0
FLMotorChannel = 3
FRMotorChannel = 4
DriveStickChannel = 0
# RobotInit is where all of the things we are using is initialized.
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)
# Autonomous and teleop periodic both run the code on a fixed loop time. A part of TimedRobot.
def autonomousPeriodic(self):
# runs the autonomous modes when Autonomous is activated.
self.automodes.run()
def teleopPeriodic(self):
# Turns on drive safety and checks to se if operator control and the robot is enabled.
self.drive.setSafetyEnabled(True)
if self.isOperatorControl() and self.isEnabled():
# Drives the robot with controller inputs. You can use buttons with self.DriveStick.getRawButton(ButtonNum).
self.drive.arcadeDrive(self.DriveStick.getY(),
-self.DriveStick.getX(),
squareInputs=False)
class XboxJoystick(Sensor):
"""
Sensor wrapper for the Xbox Controller.
Has boolean attributes for buttons: a/b/x/y/back/start_button,
l/r_shoulder
Attributes l/r_x/y_axis for thumbstick positions
trigger_pos and keypad_pos for trigger and keypad position
"""
l_x_axis = l_y_axis = r_x_axis = r_y_axis = 0
trigger_pos = keypad_pos = 0
a_button = b_button = x_button = y_button = False
l_shoulder = r_shoulder = back_button = start_button = False
def __init__(self, port):
"""
Initializes the joystick with some USB port.
"""
super().__init__()
self.j = Joystick(port)
def poll(self):
for i, state_id in enumerate(BUTTON_TABLE, 1):
self.update_state(state_id,
self.j.getRawButton(i))
# button index is offset by 1 due to wpilib 1-indexing
self.l_x_axis = self.j.getX()
self.l_y_axis = self.j.getY()
self.r_x_axis = self.j.getRawAxis(4)
self.r_y_axis = self.j.getRawAxis(5)
self.trigger_pos = self.j.getZ()
self.keypad_pos = self.j.getRawAxis(6)
