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)
class Joker(magicbot.MagicRobot):
drivePID: DriveController
chassis: Chassis
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 disabledInit(self):
if self.drivePID.enabled:
self.drivePID.close()
def robotPeriodic(self):
if self.isAutonomousEnabled():
self.chassis.set_auto()
elif self.isOperatorControlEnabled():
self.chassis.set_teleop()
def teleopInit(self):
""" Called when teleop starts. """
NetworkTables.initialize(server="10.43.20.149")
self.sd = NetworkTables.getTable("SmartDashboard")
self.chassis.reset_encoders()
def teleopPeriodic(self):
""" Called on each iteration of the control loop. """
self.chassis.set_speed(-self.joystick.getY(), -self.joystick.getZ())
def upadte_operator(self,
left_stick: Joystick,
right_stick: Joystick = None):
if right_stick is None:
self.arcade_mode = True
self.y_speed = -left_stick.getY()
self.z_speed = -left_stick.getZ()
else:
self.arcade_mode = True
self.left_speed = -left_stick.getY()
self.right_speed = -right_stick.getY()
