def __init__(self):
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
def __init__(self):
Events.__init__(self)
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
# setup events
self._create_event(GripperComponent.EVENTS.gripper_started_moving)
def __init__(self, robot):
super().__init__()
self.robot = robot
if RobotMap.motor_controllers == "talonsrx":
self._motors = [
CANTalon(RobotMap.motor_a_talon_id),
CANTalon(RobotMap.motor_b_talon_id),
CANTalon(RobotMap.motor_c_talon_id),
CANTalon(RobotMap.motor_d_talon_id)
]
for motor in self._motors:
motor.changeControlMode(RobotMap.drive_motor_mode)
elif RobotMap.motor_controllers == "victor":
self._motors = [
Victor(RobotMap.motor_a_pwm_id),
Victor(RobotMap.motor_b_pwm_id),
Victor(RobotMap.motor_c_pwm_id),
Victor(RobotMap.motor_d_pwm_id)
]
def __init__(self):
self.climb_motor_1 = Victor(2)
self.climb_motor_2 = Victor(5)
def robotInit(self):
self.timer = wpilib.Timer()
self.timer.start()
self.auto_timer = wpilib.Timer()
self.gyro = AHRS.create_spi()
self.gyro.reset()
self.compressor = wpilib.Compressor(self.PCM_CANID)
self.compressor.setClosedLoopControl(False)
#self.compressor.setClosedLoopControl(True)
#Solenoids galore
self.gearAdjustExtend = wpilib.Solenoid(
self.PCM_CANID, self.GEAR_ADJUST_EXTEND_SOLENOID)
self.gearAdjustRetract = wpilib.Solenoid(
self.PCM_CANID, self.GEAR_ADJUST_RETRACT_SOLENOID)
self.gearPusherExtend = wpilib.Solenoid(
self.PCM_CANID, self.GEAR_PUSHER_EXTEND_SOLENOID)
self.gearPusherRetract = wpilib.Solenoid(
self.PCM_CANID, self.GEAR_PUSHER_RETRACT_SOLENOID)
self.gearDoorDrop = wpilib.Solenoid(self.PCM_CANID,
self.GEAR_DOOR_DROP_SOLENOID)
self.gearDoorRaise = wpilib.Solenoid(self.PCM_CANID,
self.GEAR_DOOR_RAISE_SOLENOID)
self.ballDoorOpen = wpilib.Solenoid(self.PCM_CANID,
self.BALL_DOOR_OPEN_SOLENOID)
self.ballDoorClose = wpilib.Solenoid(self.PCM_CANID,
self.BALL_DOOR_CLOSE_SOLENOID)
"""Robot initialization function"""
self.frontLeftMotor = ctre.WPI_TalonSRX(self.frontLeftChannel)
self.rearLeftMotor = ctre.WPI_TalonSRX(self.rearLeftChannel)
self.frontRightMotor = ctre.WPI_TalonSRX(self.frontRightChannel)
self.rearRightMotor = ctre.WPI_TalonSRX(self.rearRightChannel)
self.tickler = Spark(self.ballTickler)
self.grabber = Victor(self.ballGrabMotor)
# invert the left side motors
self.frontLeftMotor.setInverted(True)
self.frontRightMotor.setInverted(True)
self.rearLeftMotor.setInverted(True)
self.rearRightMotor.setInverted(True)
self.talons = [
self.frontLeftMotor, self.rearLeftMotor, self.frontRightMotor,
self.rearRightMotor
]
for talon in self.talons:
talon.configNominalOutputForward(0.0, 25)
talon.configNominalOutputReverse(0.0, 25)
talon.configPeakOutputForward(1.0, 25)
talon.configPeakOutputReverse(-1.0, 25)
talon.enableVoltageCompensation(True)
talon.configVoltageCompSaturation(11.5, 25)
talon.configOpenLoopRamp(0.125, 25)
talon.config_kP(0, 0.375, 25)
talon.config_kI(0, 0.0, 25)
talon.config_kD(0, 0.0, 25)
talon.config_kF(0, 0.35, 25)
talon.selectProfileSlot(0, 0)
talon.configClosedLoopPeakOutput(0, 1.0, 25)
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 25)
talon.configSelectedFeedbackCoefficient(1.0, 0, 25)
talon.set(ctre.ControlMode.PercentOutput, 0)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.drive.setSafetyEnabled(False)
self.lstick = wpilib.Joystick(self.lStickChannel)
self.rstick = wpilib.Joystick(self.rStickChannel)