def __init__(self, robot):
self.joy = wpilib.Joystick(0)
# Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom",
SetElevatorSetpoint(robot, 0))
SmartDashboard.putData("Elevator Platform",
SetElevatorSetpoint(robot, 0.2))
SmartDashboard.putData("Elevator Top", SetElevatorSetpoint(robot, 0.3))
SmartDashboard.putData("Wrist Horizontal", SetWristSetpoint(robot, 0))
SmartDashboard.putData("Raise Wrist", SetWristSetpoint(robot, -45))
SmartDashboard.putData("Open Claw", OpenClaw(robot))
SmartDashboard.putData("Close Claw", CloseClaw(robot))
SmartDashboard.putData("Deliver Soda", Autonomous(robot))
# Create some buttons
d_up = JoystickButton(self.joy, 5)
d_right = JoystickButton(self.joy, 6)
d_down = JoystickButton(self.joy, 7)
d_left = JoystickButton(self.joy, 8)
l2 = JoystickButton(self.joy, 9)
r2 = JoystickButton(self.joy, 10)
l1 = JoystickButton(self.joy, 11)
r1 = JoystickButton(self.joy, 12)
# Connect the buttons to commands
d_up.whenPressed(SetElevatorSetpoint(robot, 0.2))
d_down.whenPressed(SetElevatorSetpoint(robot, -0.2))
d_right.whenPressed(CloseClaw(robot))
d_left.whenPressed(OpenClaw(robot))
r1.whenPressed(PrepareToPickup(robot))
r2.whenPressed(Pickup(robot))
l1.whenPressed(Place(robot))
l2.whenPressed(Autonomous(robot))
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def robotInit(self):
Command.getRobot = lambda x=0: self
MyRobot.drivetrain = Drive.Drive()
MyRobot.leftStick = oi.getLeftStick()
MyRobot.rightStick = oi.getRightStick()
self.Autonomous = Autonomous()
def robotInit(self):
Command.getRobot = lambda x=0: self
self.drivetrain = Drive.Drive()
self.autonomous = Autonomous()
def robotInit(self):
subsystems.init()
self.teleopCommand = TankDrive()
#self.teleopCommand = MecDrive()
self.autonomousCommand = Autonomous()