def __init__(self, robot):
super().__init__()
self.addSequential(CloseClaw(robot))
self.addSequential(WaitForPressure(robot), 2)
if robot.isReal():
# NOTE: Simulation doesn't currently have the concept of hot.
self.addSequential(CheckForHotGoal(robot, 2))
self.addSequential(SetPivotSetpoint(robot, 45))
self.addSequential(DriveForward(robot, 8, 0.3))
self.addSequential(Shoot(robot))
def __init__(self, robot):
self.joystick = wpilib.Joystick(0)
JoystickButton(self.joystick, 12).whenPressed(LowGoal(robot))
JoystickButton(self.joystick, 10).whenPressed(Collect(robot))
JoystickButton(self.joystick,
11).whenPressed(SetPivotSetpoint(robot, Pivot.SHOOT))
JoystickButton(self.joystick,
9).whenPressed(SetPivotSetpoint(robot,
Pivot.SHOOT_NEAR))
DoubleButton(self.joystick, 2, 3).whenActive(Shoot(robot))
# SmartDashboard Buttons
SmartDashboard.putData("Drive Forward", DriveForward(robot, 2.25))
SmartDashboard.putData("Drive Backward", DriveForward(robot, -2.25))
SmartDashboard.putData("Start Rollers",
SetCollectionSpeed(robot, Collector.FORWARD))
SmartDashboard.putData("Stop Rollers",
SetCollectionSpeed(robot, Collector.STOP))
SmartDashboard.putData("Reverse Rollers",
SetCollectionSpeed(robot, Collector.REVERSE))
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot",
DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()