def robotInit(self):
# Instances of classes
# Instantiate Subsystems
self.drivetrain = Drivetrain(self)
self.hp_intake = Hp_Intake()
self.ramp = Ramp()
self.shifters = Shifters()
# instantiate Encoders for drivetrain?
#self.encoders = Encoders(self)
# Instantiate Joysticks
self.left_joy = wpilib.Joystick(0)
self.right_joy = wpilib.Joystick(1)
# Instantiate Xbox
self.xbox = wpilib.Joystick(2)
# Instantiate OI; must be AFTER joysticks are inited
self.oi = OI(self)
self.timer = wpilib.Timer()
self.loops = 0
# untested vision
#XXX might crash sim
wpilib.CameraServer.launch("vision.py:main")
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse
), # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.touch_led = TouchLed(self.TOUCH_LED_PORT)
self.color_sensor = \
ColorSensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = \
DistanceSensor(
self.DISTANCE_SENSOR_PORT, # port
self.DISTANCE_SENSOR_UNIT # unit
)
def __init__(self):
self.brain = Brain()
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse
), # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.touch_led = Touchled(self.TOUCH_LED_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
def robotInit(self):
super().__init__()
# Instances of classes
# Instantiate Subsystems
#XXX DEBUGGING
self.drivetrain = Drivetrain(self)
self.shooter = Shooter(self)
self.carrier = Carrier(self)
self.feeder = Feeder(self)
self.intake = Intake(self)
#self.winch = Winch(self)
#self.climber = Climber(self)
#self.climber_big = Climber_Big(self)
#self.climber_little = Climber_Little(self)
# Instantiate Joysticks
self.left_joy = wpilib.Joystick(1)
self.right_joy = wpilib.Joystick(2)
# Instantiate Xbox
self.xbox = wpilib.Joystick(3)
# Instantiate OI; must be AFTER joysticks are inited
self.oi = OI(self)
self.timer = wpilib.Timer()
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor.set_timeout(
self.CLAW_MOTOR_TIMEOUT_SECS, # time
TimeUnits.SEC # timeUnit
)
self.touch_led = Touchled(self.TOUCH_LED_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor.stall_timeout = self.CLAW_MOTOR_TIMEOUT_SECS
self.touch_led = TouchLed(self.TOUCH_LED_PORT)
self.color_sensor = \
ColorSensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = \
DistanceSensor(
self.DISTANCE_SENSOR_PORT, # port
self.DISTANCE_SENSOR_UNIT # unit
)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def robotInit(self):
self.drivetrain = Drivetrain(18, self)
self.fourbar = Fourbar(self)
self.beak = Beak(self)
self.left_joy = wpilib.Joystick(0)
self.right_joy = wpilib.Joystick(1)
self.xbox = wpilib.Joystick(2)
self.timer = wpilib.Timer()
self.loops = 0
wpilib.CameraServer.launch("wision.py:main")
def robotInit(self):
print('robotinit')
self.slowMode = True
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.driver = wpilib.XboxController(JOYSTICK_PORT)
self.intake = Intake()
self.limelight = CitrusLumen()
self.autonTimer = wpilib.Timer()
self.autonCase = None
self.autonAbort = None
self.debugging = False
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse
), # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
def robotInit(self):
super().__init__()
# gc.collect()
# #CommandBasedRobot.__init__()
# # Instances of classes
#
# # Instantiate Subsystems
# # self.shifters = Shifters()
self.drivetrain = Drivetrain(self)
# gc.collect()
# self.shooter = Shooter(self)
# self.carrier = Carrier(self)
# self.feeder = Feeder(self)
# self.intake = Intake(self)
# self.winch = Winch(self)
# self.climber = Climber(self)
#
# # Instantiate Joysticks
self.left_joy = wpilib.Joystick(0)
self.right_joy = wpilib.Joystick(1)
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
)
BRAIN = Brain()
# Drive Base configs
LEFT_MOTOR = Motor(Ports.PORT1, # index
False # reverse polarity?
)
RIGHT_MOTOR = Motor(Ports.PORT6, # index
True # reverse polarity?
)
DRIVETRAIN = Drivetrain(LEFT_MOTOR, # left_motor
RIGHT_MOTOR, # right_motor
200, # wheel_travel
176, # track_width
DistanceUnits.MM, # distanceUnit
1 # gear_ratio
)
# Arm motor configs
ARM_MOTOR = Motor(Ports.PORT10, # index
False # reverse
)
ARM_MOTOR_VELOCITY_PERCENT = 30
# Claw motor configs
CLAW_MOTOR = Motor(Ports.PORT11, # index
False # reverse
)
CLAW_MOTOR.set_timeout(3, # time
from drivetrain import Drivetrain
# KHỞI TẠO CÁC BỘ PHẬN ROBOT
# ==========================
# khởi tạo các motor, cắm vào cổng 1 của Brain (bộ xử lý trung tâm)
motor_right = Motor(Ports.PORT1, True) # Reverse Polarity
motor_left = Motor(Ports.PORT2)
# khởi tạo drivetrain (bộ truyền động) với 2 motor
# mỗi motor gắn một bánh xe chu vi 200mm
# và khoảng cách giữa 2 bánh xe 2 bên là 202mm
# tỉ lệ bánh răng 1:1
drivetrain = Drivetrain(
motor_left, motor_right,
200, 200, DistanceUnits.MM, 1)
# khởi tạo đèn LED cảm ứng
touch_led = Touchled(Ports.PORT10)
# khởi tạo bumper trước
bumper_front = Bumper(Ports.PORT3)
# ĐỊNH NGHĨA HẰNG SỐ, THAM SỐ
# ===========================
robot_started = False
drivetrain.set_drive_velocity(100)
Motor,
TouchLed,
UNIT_CM
)
# Drive Base configs
LEFT_MOTOR = Motor(1, # port
False # switch_polarity
)
RIGHT_MOTOR = Motor(6, # port
True # switch_polarity
)
DRIVETRAIN = Drivetrain(LEFT_MOTOR, # left_motor
RIGHT_MOTOR, # right_motor
200, # wheel_travel_mm
176 # track_mm
)
# Arm motor configs
ARM_MOTOR = Motor(10, # index
False # switch_polarity
)
ARM_MOTOR_VELOCITY_PERCENT = 30
# Claw motor configs
CLAW_MOTOR = Motor(11, # index
False # switch_polarity
)
CLAW_MOTOR.stall_timeout = 3
CLAW_MOTOR_VELOCITY_PERCENT = 60
LEFT,
RIGHT,
Sonar # Sonar = Cảm biến khoảng cách
)
from drivetrain import Drivetrain
# KHỞI TẠO CÁC BỘ PHẬN ROBOT
# ==========================
# khởi tạo các motor
motor_right = Motor(Ports.PORT1, True) # reverse=True: đảo ngược chiều xoay
motor_left = Motor(Ports.PORT2)
# khởi tạo drivetrain với 2 motor, mỗi motor gắn một bánh xe
# chu vi 200mm và khoảng cách giữa 2 bánh xe 2 bên là 198mm
dt = Drivetrain(motor_left, motor_right, 200, 198)
# khởi tạo cảm biến khoảng cách
distance_sensor = Sonar(Ports.PORT7)
# khởi tạo cảm biến Gyro (phương hướng)
gyro = Gyro(Ports.PORT3)
# ĐỊNH NGHĨA HẰNG SỐ
# ===========================
# mm, khoảng cách robot cần di chuyển để tiến một ô trong mê cung
GRID_SIZE = 308
NORTH = 'N'
EAST = 'E'
