def __init__(self):
RobotBase.__init__(self)
self.iterator = None
self.earlyStop = False
hal.report(hal.UsageReporting.kResourceType_Framework,
hal.UsageReporting.kFramework_Iterative)
def __init__(self):
RobotBase.__init__(self)
self.iterator = None
self.earlyStop = False
hal.report(hal.UsageReporting.kResourceType_Framework,
hal.UsageReporting.kFramework_Timed)
self._expirationTime = 0
self._notifier = hal.initializeNotifier()
def init():
global drive
if drive is not None and not RobotBase.isSimulation():
raise RuntimeError("Subsystems already init'ed")
drive = Nomad()
def init():
print('Subsystems init called')
'''
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
'''
global driveline
global drivelift
global elevator
global ramp
global cargograb
global hatchgrab
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if (driveline) is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
driveline = TankDrive()
drivelift = TankLift()
elevator = Elevator()
ramp = Ramp()
cargograb = CargoGrab()
hatchgrab = HatchGrab()
def init():
"""
instansiates all subsystems. Needs to be a method so it isn't ran on import
"""
global tankdrive
global sensors
global arm
global smartdashboard
global infotable
global is_init
"""
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
"""
if is_init and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
if is_init:
return
is_init = True
tankdrive = TankDrive()
sensors = Sensors()
arm = Arm()
smartdashboard = NetworkTables.getTable('SmartDashboard')
infotable = NetworkTables.getTable('info')
def init():
global drive
if drive is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
drive = Drive(robotmap.motors.L0, robotmap.motors.L1, robotmap.motors.R0,
robotmap.motors.R1)
def init():
global drive, oi
if oi is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
drive = Drive()
oi = OI()
def init():
'''
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
'''
global motor
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if motor is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
motor = SingleMotor()
def init():
print('Subsystems: init called')
'''
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
'''
global driveline
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if driveline is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized!')
driveline = TankDrive()
def init():
'''
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
'''
global drive, move
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if (drive is not None) and (move is not None) and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
drive = MechenumDrive()
move = MechenumMove();
def init():
"""
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
"""
global motors, gear_mech, climbing_mech, dumper
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if motors is not None and not RobotBase.isSimulation(): # pragma: no cover
raise RuntimeError('Subsystems have already been initialized')
motors = Motors()
gear_mech = GearMech()
climbing_mech = ClimbingMech()
dumper = Dumper()
def diagnosticsToSmartDash(self):
# Add position, velocity, and angle values to the SmartDash.
SmartDashboard.putNumber(
"Left Encoder",
self.getLeftPosition() / robotMap.countsPerRevolution)
SmartDashboard.putNumber(
"Right Encoder",
self.getRightPosition() / robotMap.countsPerRevolution)
# SmartDashboard.putNumber("Left Velocity", self.getLeftVelocity())
# SmartDashboard.putNumber("Right Velocity", self.getRightVelocity())
if RobotBase.isReal():
SmartDashboard.putNumber("Left Speed",
self.l1.getMotorOutputPercent())
SmartDashboard.putNumber("Right Speed",
self.r1.getMotorOutputPercent())
SmartDashboard.putNumber("Gyro Angle", self.gyro.getAngle())
SmartDashboard.putNumber("Barometric Pressure",
self.gyro.getBarometricPressure())
def __init__(self):
RobotBase.__init__(self)
self.iterator = None
self.earlyStop = False
def __init__(self):
super().__init__()
# Initialize and calibrate the NavX-MXP.
self.gyro = AHRS.create_spi(wpilib.SPI.Port.kMXP)
self.gyro.reset()
# Initialize motors.
self.l1 = ctre.wpi_talonsrx.WPI_TalonSRX(robotMap.left1)
self.l2 = ctre.wpi_talonsrx.WPI_TalonSRX(robotMap.left2)
self.r1 = ctre.wpi_talonsrx.WPI_TalonSRX(robotMap.right1)
self.r2 = ctre.wpi_talonsrx.WPI_TalonSRX(robotMap.right2)
# Select a sensor for PID.
self.l1.configSelectedFeedbackSensor(
FeedbackDevice.CTRE_MagEncoder_Relative, 0, robotMap.ctreTimeout)
self.r1.configSelectedFeedbackSensor(
FeedbackDevice.CTRE_MagEncoder_Relative, 0, robotMap.ctreTimeout)
# Left sensor runs in reverse so the phase must be set for PID.
self.l1.setSensorPhase(True)
self.r1.setSensorPhase(True)
# Invert motor output as necessary.
self.r1.setInverted(True)
self.r2.setInverted(True)
# Set secondary motors to follow primary motor speed.
self.l2.follow(self.l1)
self.r2.follow(self.r1)
# Set talons to brake automatically.
self.l1.setNeutralMode(NeutralMode.Brake)
self.l2.setNeutralMode(NeutralMode.Brake)
self.r1.setNeutralMode(NeutralMode.Brake)
self.r2.setNeutralMode(NeutralMode.Brake)
# If code is running on a RoboRio, configure current limiting.
if RobotBase.isReal():
self.l1.configPeakCurrentLimit(robotMap.peakCurrent,
robotMap.ctreTimeout)
self.l1.configPeakCurrentDuration(robotMap.peakTime,
robotMap.ctreTimeout)
self.l1.configContinuousCurrentLimit(robotMap.continuousCurrent,
robotMap.ctreTimeout)
self.l1.enableCurrentLimit(True)
self.l2.configPeakCurrentLimit(robotMap.peakCurrent,
robotMap.ctreTimeout)
self.l2.configPeakCurrentDuration(robotMap.peakTime,
robotMap.ctreTimeout)
self.l2.configContinuousCurrentLimit(robotMap.continuousCurrent,
robotMap.ctreTimeout)
self.l2.enableCurrentLimit(True)
self.r1.configPeakCurrentLimit(robotMap.peakCurrent,
robotMap.ctreTimeout)
self.r1.configPeakCurrentDuration(robotMap.peakTime,
robotMap.ctreTimeout)
self.r1.configContinuousCurrentLimit(robotMap.continuousCurrent,
robotMap.ctreTimeout)
self.r1.enableCurrentLimit(True)
self.r2.configPeakCurrentLimit(robotMap.peakCurrent,
robotMap.ctreTimeout)
self.r2.configPeakCurrentDuration(robotMap.peakTime,
robotMap.ctreTimeout)
self.r2.configContinuousCurrentLimit(robotMap.continuousCurrent,
robotMap.ctreTimeout)
self.r2.enableCurrentLimit(True)
# Reset max recorded velocities
self.maxRecordedLeftVelocity = 0
self.maxRecordedRightVelocity = 0
self.r1.configNeutralDeadband(0.1, 10)
self.r2.configNeutralDeadband(0.1, 10)
self.l1.configNeutralDeadband(0.1, 10)
self.l2.configNeutralDeadband(0.1, 10)