class BallChute():
def __init__(self):
self.stateTimer = wpilib.Timer()
self.stateTimer.start()
self.ballRakeExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_EXTEND_SOLENOID)
self.ballRakeRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_RETRACT_SOLENOID)
self.ballHatchExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_EXTEND_SOLENOID)
self.ballHatchRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_RETRACT_SOLENOID)
self.ballTickler = Spark(robotmap.BALL_TICKLER_ID)
self.bottomIntake = Spark(robotmap.BOTTOM_INTAKE_ID)
self.rakeMotor = Talon(robotmap.RAKE_ID)
self.ballRakeExtend.set(False)
self.ballRakeRetract.set(True)
self.ballHatchExtend.set(False)
self.ballHatchRetract.set(True)
#-value so motors run that way we want them to
def RakeMotorStart(self, value):
self.rakeMotor.set(-value)
def RakeMotorStop(self):
self.rakeMotor.stopMotor()
def BottomMotorStart(self, value):
self.bottomIntake.set(-value)
def BottomMotorStop(self):
self.bottomIntake.stopMotor()
def BallTicklerStart(self, value):
self.ballTickler.set(value)
def BallTicklerStop(self):
self.ballTickler.stopMotor()
#Solenoid functions ot make things easier
def DeployRake(self):
self.ballRakeExtend.set(True)
self.ballRakeRetract.set(False)
def StowRake(self):
self.ballRakeExtend.set(False)
self.ballRakeRetract.set(True)
def OpenHatch(self):
self.ballHatchExtend.set(True)
self.ballHatchRetract.set(False)
def CloseHatch(self):
self.ballHatchExtend.set(False)
self.ballHatchRetract.set(True)
def Iterate(self, copilot: XBox):
if copilot.Y():
if copilot.Start():
self.BottomMotorStart(1)
elif copilot.X():
self.BottomMotorStart(-.5)
else:
self.BottomMotorStart(.5)
else:
self.BottomMotorStop()
if copilot.A():
elif copilot.X():
self.RakeMotorStart(-.5)
else:
self.RakeMotorStart(.5)
else:
class ColorWheel():
def __init__(self):
self.colorWheelExtend = Solenoid(robotmap.PCM_ID,
robotmap.COLOR_WHEEL_EXTEND_SOLENOID)
self.colorWheelRetract = Solenoid(
robotmap.PCM_ID, robotmap.COLOR_WHEEL_RETRACT_SOLENOID)
self.colorWheelMotor = Spark(robotmap.COLOR_WHEEL_ID)
self.RGBSensor = ColorSensorV3(wpilib.I2C.Port.kOnboard)
self.colorWheelExtend.set(False)
self.colorWheelRetract.set(True)
def DeployWheelArm(self):
self.colorWheelExtend.set(True)
self.colorWheelRetract.set(False)
def StowWheelArm(self):
self.colorWheelExtend.set(False)
self.colorWheelRetract.set(True)
def Iterate(self, copilot: xboxcontroller.XBox):
self.color = self.RGBSensor.getColor()
self.ir = self.RGBSensor.getIR()
self.proxy = self.RGBSensor.getProximity(
) #proxy's still alive Jazz band
if self.color.red > 0.7 and self.color.red <= 1:
self.red = True
elif self.color.green > 0.7 and self.color.green <= 1:
self.green = True
elif self.color.blue > 0.7 and self.color.blue <= 1:
self.blue = True
else:
self.red = False
self.green = False
self.blue = False
#Boolean
wpilib.SmartDashboard.putBoolean("Red", self.red)
wpilib.SmartDashboard.putBoolean("Green", self.green)
wpilib.SmartDashboard.putBoolean("Blue", self.blue)
#Value
wpilib.SmartDashboard.putNumber("RedN", self.color.red)
wpilib.SmartDashboard.putNumber("BlueN", self.color.blue)
wpilib.SmartDashboard.putNumber("GreenN", self.color.green)
wpilib.SmartDashboard.putNumber("IR", self.ir)
wpilib.SmartDashboard.putNumber("Proxy", self.proxy)
#print(self.color)
if copilot.X():
self.colorWheelMotor.set(0.5)
elif copilot.B():
self.colorWheelMotor.set(-0.5)
else:
self.colorWheelMotor.stopMotor()
if copilot.getDPadRight():
self.DeployWheelArm()
elif copilot.getDPadLeft():
self.StowWheelArm()
