class NewArm:
# use JoystickLib.Gamepad!
def __init__(self, gamepad, _can):
self.can = _can
self.Arm = Arm(self.can)
self.Gamepad = gamepad
self.Enabled = True
self.ToggleWasPressed = False
def update(self):
#print("Encoder at", self.can.getPosition())
if self.Enabled:
self.Arm.update()
# TODO: Move to constant
value = 4000 * self.Gamepad.getLY()
if value != 0:
self.Arm.movePosition(value)
if self.Gamepad.getRawButton(Gamepad.BACK):
print("Arm position", self.Arm.getPosition())
if self.Gamepad.getRawButton(Gamepad.LJ):
if not self.ToggleWasPressed:
self.ToggleWasPressed = True
self.toggle()
else:
self.ToggleWasPressed = False
def toggle(self):
if self.Enabled:
self.disable()
else:
self.enable()
def enable(self):
print("Arm enabled!")
self.can.changeControlMode(wpilib.CANTalon.ControlMode.Position)
self.Enabled = True
def disable(self):
print("Arm disabled!")
self.can.changeControlMode(wpilib.CANTalon.ControlMode.Voltage)
self.can.set(0)
self.Enabled = False
def __init__(self, gamepad, _can):
self.can = _can
self.Arm = Arm(self.can)
self.Gamepad = gamepad
self.Enabled = True
self.ToggleWasPressed = False
