def __init__(self, talon_id, follower_id):
"""
Create a new instance of the claw subsystem.
This function constructs and configures the CANTalon instance and the
touch sensor. It also sets the state machine to the neutral starting
state.
"""
self.talon = TalonSRX(talon_id)
self.follower = TalonSRX(follower_id)
self.follower.set(
TalonSRX.ControlMode.Follower,
talon_id
)
self.talon.setInverted(True)
self.follower.setInverted(False)
# Forward limit switch = claw opening limit switch
# self.talon.configForwardLimitSwitchSource(
# TalonSRX.LimitSwitchSource.FeedbackConnector,
# TalonSRX.LimitSwitchNormal.NormallyOpen,
# 0
# )
self.state = 'neutral'
self.closeAdjustTimer = wpilib.Timer()
self.movementTimer = wpilib.Timer()
def __init__(self):
left_rear_m = TalonSRX(1)
self.left_front_m = TalonSRX(2)
self.right_front_m = TalonSRX(0)
right_rear_m = TalonSRX(2)
left_drive = SpeedControllerGroup(self.left_front_m, left_rear_m)
right_drive = SpeedControllerGroup(self.right_front_m, right_rear_m)
self.robot_drive = DifferentialDrive(left_drive,right_drive)
def __init__(self, name, steer_id, drive_id):
"""
Performs calculations and bookkeeping for a single swerve module.
Args:
name (str): A NetworkTables-friendly name for this swerve
module. Used for saving and loading configuration data.
steer_id (number): The CAN ID for the Talon SRX controlling this
module's steering.
drive_id (number): The CAN ID for the Talon SRX controlling this
module's driving.
Attributes:
steer_talon (:class:`ctre.cantalon.CANTalon`): The Talon SRX used
to actuate this module's steering.
drive_talon (:class:`ctre.cantalon.CANTalon`): The Talon SRX used
to actuate this module's drive.
steer_target (number): The current target steering position for
this module, in radians.
steer_offset (number): The swerve module's steering zero position.
This value can be determined by manually steering a swerve
module so that it faces forwards relative to the chassis, and
by taking the raw encoder position value (ADC reading); this
value is the steer offset.
drive_reversed (boolean): Whether or not the drive motor's output
is currently reversed.
"""
self.steer_talon = TalonSRX(steer_id)
self.drive_talon = TalonSRX(drive_id)
# Configure steering motors to use abs. encoders
# and closed-loop control
self.steer_talon.selectProfileSlot(0, 0)
self.steer_talon.configSelectedFeedbackSensor(FeedbackDevice.Analog, 0,
0) # noqa: E501
self.steer_talon.configAllowableClosedloopError(
0, math.ceil(_acceptable_steer_err), 0)
self.drive_talon.configSelectedFeedbackSensor(
FeedbackDevice.QuadEncoder, 0, 0) # noqa: E501
self.drive_talon.setQuadraturePosition(0, 0)
self.drive_talon.configAllowableClosedloopError(
0, math.ceil(_acceptable_drive_err), 0)
self.name = name
self.steer_target = 0
self.steer_target_native = 0
self.drive_temp_flipped = False
self.max_speed = 470 # ticks / 100ms
self.max_observed_speed = 0
self.raw_drive_speeds = []
self.raw_target = 0
self.load_config_values()
def __init__(self, mock=False):
super().__init__("Elevator")
self.talon_master = TalonSRX(4)
self.talon_slave = TalonSRX(5)
self._state = ElevatorState.HOLDING
self.nlogger = Logger("elevator")
self.nlogger.add("Time", robot_time.delta_time)
self.nlogger.add("Position", self.get_elevator_position)
self.nlogger.add("Voltage", self.talon_master.getMotorOutputVoltage)
self.nlogger.add("Current", self.talon_master.getOutputCurrent)
# self.nlogger.start()
dashboard2.add_graph("Elevator Position", self.get_elevator_position)
dashboard2.add_graph("Elevator Voltage", self.talon_master.getMotorOutputVoltage)
dashboard2.add_graph("Elevator Current", self.talon_master.getOutputCurrent)
dashboard2.add_graph("Elevator Current2", self.talon_slave.getOutputCurrent)
dashboard2.add_graph("Elevator State", lambda: self._state)
if not mock:
self.mp_manager = SRXMotionProfileManager(self.talon_master, 1000 // FREQUENCY)
self.talon_master.setQuadraturePosition(0, 0)
self.talon_slave.follow(self.talon_master)
# 1023 units per 12V
# This lets us pass in feedforward as voltage
self.talon_master.config_kF(MAIN_IDX, 1023/12, 0)
self.talon_master.config_kF(EXTENT_IDX, 1023/12, 0)
kP = 0.05 * 1023 / 4096
# self.talon_master.config_kP(MAIN_IDX, kP, 0)
# self.talon_master.config_kP(EXTENT_IDX, kP, 0)
self.talon_master.config_kP(HOLD_MAIN_IDX, .1 * 1023 / 4096, 0)
self.talon_master.config_kP(HOLD_EXTENT_IDX, .3 * 1023 / 4096, 0)
self.talon_master.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0)
self.talon_master.setSensorPhase(True)
invert = False
self.talon_master.setInverted(invert)
self.talon_slave.setInverted(invert)
def robotInit(self):
self.stick = wpilib.Joystick(self.controller_index)
self.__prefs = wpilib.Preferences.getInstance()
self.lift_main = TalonSRX(self.main_lift_id)
self.lift_follower = TalonSRX(self.follower_id)
self.lift_main.configSelectedFeedbackSensor(
TalonSRX.FeedbackDevice.PulseWidthEncodedPosition, 0, 0)
self.lift_main.selectProfileSlot(0, 0)
self.lift_follower.set(TalonSRX.ControlMode.Follower,
self.main_lift_id)
self.last_out = 0
self.back = ButtonDebouncer(self.stick, 2)
self.fwd = ButtonDebouncer(self.stick, 3)
self.__load_config()
def __init__(
self,
main_lift_id, follower_id,
bottom_limit_channel, start_lim_channel
):
self.main_lift_id = main_lift_id
self.follower_id = follower_id
self.lift_main = TalonSRX(main_lift_id)
self.lift_follower = TalonSRX(follower_id)
self.lift_main.configSelectedFeedbackSensor(
TalonSRX.FeedbackDevice.PulseWidthEncodedPosition,
0, 0
)
# self.lift_main.setPulseWidthPosition(0, 0)
self.lift_follower.configSelectedFeedbackSensor(
TalonSRX.FeedbackDevice.PulseWidthEncodedPosition,
0, 0
)
# self.lift_follower.setPulseWidthPosition(0, 0)
self.lift_follower.set(
TalonSRX.ControlMode.Follower,
main_lift_id
)
self.lift_follower.setInverted(True)
self.lift_timer = wpilib.Timer()
self.timer_started = False
self.lift_stop_timer = wpilib.Timer()
self.lift_stop_timer_started = False
self.lift_zero_found = False
self.bottom_limit_switch = wpilib.DigitalInput(bottom_limit_channel)
self.start_limit_switch = wpilib.DigitalInput(start_lim_channel)
self.sustain = -0.08
def __init__(self):
self.encoderUnit = 4096
self.gearRatio = 183.33333333
self.lowerAngleLimit = -10
self.topAngleLimit = 170
self.wristPower = 0
self.wristMotor = TalonSRX(wristMotor)
self.wristMotor.configSelectedFeedbackSensor(
wristMotor.FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0)
self.wristMotor.setSensorPhase(False)
def __init__(self, left_id, right_id):
"""
Create a new instance of the RD4B lift.
Calling this constructor initializes the two drive motors and
configures their control modes, and also loads the configuration
values from preferences.
"""
# Create new instances of CANTalon for the left and right motors.
self.left_motor = TalonSRX(left_id)
self.right_motor = TalonSRX(right_id)
# The right motor will follow the left motor, so we will configure
# the left motor as Position control mode, and have the right motor
# follow it.
self.left_motor.configSelectedFeedbackSensor(
TalonSRX.FeedbackDevice.Analog, 0, 0)
self.left_motor.selectProfileSlot(0, 0)
self.right_motor.set(TalonSRX.ControlMode.Follower, left_id)
# finally, load the configuration values.
self.load_config_values()
def __init__(self, talon_id, contact_sensor_channel):
"""
Create a new instance of the claw subsystem.
This function constructs and configures the CANTalon instance and the
touch sensor. It also sets the state machine to the neutral starting
state.
Args:
talon_id: the ID number of the talon on the claw.
contact_sensor_channel: the channel that the contact sensor is
connected to.
"""
self.talon = TalonSRX(talon_id)
self.contact_sensor = wpilib.DigitalInput(contact_sensor_channel)
self.state = 'neutral'
def __init__(self, talon_id):
"""
Create a new instance of the claw subsystem.
This function constructs and configures the CANTalon instance and the
touch sensor. It also sets the state machine to the neutral starting
state.
"""
self.talon = TalonSRX(talon_id)
# Forward limit switch = claw opening limit switch
self.talon.configForwardLimitSwitchSource(
TalonSRX.LimitSwitchSource.FeedbackConnector,
TalonSRX.LimitSwitchNormal.NormallyOpen, 0)
self.state = 'neutral'
self.closeAdjustTimer = wpilib.Timer()
self.openTimer = wpilib.Timer()
def __init__(self, talon_id):
self.talon = TalonSRX(talon_id)
def __init__(self, talon_id):
self.talon = TalonSRX(talon_id)
self.talon.configSelectedFeedbackSensor(
TalonSRX.FeedbackDevice.QuadEncoder, 0, 0)
self.talon.setQuadraturePosition(0, 0)
self.talon.setInverted(True)