def robotInit(self):
self.controller = XboxController(0)
self.controller2 = XboxController(1)
#self.lmotor = wpilib.CANTalon(1)
#self.rmotor = wpilib.CANTalon(0)
self.drive = driveTrain(self)
self.robotArm = arm(self)
self.climber = lift(self)
self.pixy = Pixy()
self.drive.reset()
self.dashTimer = wpilib.Timer() # Timer for SmartDashboard updating
self.dashTimer.start()
# Initialize Components functions
self.components = {
'drive' : self.drive,
'arm' : self.robotArm,
'lift' : self.climber,
'pixy' : self.pixy
}
# Initialize Smart Dashboard
self.dash = SmartDashboard()
self.autonomous_modes = AutonomousModeSelector('autonomous', self.components)
self.potentiometer = ('Arm Potentiometer', 0)
self.dash.putNumber('ControlType', 0)
self.dash.putBoolean('Front Switch', 0)
self.dash.putBoolean('Back Switch', 0)
self.drive.log()
class MyRobot(wpilib.SampleRobot):
def robotInit(self):
self.controller = XboxController(0)
self.controller2 = XboxController(1)
#self.lmotor = wpilib.CANTalon(1)
#self.rmotor = wpilib.CANTalon(0)
self.drive = driveTrain(self)
self.robotArm = arm(self)
self.climber = lift(self)
self.pixy = Pixy()
self.drive.reset()
self.dashTimer = wpilib.Timer() # Timer for SmartDashboard updating
self.dashTimer.start()
# Initialize Components functions
self.components = {
'drive' : self.drive,
'arm' : self.robotArm,
'lift' : self.climber,
'pixy' : self.pixy
}
# Initialize Smart Dashboard
self.dash = SmartDashboard()
self.autonomous_modes = AutonomousModeSelector('autonomous', self.components)
self.potentiometer = ('Arm Potentiometer', 0)
self.dash.putNumber('ControlType', 0)
self.dash.putBoolean('Front Switch', 0)
self.dash.putBoolean('Back Switch', 0)
self.drive.log()
def disabled(self):
self.drive.reset()
#self.drive.disablePIDs()
while self.isDisabled():
wpilib.Timer.delay(0.01) # Wait for 0.01 seconds
def autonomous(self):
self.drive.reset()
self.drive.enablePIDs()
while self.isAutonomous() and self.isEnabled():
# Run the actual autonomous mode
self.potentiometer = ('Arm Potentiometer', self.robotArm.getPOT())
self.drive.log()
self.autonomous_modes.run()
def operatorControl(self):
# Resetting encoders
self.drive.reset()
#self.drive.enablePIDs()
while self.isOperatorControl() and self.isEnabled():
self.drive.xboxTankDrive(self.controller.getLeftY(), self.controller.getRightY(), self.controller.getLeftBumper(), self.controller.getRightBumper(), self.controller.getLeftTrigger(), self.controller.getRightTrigger())
self.robotArm.armUpDown(self.controller2.getLeftTriggerRaw(), self.controller2.getRightTriggerRaw(), self.controller2.getButtonA(), rate=0.5)
self.robotArm.wheelSpin(self.controller2.getLeftY())
self.climber.climbUpDown(self.controller2.getLeftBumper(), self.controller2.getRightBumper())
self.drive.log()
wpilib.Timer.delay(CONTROL_LOOP_WAIT_TIME)
# Send encoder data to the smart dashboard
self.dash.putNumber('Arm Potentiometer', self.robotArm.getPOT())
#self.dash.putBoolean('Back Arm Switch', self.robotArm.getFrontSwitch())
#self.dash.putBoolean('Front Arm Switch', self.robotArm.getBackSwitch())
def test(self):
wpilib.LiveWindow.run()
self.drive.reset()
self.drive.enablePIDs()
while self.isTest() and self.isEnabled():
self.drive.xboxTankDrive(self.controller.getLeftY(), self.controller.getRightY(), self.controller.getLeftBumper(), self.controller.getRightBumper(), self.controller.getRightTrigger())
self.robotArm.armUpDown(self.controller2.getLeftTriggerRaw(), self.controller2.getRightTriggerRaw())
'''
