class Frobo(wpilib.IterativeRobot):
"""Control code for Frobo, the 2013 Competition Robot of FRC Team 2403 (Plasma Robotics)"""
def robotInit(self):
"""Initialization method for the Frobo class. Initializes objects needed elsewhere throughout the code."""
# Initialize Joystick
self.controller = Joystick(Values.CONTROLLER_ID)
# Initialize Drive Sub-System
self.drive = FroboDrive(self, Values.DRIVE_LEFT_MAIN_ID,
Values.DRIVE_LEFT_SLAVE_ID,
Values.DRIVE_RIGHT_MAIN_ID,
Values.DRIVE_RIGHT_SLAVE_ID)
# Initialize Shooter Sub-System
self.compressor = wpilib.Compressor()
self.shooter = Shooter(self, Values.SHOOT_FRONT_ID,
Values.SHOOT_BACK_ID,
Values.SHOOT_SOLENOID_FORWARD_CHANNEL_ID,
Values.SHOOT_SOLENOID_REVERSE_CHANNEL_ID)
def robotPeriodic(self):
pass
# DISABLED MODE
def disabledInit(self):
"""Method ran when Frobo first enters the *disabled* mode."""
self.shooter.disable()
def disabledPeriodic(self):
"""Method that runs while Frobo is in the *disabled* mode."""
pass
# AUTONOMOUS MODE
def autonomousInit(self):
"""Method ran when Frobo first enters the *autonomous* mode."""
pass
def autonomousPeriodic(self):
"""Method that runs while Frobo is in the *autonomous* mode."""
pass
# TELEOP MODE
def teleopInit(self):
"""Method ran when Frobo first enters the *teleop* mode."""
self.shooter.disable()
def teleopPeriodic(self):
"""Method that runs while Frobo is in the *teleop* mode."""
self.drive.fps(power_axis=self.controller.LEFTY,
turn_axis=self.controller.RIGHTX)
self.shooter.update(self.controller)
# TEST MODE
def testInit(self):
"""Method ran when Frobo first enters the *test* mode."""
self.shooter.disable()
def testPeriodic(self):
"""Method that runs while Frobo is in the *test* mode."""
self.shooter.update(self.controller)
