class Aimbot(wpilib.SimpleRobot):
def __init__(self):
super().__init__()
self.drive_stick = wpilib.Joystick(1)
self.arm_stick = wpilib.Joystick(2)
self.front_right_motor = wpilib.Jaguar(2)
self.front_left_motor = wpilib.Jaguar(1)
self.back_left_motor = wpilib.Jaguar(3)
self.back_right_motor = wpilib.Jaguar(4)
self.intake_wheels_motor = wpilib.Jaguar(10)
self.intake_arm_motor = wpilib.Jaguar(6)
self.shooter_servo = wpilib.Servo(7)
self.shooter_motor = wpilib.Jaguar(5)
self.encoder = wpilib.Encoder(1, 2, True)
self.mecanum_drive = MecanumDrive(
self.front_right_motor,
self.front_left_motor,
self.back_right_motor,
self.back_left_motor,
self.drive_stick
)
self.intake = Intake(self.intake_wheels_motor,
self.intake_arm_motor,
self.arm_stick
)
self.shooter_service = ShooterService(self.shooter_motor,
self.shooter_servo,
self.arm_stick
)
self.shooter = Shooter(self.shooter_motor,
self.encoder,
self.shooter_servo,
self.arm_stick,
self.shooter_service
)
self.autonomous = Autonomous(
self.shooter_service,
self.intake_arm_motor,
self.front_left_motor,
self.front_right_motor,
self.back_left_motor,
self.back_right_motor
)
def Autonomous(self):
self.GetWatchdog().SetEnabled(False)
self.autonomous.reset()
while self.IsAutonomous() and self.IsEnabled():
self.autonomous.iterate()
wpilib.Wait(0.01)
def OperatorControl(self):
dog = self.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
while self.IsOperatorControl() and self.IsEnabled():
dog.Feed()
self.mecanum_drive.iterate()
self.intake.iterate()
self.shooter.iterate()
self.shooter_service.iterate()
wpilib.Wait(0.04)
class Aimbot(wpilib.SimpleRobot):
def __init__(self):
super().__init__()
self.drive_stick = wpilib.Joystick(1)
self.arm_stick = wpilib.Joystick(2)
self.front_right_motor = wpilib.Jaguar(2)
self.front_left_motor = wpilib.Jaguar(1)
self.back_left_motor = wpilib.Jaguar(3)
self.back_right_motor = wpilib.Jaguar(4)
self.intake_wheels_motor = wpilib.Jaguar(10)
self.intake_arm_motor = wpilib.Jaguar(6)
self.shooter_servo = wpilib.Servo(7)
self.shooter_motor = wpilib.Jaguar(5)
self.encoder = wpilib.Encoder(1, 2, True)
self.mecanum_drive = MecanumDrive(self.front_right_motor,
self.front_left_motor,
self.back_right_motor,
self.back_left_motor,
self.drive_stick)
self.intake = Intake(self.intake_wheels_motor, self.intake_arm_motor,
self.arm_stick)
self.shooter_service = ShooterService(self.shooter_motor,
self.shooter_servo,
self.arm_stick)
self.shooter = Shooter(self.shooter_motor, self.encoder,
self.shooter_servo, self.arm_stick,
self.shooter_service)
self.autonomous = Autonomous(self.shooter_service,
self.intake_arm_motor,
self.front_left_motor,
self.front_right_motor,
self.back_left_motor,
self.back_right_motor)
def Autonomous(self):
self.GetWatchdog().SetEnabled(False)
self.autonomous.reset()
while self.IsAutonomous() and self.IsEnabled():
self.autonomous.iterate()
wpilib.Wait(0.01)
def OperatorControl(self):
dog = self.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
while self.IsOperatorControl() and self.IsEnabled():
dog.Feed()
self.mecanum_drive.iterate()
self.intake.iterate()
self.shooter.iterate()
self.shooter_service.iterate()
wpilib.Wait(0.04)
