def __init__(self):
self.driveRobot = DriveTrain()
self.arm = ArmSystem()
self.pneumatics = PneumaticsCommand()
# self.servo = ServoCommand()
self.armToggle = Toggle(self.pneumatics.extendArm,
self.pneumatics.retractArm)
self.gripToggle = Toggle(self.pneumatics.openGrip,
self.pneumatics.closeGrip)
self.joystick = Joystick(0)
self.armUpButton = JoystickButton(self.joystick, 6)
self.armDownButton = JoystickButton(self.joystick, 4)
self.stopButton = JoystickButton(self.joystick, 10)
''' Extension and retraction variables - syntax: ''' # JoystickButton(self.joystick, [appointed button number])
# self.armExtendButton = JoystickButton(self.joystick, 5)
# self.armRetractButton = JoystickButton(self.joystick, 3)
# self.armToggle = False
# self.armLast = False
# self.grabToggle = False
# self.grabLast = False
self.armButton = JoystickButton(self.joystick, 2)
self.gripButton = JoystickButton(self.joystick, 1)
def __init__(self, port=0):
super().__init__("Get Controller Values")
self.setRunWhenDisabled(True)
self.joystick = Joystick(port)
self.numOfAxes = self.joystick.ds.joystickAxes[port].count
self.numOfButtons = self.joystick.ds.joystickButtons[port].count
def getJoystick(num):
joystick0 = Joystick(0)
joystick1 = Joystick(1)
xbox = Xbox(2)
if num == 0: return joystick0
elif num == 1: return joystick1
elif num == 2: return xbox
def createObjects(self):
self.chassis_left_motor_master = WPI_TalonSRX(1)
self.chassis_left_motor_slave = WPI_TalonSRX(2)
self.chassis_right_motor_master = WPI_TalonSRX(3)
self.chassis_right_motor_slave = WPI_TalonSRX(4)
self.chassis_navx = AHRS.create_spi()
self.joystick = Joystick(0)
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button5 = JoystickButton(joystick, 5)
button6 = JoystickButton(joystick, 6)
button3 = JoystickButton(joystick, 3)
button4 = JoystickButton(joystick, 4)
button1 = JoystickButton(joystick, 1)
button2 = JoystickButton(joystick, 2)
button7 = JoystickButton(joystick, 7)
button5.whenPressed(BallIntake())
button6.whileHeld(BallOutake())
button3.whileHeld(LiftArm())
button4.whileHeld(LowerArm())
button1.whileHeld(HatchUp())
button2.whileHeld(HatchDown())
button7.whileHeld(FindTarget())
return joystick
def init():
global joystick
joystick = Joystick(0)
# JoystickButton(joystick, buttons.L_BUMPER).whenPressed(GearShift(Gearing.LOW))
# JoystickButton(joystick, buttons.R_BUMPER).whenPressed(GearShift(Gearing.HIGH))
# #JoystickButton(joystick, buttons.SQUARE).whenPressed(Grabber(True))
# JoystickButton(joystick, buttons.X).whenPressed(Grabber("toggle"))
gearup = JoystickButton(joystick, 1)
geardown = JoystickButton(joystick, 2)
grabberclose = JoystickButton(joystick, 4)
grabberopen = JoystickButton(joystick, 3)
shooterdown = JoystickButton(joystick, 5)
shooterup = JoystickButton(joystick, 6)
homebutton = JoystickButton(joystick, 13)
# 5 and 6 are L and R bumpers
gearup.whenPressed(GearShift(Gearing.HIGH))
geardown.whenPressed(GearShift(Gearing.LOW))
grabberclose.whenPressed(Grabber(True))
grabberopen.whenPressed(Grabber(False))
shooterup.whenPressed(Shooter(True))
shooterdown.whenPressed(Shooter(False))
def init():
global joystick
joystick = Joystick(0)
crossbow_open = JoystickButton(joystick, 1)
crossbow_open.whenPressed(CrossBow())
def __init__(self):
# Create Joysticks
self._driveJoy = XboxController(0)
self._cyController = Joystick(1)
# Create Buttons
self._blastenTheHatches = JoystickButton(self._driveJoy, 2)
self._servoOpen = JoystickButton(self._driveJoy, 4)
self._servoHalf = JoystickButton(self._driveJoy, 3)
self._servoClose = JoystickButton(self._driveJoy, 1)
self._suplexButton = JoystickButton(self._driveJoy, 8)
self._backButton = JoystickButton(self._driveJoy, 7)
# Testing
self._moveMastUpButton = JoystickButton(self._cyController, 8)
self._moveMastDownButton = JoystickButton(self._cyController, 9)
# Connect Buttons to Commands
hatchEffector = Command.getRobot().hatchEffector
self._blastenTheHatches.whileHeld(hatchEffector.ParallelShoot(hatchEffector))
self._servoOpen.whileHeld(hatchEffector.ServoOpen(hatchEffector))
self._servoHalf.whileHeld(hatchEffector.ServoHalf(hatchEffector))
self._servoClose.whileHeld(hatchEffector.ServoClose(hatchEffector))
suplex = Command.getRobot().suplex
self._suplexButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.UP))
self._backButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.DOWN))
mastyBoi = Command.getRobot().mastyBoi
self._moveMastUpButton.whileHeld(mastyBoi.HoistTheColors(mastyBoi))
self._moveMastDownButton.whileHeld(mastyBoi.RetrieveTheColors(mastyBoi))
def getJoystick():
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
return joystick
def getJoystick():
"""This function creates an instance of the joystick, and assigns commands
to the joystick buttons."""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(GrippersIntake())
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whileHeld(GrippersExhaust())
POV_up = POVButton(joystick, 0)
POV_down = POVButton(joystick, 180)
POV_up.whileActive(ElevatorUp())
POV_down.whileActive(ElevatorDown())
button_5 = JoystickButton(joystick, 5)
button_5.whenPressed(HandlesState(HandlesOpen(), HandlesClose()))
button_6 = JoystickButton(joystick, 6)
button_6.whenPressed(DrivetrainState(StrengthState(), SpeedState()))
return joystick
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick
joystick = Joystick(0)
class Robot(MagicRobot):
pid_controller: PIDControl
chassis: Chassis
joystick: Joystick
pid_drive: piddrive
def createObjects(self):
self.chassis_left_motor_master = WPI_TalonSRX(1)
self.chassis_left_motor_slave = WPI_TalonSRX(2)
self.chassis_right_motor_master = WPI_TalonSRX(3)
self.chassis_right_motor_slave = WPI_TalonSRX(4)
self.chassis_navx = AHRS.create_spi()
self.joystick = Joystick(0)
def teleopPeriodic(self):
self.chassis.set_speed(-self.joystick.getY(),
-self.joystick.getThrottle())
class ControllerDebugCommand(Command):
def __init__(self, port=0):
super().__init__("Get Controller Values")
self.setRunWhenDisabled(True)
self.joystick = Joystick(port)
self.numOfAxes = self.joystick.ds.joystickAxes[port].count
self.numOfButtons = self.joystick.ds.joystickButtons[port].count
def execute(self):
for i in range(0, self.numOfAxes):
value = self.joystick.getRawAxis(i)
if abs(value) >= 0.5:
print("Axis %d: %f" % (i, value))
for i in range(1, self.numOfButtons):
if self.joystick.getRawButtonPressed(i):
print("Button %d Pressed" % i)
class OI():
def __init__(self):
self.driveRobot = DriveTrain()
self.arm = ArmSystem()
self.pneumatics = PneumaticsCommand()
# self.servo = ServoCommand()
self.armToggle = Toggle(self.pneumatics.extendArm,
self.pneumatics.retractArm)
self.gripToggle = Toggle(self.pneumatics.openGrip,
self.pneumatics.closeGrip)
self.joystick = Joystick(0)
self.armUpButton = JoystickButton(self.joystick, 6)
self.armDownButton = JoystickButton(self.joystick, 4)
self.stopButton = JoystickButton(self.joystick, 10)
''' Extension and retraction variables - syntax: ''' # JoystickButton(self.joystick, [appointed button number])
# self.armExtendButton = JoystickButton(self.joystick, 5)
# self.armRetractButton = JoystickButton(self.joystick, 3)
# self.armToggle = False
# self.armLast = False
# self.grabToggle = False
# self.grabLast = False
self.armButton = JoystickButton(self.joystick, 2)
self.gripButton = JoystickButton(self.joystick, 1)
def poll(self):
''' Axis control - syntax: ''' # self.joystick.get[axis]()
self.xAxis = self.joystick.getX()
self.yAxis = self.joystick.getY()
self.zAxis = self.joystick.getZ()
self.driveRobot.drive(self.xAxis, self.yAxis, self.zAxis)
# print(self.armUpButton.get())
self.arm.armMove(0.5, self.armUpButton.get(), self.armDownButton.get())
self.armToggle.togglePneumatics(self.armButton.get())
self.gripToggle.togglePneumatics(self.gripButton.get())
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Crash())
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Crash())
return joystick
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button1 = JoystickButton(joystick, 1)
button1.whileHeld(Targeting())
return Joystick
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick_player
joystick_player = Joystick(0)
set_joystick()
trigger = JoystickButton(joystick_player, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Record(FollowJoystick()))
def init():
global joystick
joystick = Joystick(0)
crossbow = JoystickButton(joystick, 5)
crossbow_in_hold = JoystickButton(joystick, 6)
solenoid_intake = JoystickButton(joystick, 1)
crossbow.whenPressed(Crossbow(0.8, 1))
crossbow_in_hold.whenPressed(Crossbow(-0.6, 1.75))
solenoid_intake.whenPressed(PullIntake())
intake = JoystickButton(joystick, 4)
intake.toggleWhenPressed(Intake())
def init():
global joystick
joystick = Joystick(robotmap.portsList.stickID)
startFuelOutakeButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.startFuelOutakeID)
startFuelOutakeButton.whenPressed(
RunFuelOutake(robotmap.speedsList.fuelOutakeSpeed))
stopFuelOutakeButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.stopFuelOutakeID)
stopFuelOutakeButton.whenPressed(StopFuelOutake())
openGearDoorButton = JoystickButton(joystick,
robotmap.buttonsAndAxesList.openGearID)
openGearDoorButton.whenPressed(OpenGear())
closeGearDoorButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.closeGearID)
closeGearDoorButton.whenPressed(CloseGear())
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick
joystick = Joystick(0)
brakeButton = JoystickButton(joystick, RobotMap.buttons.brake)
brakeButton.whileHeld(Brake())
# resetRevolutionsButton = JoystickButton(joystick, RobotMap.buttons.resetRevolutions)
# resetRevolutionsButton.whenPressed(ResetRevolutions())
preciseDriveButton = JoystickButton(joystick, RobotMap.buttons.preciseDrive)
preciseDriveButton.whileHeld(PreciseDriveWithJoystick())
# climbButton = JoystickButton(joystick, RobotMap.buttons.climb)
# climbButton.whileHeld(Climb())
# dropButton = JoystickButton(joystick, RobotMap.buttons.drop)
# dropButton.whileHeld(Drop())
# stopClimbButton = JoystickButton(joystick, RobotMap.buttons.stopClimb)
# stopClimbButton.whileHeld(StopClimb())
# suckCubeButton = JoystickButton(joystick, RobotMap.buttons.suckCube)
# suckCubeButton.whileHeld(SuckCube())
retractCubeButton = JoystickButton(joystick, RobotMap.buttons.retractCube)
retractCubeButton.whileHeld(RetractCube())
retractCubeButton2 = JoystickButton(joystick, RobotMap.buttons.retractCube2)
retractCubeButton2.whileHeld(RetractCube())
winchUpButton = JoystickButton(joystick, RobotMap.buttons.winchUp)
winchUpButton.whileHeld(WinchUp())
winchDownButton = JoystickButton(joystick, RobotMap.buttons.winchDown)
winchDownButton.whileHeld(WinchDown())
def robotInit(self):
Command.getRobot = lambda x=0: self
self.driveSubsystem = DriveSubsystem()
self.controller = Joystick(0)
self.forward = JoystickButton(self.controller, PS4Button["TRIANGLE"])
self.backward = JoystickButton(self.controller, PS4Button["CROSS"])
self.right = JoystickButton(self.controller, PS4Button["CIRCLE"])
self.left = JoystickButton(self.controller, PS4Button["SQUARE"])
self.forward.whenPressed(MoveForward())
self.forward.whenReleased(Stop())
self.backward.whenPressed(MoveBackward())
self.backward.whenReleased(Stop())
self.right.whenPressed(TurnRight())
self.right.whenReleased(Stop())
self.left.whenPressed(TurnLeft())
self.left.whenReleased(Stop())
def robotInit(self):
'''
Subsystem, Command, OperatorInterface Instantiation
IN THAT ORDER
'''
Command.getRobot = lambda x=0: self
#self.motor = SingleMotor.SingleMotor(2, self.logger)
self.drivetrain = DriveTrain(self.logger)
self.elevator = Elevator(self.logger)
self.arm = Arm(self.logger)
self.scooper = Scooper(self.logger)
self.startCommand = DeployArm()
self.joystick = Joystick(robotmap.STK_port)
self.halfPowerModeButton = JoystickButton(self.joystick,
robotmap.STK_halfPowerMode)
# self.automaticMode = JoystickButton(self.joystick, robotmap.STK_automode)
# self.automaticMode.whenPressed(DockRobot())
# self.automaticMode.whenReleased(CancelSubsystem(Cancel.DRIVETRAIN))
self.buttonBoard = Joystick(robotmap.BB_port)
self.armUpButton = JoystickButton(self.buttonBoard, robotmap.BB_ArmUp)
self.armDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ArmDown)
self.stowArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_StowArm)
self.elevatorUpButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorUp)
self.elevatorDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorDown)
self.ingestButton = JoystickButton(self.buttonBoard,
robotmap.BB_ingest)
self.expelButton = JoystickButton(self.buttonBoard, robotmap.BB_expel)
self.deployArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_DeployArm)
self.midHatchButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidHatch)
self.lowCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_LowCargo)
self.midCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidCargo)
self.armUpButton.whenPressed(MoveArmUp())
self.armDownButton.whenPressed(MoveArmDown())
self.armUpButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.armDownButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.stowArmButton.whenPressed(StowArm())
#self.deployArmButton.whenPressed(DeployArm())
self.elevatorUpButton.whenPressed(MoveElevatorUp())
self.elevatorDownButton.whenPressed(MoveElevatorDown())
self.elevatorUpButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.elevatorDownButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.ingestButton.whenPressed(Ingest())
self.expelButton.whenPressed(Expel())
# self.lowHatchButton.whenPressed(PositionLowHatch())
# self.midHatchButton.whenPressed(PositionMidHatch())
# self.lowCargoButton.whenPressed(PositionLowCargo())
# self.midCargoButton.whenPressed(PositionMidCargo())
self._smartDashboard = NetworkTables.getTable('SmartDashboard')
self._smartDashboard.putString("ArmLimit", "InGame")
def get_joystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
joystick2 = Joystick(1)
# TODO lots of commands to map here
# TODO how are we going to count taps for position?
# trigger = JoystickButton(joystick=joystick, buttonNumber=5)
# trigger.whenPressed(gear_shift.gear_shift(True))
# trigger.whenReleased(gear_shift.gear_shift(False))
# rtrigger = JoystickButton(joystick=joystick, buttonNumber=6)
# rtrigger.whenPressed(set_arm_pos.SetArmPosition(1024.0))
# rtrigger.whenReleased(set_arm_pos.SetArmPosition(0.0))
buttonB = JoystickButton(joystick=joystick, buttonNumber=2)
buttonB.whenPressed(hatch_punch(True))
buttonB.whenReleased(hatch_punch(False))
buttonX = JoystickButton(joystick=joystick, buttonNumber=3)
buttonX.whenPressed(SetElvPay(-3000, 470))
buttonA = JoystickButton(joystick=joystick, buttonNumber=1)
buttonA.whenPressed(SetElvPay(-3000, 2250))
buttonL1 = JoystickButton(joystick=joystick, buttonNumber=5)
buttonL1.whenPressed(BallIn())
buttonL1.whenReleased(BallStop())
buttonR1 = JoystickButton(joystick=joystick, buttonNumber=6)
buttonR1.whenPressed(BallOut())
buttonR1.whenReleased(BallStop())
#button12 = JoystickButton(joystick=joystick2, buttonNumber=12)
#button12.whenPressed(SetElvPay(0, 0))
#buttonB = JoystickButton(joystick=joystick2, buttonNumber=2)
#buttonB.whenPressed(SetElvSpeed(0.5))
#buttonB.whenReleased(SetElvSpeed(0.0))
#buttonA = JoystickButton(joystick=joystick2, buttonNumber=1)
#buttonA.whenPressed(SetElvSpeed(-0.5))
#buttonA.whenReleased(SetElvSpeed(0.0))
#high hatch
buttonL1 = JoystickButton(joystick=joystick2, buttonNumber=5)
buttonL1.whenPressed(SetElvPay(-25000, 470))
#mid hatch
buttonX = JoystickButton(joystick=joystick2, buttonNumber=3)
buttonX.whenPressed(SetElvPay(-17000, 470))
#stow
buttonA = JoystickButton(joystick=joystick2, buttonNumber=1)
buttonA.whenPressed(SetElvPay(0, 0))
#high ball
buttonR1 = JoystickButton(joystick=joystick2, buttonNumber=6)
buttonR1.whenPressed(SetElvPay(-25000, 1100))
#mid ball
buttonY = JoystickButton(joystick=joystick2, buttonNumber=4)
buttonY.whenPressed(SetElvPay(-17000, 1100))
#low ball
buttonB = JoystickButton(joystick=joystick2, buttonNumber=2)
buttonB.whenPressed(SetElvPay(-3000, 1100))
#elevator up
buttonLS = JoystickButton(joystick=joystick2, buttonNumber=9)
buttonLS.whenPressed(SetElvSpeed(-0.7))
buttonLS.whenReleased(SetElvSpeed(0.0))
#all stop
buttonRS = JoystickButton(joystick=joystick2, buttonNumber=10)
buttonRS.whenPressed(SetElvSpeed(0.0))
buttonRS.whenPressed(SetPaySpeed(0.0))
#elbow up
buttonBack = JoystickButton(joystick=joystick2, buttonNumber=7)
buttonBack.whenPressed(SetPaySpeed(-0.3))
buttonBack.whenReleased(SetPaySpeed(0.0))
#elbow down
buttonStart = JoystickButton(joystick=joystick2, buttonNumber=8)
buttonStart.whenPressed(SetPaySpeed(0.3))
buttonStart.whenReleased(SetPaySpeed(0.0))
return joystick
def getJoystick():
global joystick
if (joystick is None):
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
return joystick
def getRightStick():
rightStick = Joystick(1).getY()
return rightStick
def getLeftStick():
leftStick = Joystick(0).getY()
return leftStick
def getTurn():
leftTurn = Joystick(0).getX()
return leftTurn
def flipButton():
flip = Joystick(1).getButton(1) # right trigger
return flip
def halfSpeedButton():
halfSpeed = Joystick(0).getButton(1) # left trigger
return halfSpeed
