def robotInit(self):
self.leftFront = wpilib.Talon(3)
self.leftRear = wpilib.Talon(1)
self.rightFront = wpilib.Talon(4)
self.rightRear = wpilib.Talon(2)
# Create motor groups for WPI-style differential driving
self.leftDrive = wpilib.SpeedControllerGroup(self.leftFront,
self.leftRear)
self.rightDrive = wpilib.SpeedControllerGroup(self.rightFront,
self.rightRear)
self.drive = wpilib.drive.DifferentialDrive(self.leftDrive,
self.rightDrive)
self.controller = wpilib.Joystick(0)
self.forward = wpilib.buttons.JoystickButton(self.controller,
PS4Button["TRIANGLE"])
self.backward = wpilib.buttons.JoystickButton(self.controller,
PS4Button["CROSS"])
self.right = wpilib.buttons.JoystickButton(self.controller,
PS4Button["CIRCLE"])
self.left = wpilib.buttons.JoystickButton(self.controller,
PS4Button["SQUARE"])
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self): #Velcrolastick self.lift_motor1 = wpilib.Spark(6) self.lift_motor2 = wpilib.Spark(7) self.sensor1 = wpilib.DigitalInput(7) self.sensor2 = wpilib.DigitalInput(8) # Ismafeeder self.cargo_motor = wpilib.Spark(4) self.lift_motor = wpilib.Spark(5) # Mecanum drive self.frontLeftMotor = wpilib.Talon(0) self.rearLeftMotor = wpilib.Talon(1) self.frontRightMotor = wpilib.Talon(2) self.rearRightMotor = wpilib.Talon(3) self.sensor_1_mec = wpilib.DigitalInput(9) self.frontLeftMotor.setInverted(True) self.rearLeftMotor.setInverted(True) self.drive = MecanumDrive(self.frontLeftMotor, self.rearLeftMotor, self.frontRightMotor, self.rearRightMotor)
def robotInit(self):
if not wpilib.RobotBase.isSimulation():
import ctre
self.motor1 = ctre.CANTalon(1)
self.motor2 = ctre.CANTalon(2)
self.motor3 = ctre.CANTalon(3)
self.motor4 = ctre.CANTalon(4)
else:
self.motor1 = wpilib.Talon(1)
self.motor2 = wpilib.Talon(2)
self.motor3 = wpilib.Talon(3)
self.motor4 = wpilib.Talon(4)
#Defining Constants
# self.LeftTread = wpilib.Talon(0)
# self.RightTread = wpilib.Talon(1)
self.robotDrive = wpilib.RobotDrive(self.motor1, self.motor2,
self.motor3, self.motor4)
self.xboxController = wpilib.Joystick(0)
self.xboxAbutton = wpilib.buttons.JoystickButton(
self.xboxController, 1)
self.xboxBbutton = wpilib.buttons.JoystickButton(
self.xboxController, 2)
self.xboxYbutton = wpilib.buttons.JoystickButton(
self.xboxController, 4)
#self.navx = navx.AHRS.create_spi()
# self.drive = drive.Drive(self.robotDrive, self.xboxController, self.navx)
#Defining Variables
self.dm = True
def robotInit(self):
#Motors
self.leftMotorInput = wpilib.Talon(1) # AEN
self.rightMotorInput = wpilib.Talon(2) # AEN
self.drive = wpilib.drive.DifferentialDrive(self.leftMotorInput, self.rightMotorInput)
#Inputs
self.xboxController = wpilib.Joystick(0)
self.xboxAbutton = wpilib.buttons.JoystickButton(self.xboxController, 1)
self.xboxBbutton = wpilib.buttons.JoystickButton(self.xboxController, 2)
self.xboxYbutton = wpilib.buttons.JoystickButton(self.xboxController, 4)
#Navigation and Logistics
#Defining Variables
self.dm = True
#Auto mode variables
self.components = {
'drive': self.drive
}
self.automodes = AutonomousModeSelector('autonomous', self.components)
def robotInit(self):
'''Robot initialization function'''
# object that handles basic drive operations
self.frontLeftMotor = wpilib.Talon(1)
self.rearLeftMotor = wpilib.Talon(2)
self.frontRightMotor = wpilib.Talon(3)
self.rearRightMotor = wpilib.Talon(4)
self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor,
self.rearLeftMotor)
self.right = wpilib.SpeedControllerGroup(self.frontRightMotor,
self.rearRightMotor)
self.drive = DifferentialDrive(self.left, self.right)
self.drive.setExpiration(0.1)
self.timer = wpilib.Timer()
# joystick 1 on the driver station
self.stick = wpilib.Joystick(1)
# Initialization of the pneumatic system
self.Compressor = wpilib.Compressor(0)
self.Compressor.setClosedLoopControl(True)
self.enabled = self.Compressor.enabled()
self.PSV = self.Compressor.getPressureSwitchValue()
self.DS = wpilib.DoubleSolenoid(0, 1)
self.Compressor.start()
# Initialization of the camera server
wpilib.CameraServer.launch()
def __init__(self):
print('MecDrive: init called')
super().__init__('MecDrive')
self.logPrefix = "MecDrive: "
self.leftFrontSpdCtrl = wpilib.Talon(
robotmap.driveLine.leftFrontMotorPort)
if robotmap.driveLine.invertLeftFront:
self.leftFrontSpdCtrl.setInverted(True)
self.rightFrontSpdCtrl = wpilib.Talon(
robotmap.driveLine.rightFrontMotorPort)
if robotmap.driveLine.invertRightFront:
self.rightFrontSpdCtrl.setInverted(True)
self.leftRearSpdCtrl = wpilib.Talon(
robotmap.driveLine.leftRearMotorPort)
if robotmap.driveLine.invertLeftRear:
self.leftRearSpdCtrl.setInverted(True)
self.rightRearSpdCtrl = wpilib.Talon(
robotmap.driveLine.rightRearMotorPort)
if robotmap.driveLine.invertRightRear:
self.rightRearSpdCtrl.setInverted(True)
#https://robotpy.readthedocs.io/projects/wpilib/en/latest/wpilib.drive/MecanumDrive.html#wpilib.drive.mecanumdrive.MecanumDrive
self.mecanumDrive = MecanumDrive(self.leftFrontSpdCtrl,
self.leftRearSpdCtrl,
self.rightFrontSpdCtrl,
self.rightRearSpdCtrl)
def __init__(self):
super().__init__()
self.joystick = wpilib.XboxController(0)
self.left_drive_motor = wpilib.Talon(0)
self.left_drive_motor_2 = wpilib.Talon(1)
self.right_drive_motor = wpilib.Talon(2)
self.right_drive_motor_2 = wpilib.Talon(3)
self.left_drive_motor_group = wpilib.SpeedControllerGroup(
self.left_drive_motor, self.left_drive_motor_2)
self.right_drive_motor_group = wpilib.SpeedControllerGroup(
self.right_drive_motor, self.right_drive_motor_2)
self.drive = DifferentialDrive(self.left_drive_motor_group,
self.right_drive_motor_group)
self.drive_rev = False
self.lift_motor = wpilib.Spark(4)
self.lift_motor_2 = wpilib.Spark(5)
self.lift_motor_group = wpilib.SpeedControllerGroup(
self.lift_motor, self.lift_motor_2)
self.lift_motor_speed = 0
self.lock_controls = False
self.front_motor = wpilib.Spark(6)
self.front_motor_2 = wpilib.Spark(7)
self.front_motor_2.setInverted(True)
self.front_motor_group = wpilib.SpeedControllerGroup(
self.front_motor, self.front_motor_2)
self.hatch_solenoid = wpilib.DoubleSolenoid(0, 1)
self.encoder = wpilib.Encoder(aChannel=0, bChannel=1)
def robotInit(self):
"""Robot initialization function"""
self.frontLeftMotor = wpilib.Talon(self.frontLeftChannel)
self.rearLeftMotor = wpilib.Talon(self.rearLeftChannel)
self.frontRightMotor = wpilib.Talon(self.frontRightChannel)
self.rearRightMotor = wpilib.Talon(self.rearRightChannel)
# invert the left side motors
self.frontLeftMotor.setInverted(True)
# you may need to change or remove this to match your robot
self.rearLeftMotor.setInverted(True)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.lstick = wpilib.Joystick(self.lStickChannel)
self.rstick = wpilib.Joystick(self.rStickChannel)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
'''Robot initialization function'''
gyroChannel = 0 # analog input
self.joystickChannel = 0 # usb number in DriverStation
# channels for motors
self.leftMotorChannel = 1
self.rightMotorChannel = 0
self.leftRearMotorChannel = 3
self.rightRearMotorChannel = 2
self.angleSetpoint = 0.0
self.pGain = 1 # propotional turning constant
# gyro calibration constant, may need to be adjusted
# gyro value of 360 is set to correspond to one full revolution
self.voltsPerDegreePerSecond = .0128
self.left = wpilib.SpeedControllerGroup(
wpilib.Talon(self.leftMotorChannel),
wpilib.Talon(self.leftRearMotorChannel))
self.right = wpilib.SpeedControllerGroup(
wpilib.Talon(self.rightMotorChannel),
wpilib.Talon(self.rightRearMotorChannel))
self.myRobot = DifferentialDrive(self.left, self.right)
self.gyro = wpilib.AnalogGyro(gyroChannel)
self.joystick = wpilib.Joystick(self.joystickChannel)
def robotInit(self):
"""Robot initialization function"""
self.frontLeftMotor = wpilib.Talon(self.frontLeftChannel)
self.rearLeftMotor = wpilib.Talon(self.rearLeftChannel)
self.frontRightMotor = wpilib.Talon(self.frontRightChannel)
self.rearRightMotor = wpilib.Talon(self.rearRightChannel)
# invert the left side motors
self.frontLeftMotor.setInverted(True)
# you may need to change or remove this to match your robot
self.rearLeftMotor.setInverted(True)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.stick = wpilib.Joystick(self.joystickChannel)
def __init__(self):
#Climber Motor Setup
self.climberRight = wpilib.Talon(4)
self.climberLeft = wpilib.Talon(3)
self.climberBack = wpilib.Talon(2)
self.climberWheel = wpilib.Talon(18)
#Encoders Setup
self.backEncoder = wpilib.Encoder(2, 3, False, wpilib.Encoder.EncodingType.k1X)
self.leftEncoder = wpilib.Encoder(4, 5, False, wpilib.Encoder.EncodingType.k1X)
self.rightEncoder = wpilib.Encoder(0, 1, False, wpilib.Encoder.EncodingType.k1X)
# These are commented out because I think they're redundant,
# encoder counts should automatically be set to zero upon initialization
# self.backEncoder.reset()
# self.leftEncoder.reset()
# self.rightEncoder.reset()
#Misc Variables Setup
self.extend19 = 247000 #the number of encoder counts to extend any actuator by 19 inches
self.extend6 = 78000 #the number of encoder counts to extend any actuator by 6 inches
self.fullRetract = 500
self.extendSpeed = .35
self.retactSpeed = -.25
self.climbWheelSpeed = .1
self.encoderMotor = {self.backEncoder : self.climberBack, self.rightEncoder : self.climberRight, self.leftEncoder : self.climberLeft}
def __init__(self):
super().__init__()
self.talon_left = wpilib.Talon(0)
self.talon_right = wpilib.Talon(1)
self.drive = wpilib.RobotDrive(self.talon_left, self.talon_right)
self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft,
False)
self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearRight,
True)
self.joystick = wpilib.Joystick(0)
self.width = 2
self.top_speed = 15
self.teleop = lambda: False
dashboard2.graph("Forward", self.joystick.getY)
dashboard2.graph("Turn", self.joystick.getX)
dashboard2.graph("Talon Left", self.talon_left.get)
dashboard2.graph("Talon Right", self.talon_right.get)
dashboard2.chooser("Drive", ["Radius", "Arcade"])
dashboard2.indicator("Teleop", self.teleop)
simulbot.load(self.width, self.top_speed)
self.time = 0
dashboard2.run()
def __init__(self, robot):
super().__init__("DriveTrain")
self.robot = robot
self.front_left_motor = wpilib.Talon(1)
self.back_left_motor = wpilib.Talon(2)
self.front_right_motor = wpilib.Talon(3)
self.back_right_motor = wpilib.Talon(4)
left_motors = wpilib.SpeedControllerGroup(
self.front_left_motor, self.back_left_motor
)
right_motors = wpilib.SpeedControllerGroup(
self.front_right_motor, self.back_right_motor
)
self.drive = wpilib.drive.DifferentialDrive(left_motors, right_motors)
self.left_encoder = wpilib.Encoder(1, 2)
self.right_encoder = wpilib.Encoder(3, 4)
# Encoders may measure differently in the real world and in
# simulation. In this example the robot moves 0.042 barleycorns
# per tick in the real world, but the simulated encoders
# simulate 360 tick encoders. This if statement allows for the
# real robot to handle this difference in devices.
if robot.isReal():
self.left_encoder.setDistancePerPulse(0.042)
self.right_encoder.setDistancePerPulse(0.042)
else:
# Circumference in ft = 4in/12(in/ft)*PI
self.left_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
self.right_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
self.rangefinder = wpilib.AnalogInput(6)
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
"""Robot initialization function"""
# variables for managing pneumatics sequence
self.State = -1
self.wait_timer = wpilib.Timer()
# object that handles basic drive operations
self.leftMotor = wpilib.Talon(1)
self.rightMotor = wpilib.Talon(2)
self.frontSolExtend = wpilib.Solenoid(1, 1)
self.frontSolRetract = wpilib.Solenoid(1, 0)
self.rearSolExtend = wpilib.Solenoid(1, 3)
self.rearSolRetract = wpilib.Solenoid(1, 2)
self.frontSolExtend.set(False)
self.frontSolRetract.set(True)
self.rearSolExtend.set(False)
self.rearSolRetract.set(True)
self.myRobot = DifferentialDrive(self.leftMotor, self.rightMotor)
self.myRobot.setExpiration(0.1)
# joysticks 1 & 2 on the driver station
self.stick = wpilib.Joystick(0)
def robotInit(self):
#update channels
self.frontR = wpi.Talon(1)
self.frontL = wpi.Talon(2)
self.rearR = wpi.Talon(0)
self.rearL = wpi.Talon(3)
self.gyro = wpi.AnalogGyro(0)
self.joystick = wpi.Joystick(0)
self.right = wpi.SpeedControllerGroup(self.frontR, self.rearR)
self.left = wpi.SpeedControllerGroup(self.frontL, self.rearL)
self.dTrain = wpi.drive.DifferentialDrive(self.right, self.left)
self.xDeadZone = .05
self.yDeadZone = .05
self.xConstant = .55
self.yConstant = .85
logging.basicConfig(level=logging.DEBUG)
NetworkTables.initialize(server='10.28.75.2')
NetworkTables.addConnectionListener(connectionListener,
immediateNotify=True)
with cond:
print("Waiting")
if not notified[0]:
cond.wait()
print("Connected")
self.table = NetworkTables.getTable('SmartDashboard')
def robotInit(self):
'''Robot initialization function - Define your inputs, and what channels they connect to'''
self.robotDrive = wpilib.RobotDrive(self.frontLeftChannel,
self.rearLeftChannel,
self.frontRightChannel,
self.rearRightChannel)
self.robotDrive.setExpiration(0.1)
self.robotDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, True)
self.robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, True)
self.winch_motor2 = wpilib.Talon(self.winchMotor2)
self.winch_motor1 = wpilib.Talon(self.winchMotor1)
self.stick = wpilib.Joystick(self.joystickChannel)
self.fire_single_piston = wpilib.buttons.JoystickButton(self.stick, 1)
self.fire_double_forward = wpilib.buttons.JoystickButton(self.stick, 2)
self.fire_double_backward = wpilib.buttons.JoystickButton(self.stick, 3)
self.single_solenoid = wpilib.Solenoid(1)
self.double_solenoid = wpilib.DoubleSolenoid(2,3)
def robotInit(self):
"""Robot initialization function"""
self.frontLeftMotor = wpilib.Talon(self.frontLeftChannel)
self.rearLeftMotor = wpilib.Talon(self.rearLeftChannel)
self.frontRightMotor = wpilib.Talon(self.frontRightChannel)
self.rearRightMotor = wpilib.Talon(self.rearRightChannel)
self.lstick = wpilib.Joystick(self.lStickChannel)
self.rstick = wpilib.Joystick(self.rStickChannel)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
self.sd = NetworkTables.getTable("SmartDashboard")
# Setting up Kinematics (an algorithm to determine chassi speed from wheel speed)
# The 2d Translation tells the algorithm how far off center (in Meter) our wheels are
# Ours are about 11.3 (x) by 10.11(y) inches off, so this equates to roughly .288 X .257 Meters
# We use the X and Y Offsets above.
m_frontLeftLocation = Translation2d(XOffset, YOffset)
m_frontRightLocation = Translation2d(XOffset, (-1 * YOffset))
m_backLeftLocation = Translation2d((-1 * XOffset), (YOffset))
m_backRightLocation = Translation2d((-1 * XOffset), (-1 * YOffset))
# Creat our kinematics object using the wheel locations.
self.m_kinematics = MecanumDriveKinematics(
m_frontLeftLocation,
m_frontRightLocation,
m_backLeftLocation,
m_backRightLocation,
)
# Create the Odometry Object
self.MecanumDriveOdometry = MecanumDriveOdometry(
self.m_kinematics,
Rotation2d.fromDegrees(-self.gyro.getAngle()),
Pose2d(0, 0, Rotation2d(0)),
)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.f_l_encoder = wpilib.Encoder(0, 1)
self.f_l_encoder.setDistancePerPulse(
(math.pi * self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
self.r_l_encoder = wpilib.Encoder(3, 4)
self.r_l_encoder.setDistancePerPulse(
(math.pi * self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
self.f_r_encoder = wpilib.Encoder(1, 2)
self.f_r_encoder.setDistancePerPulse(
(math.pi * self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
self.r_r_encoder = wpilib.Encoder(3, 4)
self.r_r_encoder.setDistancePerPulse(
(math.pi * self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
def robotInit(self):
self.LeftMec = wpilib.Talon(0)
self.RightMec = wpilib.Talon(1)
self.robotDrive = wpilib.RobotDrive(self.LeftMec, self.RightMec)
self.pg = wpilib.Talon(2)
self.xboxController = wpilib.XboxController(
0) # <-- This is for using Xbox controllers
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
frontLeft = wpilib.Talon(0)
frontRight = wpilib.Talon(1)
self.robot_drive = wpilib.RobotDrive(frontLeft, frontRight)
self.stick = wpilib.Joystick(1)
def createObjects(self):
"""Initialize all wpilib motors & sensors"""
# TODO: create button example here
self.component1_motor = wpilib.Talon(1)
self.some_motor = wpilib.Talon(2)
self.joystick = wpilib.Joystick(0)
def __init__(self, robot):
#Drivetrain Motor Setup
self.rightFrontMotor = wpilib.Talon(7) #Right front
self.rightBackMotor = wpilib.Talon(6) #Right back
self.leftFrontMotor = wpilib.Talon(8) #Left front
self.leftBackMotor = wpilib.Talon(9) #Left back
#Mecanum Drive Setup
robot.drive = MecanumDrive(self.leftFrontMotor, self.leftBackMotor,
self.rightFrontMotor, self.rightBackMotor)
def __init__(self):
'''Instantiates the motor object.'''
super().__init__('DriveSubsystem')
self.leftFront = wpilib.Talon(3)
self.leftFront.setInverted(True)
self.leftRear = wpilib.Talon(1)
self.leftRear.setInverted(True)
self.rightFront = wpilib.Talon(4)
self.rightRear = wpilib.Talon(2)
def __init__(self, sensors, joystick):
self.openIntake = wpilib.Solenoid(robot_map.OPEN_INTAKE)
self.closeIntake = wpilib.Solenoid(robot_map.CLOSE_INTAKE)
self.rightIntake = wpilib.Talon(robot_map.RIGHT_INTAKE)
self.leftIntake = wpilib.Talon(robot_map.LEFT_INTAKE)
self.sensors = sensors
self.joystick = joystick
self.pdp = wpilib.PowerDistributionPanel()
def robotInit(self):
self.leftStick = wpilib.Joystick(0)
self.rightStick = wpilib.Joystick(1)
self.left = wpilib.Talon(12)
#self.left2 = wpilib.Talon(13)
self.right = wpilib.Talon(14)
#self.right2 = wpilib.Talon(15)
#self.left = wpilib.SpeedControllerGroup(self.left1, self.left2)
#self.right = wpilib.SpeedControllerGroup(self.right1, self.right2)
self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
self.timer = wpilib.Timer()
def __init__(self):
super().__init__('DriveTrain')
self.leftMotors = wpilib.Talon(robotmap.portsList.leftMotorID)
# self.leftMotors.setInverted(True)
self.rightMotors = wpilib.Talon(robotmap.portsList.rightMotorID)
# self.leftMotorsEncoder = wpilib.Encoder(robotmap.portsList.leftMotorsEncoderChannelAID, robotmap.portsList.leftMotorsEncoderChannelBID)
# self.rightMotorsEncoder = wpilib.Encoder(robotmap.portsList.rightMotorsEncoderChannelAID, robotmap.portsList.rightMotorsEncoderChannelBID)
self.robotDrive = wpilib.RobotDrive(self.leftMotors, self.rightMotors)
self.robotDrive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft, True)
def robotInit(self):
#Joysticks
self.Joystick = wpilib.Joystick(self.Joystick_Channel)
self.Sec_Joystick = wpilib.Joystick(self.Sec_Joystick_Channel)
#Magnetic Limit Switches
self.switch1 = wpilib.DigitalInput(0)
#Mechanisms
self.Elevator = ctre.WPI_TalonSRX(self.Elevator_Motor)
self.LF_Intake = ctre.WPI_TalonSRX(self.Left_Front_Intake)
self.RF_Intake = ctre.WPI_TalonSRX(self.Right_Front_Intake)
#PWM Mechanisms
self.Climber = wpilib.Talon(self.Climber_Motor)
#Drive Motors
self.LMF = wpilib.Talon(self.Left_Motor_Front)
self.RMF = wpilib.Talon(self.Right_Motor_Front)
self.LMB = wpilib.Talon(self.Left_Motor_Back)
self.RMB = wpilib.Talon(self.Right_Motor_Back)
self.Left = wpilib.SpeedControllerGroup(self.LMF, self.LMB)
self.Right = wpilib.SpeedControllerGroup(self.RMF, self.RMB)
#This is not the built-in robot drive
self.My_Robot = DifferentialDrive(self.Left, self.Right)
self.My_Robot.setExpiration(0.1)
#SmartDashboard
self.spChooser = wpilib.SendableChooser()
self.spChooser.addDefault("Left", 1)
self.spChooser.addObject("Middle", 2)
self.spChooser.addObject("Right", 3)
wpilib.SmartDashboard.putData('StartingPosition', self.spChooser)
self.amChooser = wpilib.SendableChooser()
self.amChooser.addDefault("Scale", 1)
self.amChooser.addObject("Other Lever", 2)
self.amChooser.addObject("Line", 3)
self.amChooser.addObject("None", 0)
wpilib.SmartDashboard.putData('AutoMode', self.amChooser)
self.writeAutoChooser = wpilib.SendableChooser()
self.writeAutoChooser.addDefault("Read Auto", 0)
self.writeAutoChooser.addObject("Write Auto", 1)
wpilib.SmartDashboard.putData('WriteAuto', self.writeAutoChooser)
self.infoChooser = wpilib.SendableChooser()
self.infoChooser.addDefault("0", 0)
for line in customParsing.read():
self.infoChooser.addObject(line, line)
wpilib.SmartDashboard.putData("InfoChooserChannel", self.infoChooser)
def robotInit(self):
self.frontLeft = wpilib.Talon(2)
self.backLeft = wpilib.Talon(3)
self.leftMotors = wpilib.SpeedControllerGroup(self.frontLeft, self.backLeft)
self.frontRight = wpilib.Talon(0)
self.backRight = wpilib.Talon(1)
self.rightMotors = wpilib.SpeedControllerGroup(self.frontRight, self.backRight)
self.leftJs = Joystick(0)
self.rightJs = Joystick(1)
self.timer = wpilib.Timer()
def robotInit(self):
self.motorL1 = wpilib.Talon(0)
self.motorL2 = wpilib.Talon(1)
self.motorR1 = wpilib.Talon(2)
self.motorR2 = wpilib.Talon(3)
self.robot_driveL = wpilib.SpeedControllerGroup(
self.motorL1, self.motorL2)
self.robot_driveR = wpilib.SpeedControllerGroup(
self.motorR1, self.motorR2)
self.stick1 = wpilib.Joystick(0)
self.stick2 = wpilib.Joystick(1)
def robotInit(self):
"""Robot initialization function"""
# create motor controller objects
m_left = wpilib.Talon(0)
m_right = wpilib.Talon(1)
# object that handles basic drive operations
self.myRobot = wpilib.drive.DifferentialDrive(m_left, m_right)
self.myRobot.setExpiration(0.1)
# joystick #0
self.stick = wpilib.Joystick(0)
def __init__(self):
print('TankDrive: init called')
super().__init__('TankDrive')
self.logPrefix = "TankDrive: "
self.leftSpdCtrl = wpilib.Talon(robotmap.driveLine.leftMotorPort)
if robotmap.driveLine.invertLeft:
self.leftSpdCtrl.setInverted(True)
self.rightSpdCtrl = wpilib.Talon(robotmap.driveLine.rightMotorPort)
if robotmap.driveLine.invertRight:
self.rightSpdCtrl.setInverted(True)