def init():
"""
Initialize sonar object.
"""
global front, front_right, right, back_right, back, back_left, left, front_left, pinger, speed_timer
front = MaxSonarEZPulseWidth(robotmap.sonar.front_channel, inch)
front_right = MaxSonarEZPulseWidth(robotmap.sonar.front_right_channel, inch)
right = MaxSonarEZPulseWidth(robotmap.sonar.right_channel, inch)
back_right = MaxSonarEZPulseWidth(robotmap.sonar.back_right_channel, inch)
back = HRLVMaxSonarEZPulseWidth(robotmap.sonar.back_channel, inch)
back_left = MaxSonarEZPulseWidth(robotmap.sonar.back_left_channel, inch)
left = MaxSonarEZPulseWidth(robotmap.sonar.left_channel, inch)
front_left = MaxSonarEZPulseWidth(robotmap.sonar.front_left_channel, inch)
pinger = DigitalOutput(robotmap.sonar.pinger_channel)
speed_timer.start()
ping_timer.start()
def robotInit(self):
# first make logging available (this is instantiated in robotbase)
self.logger = logging.getLogger('AresRobot')
# next initialize our RobotMap (defined by wiring)
self.map = RobotMap()
# next create standalone objects
self.visionState = VisionState(self)
self.lastTime = 0
self.autonomousCommand = None
# next initialize subsystems
try:
self.info("init drivetrain")
self.driveTrain = DriveTrain(self)
except:
self.error("Problem intializing DriveTrain")
try:
self.info("init portcullis")
self.portcullis = Portcullis(self)
except:
self.error("Problem initializing portcullis")
try:
self.info("init intake")
self.intakeLauncher = IntakeLauncher(self)
except:
self.error("Problem initializing intakelauncher")
self.photonicCannon = DigitalOutput(self.map.k_VsPhotonicCannon)
# last, initialize operator interface
try:
self.info("init OI")
self.oi = OI(self)
except:
self.error("Problem initializing OI")
self.info("init done")
class AresRobot(IterativeRobot):
def __init__(self):
super().__init__()
# IterativeRobot methods
def robotInit(self):
# first make logging available (this is instantiated in robotbase)
self.logger = logging.getLogger('AresRobot')
# next initialize our RobotMap (defined by wiring)
self.map = RobotMap()
# next create standalone objects
self.visionState = VisionState(self)
self.lastTime = 0
self.autonomousCommand = None
# next initialize subsystems
try:
self.info("init drivetrain")
self.driveTrain = DriveTrain(self)
except:
self.error("Problem intializing DriveTrain")
try:
self.info("init portcullis")
self.portcullis = Portcullis(self)
except:
self.error("Problem initializing portcullis")
try:
self.info("init intake")
self.intakeLauncher = IntakeLauncher(self)
except:
self.error("Problem initializing intakelauncher")
self.photonicCannon = DigitalOutput(self.map.k_VsPhotonicCannon)
# last, initialize operator interface
try:
self.info("init OI")
self.oi = OI(self)
except:
self.error("Problem initializing OI")
self.info("init done")
def autonomousInit(self):
self.info("autonomousInit")
self.autonomousCommand = AutonomousCmd1(self)
self.autonomousCommand.start()
def autonomousPeriodic(self):
Scheduler.getInstance().run()
self.updateDashboard()
def teleopInit(self):
self.info("teleopInit")
if self.autonomousCommand:
self.autonomousCommand.cancel();
self.autonomousCommand = None
# we used aimMotor.enableControl here... it should be intrinsic
# in the running of the default command...
def teleopPeriodic(self):
Scheduler.getInstance().run()
self.updateDashboard()
def testInit(self):
self.info("testInit")
def testPeriodic(self):
LiveWindow.run()
self.updateDashboard()
def disabledInit(self):
self.info("disabledInit")
def disabledPeriodic(self):
Scheduler.getInstance().run()
self.updateDashboard()
# logging methods ----------------------------------------
def debug(self, msg):
self.logger.debug(msg)
def info(self, msg):
self.logger.info(msg)
def warning(self, msg):
self.logger.warning(msg)
def error(self, msg):
self.logger.error(msg)
# niscelleany ----------------------------------------------
def setLight(self, state):
self.photonicCannon.set(state)
def updateDashboard(self):
currentTime = wpilib.Timer.getFPGATimestamp()
if currentTime - self.lastTime > 1.0:
self.lastTime = currentTime
self.driveTrain.updateDashboard()
self.intakeLauncher.updateDashboard()
self.portcullis.updateDashboard()
