def __init__(self):
super().__init__("Arm")
self.limiter = DigitalInput(arm_stopper.dio)
self.final_extender_solenoid = SolenoidHandler(
*solenoids.final_armextender)
self.extender_solenoid = SolenoidHandler(*solenoids.armextender)
self.grabber_solenoid = SolenoidHandler(*solenoids.grabber)
self.rotator_motors = {}
self.rotator_motors["L"] = Motor(*arm_motors.L)
#self.rotator_motors["R"] = Motor(*arm_motors.R)
self.wench_motor = Motor(*arm_motors.wench)
self.rotator_encoders = {}
#self.rotator_encoders["L"] = Encoder(*arm_encoders.L)
self.rotator_encoders["R"] = Encoder(*arm_encoders.R)
#self.rotator_encoders["L"].setPIDSourceType(PIDController.PIDSourceType.kRate)
self.rotator_encoders["R"].setPIDSourceType(
PIDController.PIDSourceType.kDisplacement)
self.rotator_encoders["R"].setDistancePerPulse(arm_encoders.R_dpp)
self.last_rot_time = None
def __init__(self, L0, L1, R0, R1):
super().__init__('Drive')
self.L0 = Motor(L0)
self.L1 = Motor(L1)
self.R0 = Motor(R0)
self.R1 = Motor(R1)
def __init__(self):
self.rear_motor = Motor(motor_type="rear_motor")
self.front_motor = Motor(motor_type="front_motor")
self.front_right_blinker = Blinker(7)
self.fron_left_blinker = Blinker(11)
self.range_sensor = RangeSensor()
self.camera = Camera()
def __init__(self):
super().__init__('Arm')
# extender_solenoid is the one that raises/lowers the arm
# grabber_solenoid opens/closes the arms.
self.extender_solenoid = SolenoidHandler(*solenoids.armextender)
self.grabber_solenoid = SolenoidHandler(*solenoids.grabber)
self.rotator_motors = {}
self.rotator_motors["L"] = Motor(*arm_motors.L)
self.rotator_motors["R"] = Motor(*arm_motors.R)
def __init__(self):
super().__init__('Drive')
# These can be used individually, but you should use RobotDrive to controll these
self.LB = Motor(ids.LB_motor)
self.LF = Motor(ids.LF_motor)
self.RB = Motor(ids.RB_motor)
self.RF = Motor(ids.RF_motor)
self.drive_train = RobotDrive(self.LF, self.LB, self.RF, self.RB)
self.drive_train.setInvertedMotor(0, True)
self.drive_train.setInvertedMotor(1, True)
self.drive_train.setExpiration(0.1)
def __init__(self):
super().__init__("TankDrive")
self.motors = {
"LF": Motor(*drive_motors.LF),
"LB": Motor(*drive_motors.LB),
"RF": Motor(*drive_motors.RF),
"RB": Motor(*drive_motors.RB)
}
self.encoders = {
"L": Encoder(*drive_encoders.L),
"R": Encoder(*drive_encoders.R)
}
self.encoders["L"].setPIDSourceType(PIDController.PIDSourceType.kRate)
self.encoders["R"].setPIDSourceType(PIDController.PIDSourceType.kRate)
# Now they are the same kind of encoder.
self.encoders["L"].setDistancePerPulse(drive_encoders.L_dpp)
self.encoders["R"].setDistancePerPulse(drive_encoders.R_dpp)
self.gearshift = SolenoidHandler(*solenoids.gearshift)
def __init__(self):
self.rear_motor = Motor(motor_type="rear_motor")
self.front_motor = Motor(motor_type="front_motor")
self.range_sensor = RangeSensor()
self.camera = Camera()