def createObjects(self):
self.front_left_motor = WPI_TalonSRX(robotmap.front_left_drive)
self.front_right_motor = WPI_TalonSRX(robotmap.front_right_drive)
self.back_left_motor = WPI_TalonSRX(robotmap.back_left_drive)
self.back_right_motor = WPI_TalonSRX(robotmap.back_right_drive)
motor_configuration.bulk_configure(self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
self.left_motors = wpilib.SpeedControllerGroup(self.front_left_motor, self.back_left_motor)
self.right_motors = wpilib.SpeedControllerGroup(self.front_right_motor, self.back_right_motor)
self.front_left_motor.setInverted(True)
self.front_right_motor.setInverted(True)
self.drivetrain_object = wpilib.drive.DifferentialDrive(self.left_motors, self.right_motors)
self.oi = OI()
# self.arduino_serial_connection = serial.Serial(
# port=robotmap.com_port,
# baudrate=9600,
# parity=serial.PARITY_ODD,
# stopbits=serial.STOPBITS_TWO,
# bytesize=serial.SEVENBITS
# )
wpilib.CameraServer.launch('vision.py:main')
def execute(self):
leftInput = OI.getInstance().getLeftY()
rightInput = OI.getInstance().getRightY()
forwardSpeed = self.__desensitize((leftInput + rightInput) / 2)
rotationalSpeed = self.__desensitize((leftInput - rightInput) / 2, 3)
Chassis.getInstance().setPower(forwardSpeed, rotationalSpeed)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.oi = OI(self)
self.drivetrain = Drivetrain(self)
self.oi.setup_button_bindings()
wpilib.CameraServer.launch()
class MyRobot(wpilib.IterativeRobot):
oi = None
drivetrain = None
autonomous_command = None
def autonomousInit(self):
# Schedule the autonomous command
self.drivetrain.reset_gyro_angle()
starting_position = self.oi.get_position()
if self.oi.get_auto_choice() == 1:
#self.autonomous_command = AutonomousCrossLine(self)
#self.autonomous_command.set_match_configuration(starting_position)
self.autonomous_command = DoNothing(self)
elif self.oi.get_auto_choice() == 2:
#self.autonomous_command = AutonomousHangCenter(self)
#self.autonomous_command.set_match_configuration(starting_position)
self.autonomous_command = DoNothing(self)
else:
self.autonomous_command = DoNothing(self)
self.autonomous_command.start()
def testInit(self):
pass
def teleopInit(self):
if self.autonomous_command:
self.autonomous_command.cancel()
self.teleopInitialized = True
def disabledInit(self):
self.disabledInitialized = True
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.oi = OI(self)
self.drivetrain = Drivetrain(self)
self.oi.setup_button_bindings()
wpilib.CameraServer.launch()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous."""
command.Scheduler.getInstance().run()
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
command.Scheduler.getInstance().run()
def testPeriodic(self):
"""This function is called periodically during test mode."""
wpilib.LiveWindow.run()
class MyRobot(wpilib.IterativeRobot):
oi = None
drivetrain = None
feeder = None
arm = None
hook = None
def autonomousInit(self):
#Schedule the autonomous command
self.autonomous_command.start()
def testInit(self):
pass
# Subsystems
def teleopInit(self):
self.teleopInitialized = True
def disabledInit(self):
self.disabledInitialized = True
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.oi = OI(self)
self.drivetrain = Drivetrain(self)
self.feeder = Feeder(self)
self.arm = Arm(self)
self.hook = Hook(self)
self.oi.setup_button_bindings()
self.autonomous_command = DoNothing(self)
#Create the command used for the autonomous period
#self.autonomous_command = ExampleCommand(self)\
def autonomousPeriodic(self):
"""This function is called periodically during autonomous."""
command.Scheduler.getInstance().run()
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
command.Scheduler.getInstance().run()
def testPeriodic(self):
"""This function is called periodically during test mode."""
wpilib.LiveWindow.run()
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
# Define Robot getter
Command.getRobot = lambda: self
# Shuffleboard options
self.driveSwitcher = wpilib.SendableChooser()
self.driveSwitcher.setDefaultOption("WPI Mecanum",
self.DriveSwitcher.WPI_MECANUM)
self.driveSwitcher.addOption("Field Oriented",
self.DriveSwitcher.FIELD_ORIENTED)
self.driveSwitcher.addOption("Morpheus", self.DriveSwitcher.MORPHEUS)
self.driveSwitcher.addOption("No Joystick", self.DriveSwitcher.NO_JOY)
# Create subsystems
self.mastyBoi = MastBoi()
self.suplex = Flipper()
self.spootnikDrives = SpootnikDrives()
self.hatchEffector = HatchEffector()
self.cargoEffector = CargoEffector()
# Autonomous commands
self.autonomousCommand = DriveToBaseLine()
"""
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
"""
self.oi = OI()
def robotInit(self):
"""Initialises robot & joysticks."""
self.oi = OI(self)
self.subsystem = Subsystem(self)
#self.AutonomousCommand = AutonomousCommand(self)
self.PlayMacroCommand = PlayMacro(self, "macro.csv")
def robotInit(self):
super().__init__()
# Instances of classes
# Instantiate Subsystems
#XXX DEBUGGING
self.drivetrain = Drivetrain(self)
self.shooter = Shooter(self)
self.carrier = Carrier(self)
self.feeder = Feeder(self)
self.intake = Intake(self)
#self.winch = Winch(self)
#self.climber = Climber(self)
#self.climber_big = Climber_Big(self)
#self.climber_little = Climber_Little(self)
# Instantiate Joysticks
self.left_joy = wpilib.Joystick(1)
self.right_joy = wpilib.Joystick(2)
# Instantiate Xbox
self.xbox = wpilib.Joystick(3)
# Instantiate OI; must be AFTER joysticks are inited
self.oi = OI(self)
self.timer = wpilib.Timer()
def robotInit(self):
# Instances of classes
# Instantiate Subsystems
self.drivetrain = Drivetrain(self)
self.hp_intake = Hp_Intake()
self.ramp = Ramp()
self.shifters = Shifters()
# instantiate Encoders for drivetrain?
#self.encoders = Encoders(self)
# Instantiate Joysticks
self.left_joy = wpilib.Joystick(0)
self.right_joy = wpilib.Joystick(1)
# Instantiate Xbox
self.xbox = wpilib.Joystick(2)
# Instantiate OI; must be AFTER joysticks are inited
self.oi = OI(self)
self.timer = wpilib.Timer()
self.loops = 0
# untested vision
#XXX might crash sim
wpilib.CameraServer.launch("vision.py:main")
def __init__(self):
self.drive = new Nomad()
self.oi = new OI()
self.ds = DriverStation.getInstance()
self.infont = NetworkTables.getTable('info')
self.sensors = new Sensors()
class OctoBot(wpilib.SampleRobot):
#Initialise the robot.
def robotInit(self):
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
def autonomous(self):
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005)
def operatorControl(self):
joystick = self.oi.getStick()
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005)
def disabled(self):
"""Stuff to do whilst disabled."""
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005)
def test(self):
"""No tests"""
pass
def log(self):
"""It's big, it's heavy, it's wood."""
self.drivetrain.log()
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
# Define Robot getter
Command.getRobot = lambda: self
# Create subsystems
self.liftElevator = LiftElevator()
self.drivetrain = DriveTrain()
self.intakeOutput = IntakeOutput()
self.compressor = Compressor()
self.compressor.start()
# Shuffleboard options
# Autonomous commands
# self.autonomousCommand = DelayedDriveToBaseLine()
self.autonomousCommand = DriveToBaseLine()
"""
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
"""
self.oi = OI()
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# make this true to ignore joystick errors
self.debug = False
self.enabled_time = 0
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.navigation = Navigation(self)
self.pneumatics = Pneumatics(self)
self.peripherals = Peripherals(self)
#wpilib.SmartDashboard.putData(self.drivetrain)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
wpilib.SmartDashboard.putData(Scheduler.getInstance())
# instantiate the command used for the autonomous period
self.autonomousCommand = None
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.shooter = Shooter(self)
self.intake_sub = Intake_Sub(self)
self.shifter = Shifter(self)
self.blocker = Blocker(self)
self.climbmotors = Climbmotors(self)
self.climbpistons = Climbpistons(self)
self.agitator = Agitator(self)
wpilib.SmartDashboard.putStringArray(
"Auto List",
["Far Left", "Far Right", "Center", "Center Low Goal", "Default"])
"""self.autoChooser.addOption("Far Left", AutoFarLeft)
self.autoChooser.addOption("Far Right", AutoFarRight)
self.autoChooser.addOption("Center", AutoShoot)
self.autoChooser.addOption("Center Low Goal", AutoCenterLowGoal)
self.autoChooser.setDefaultOption("Default", AutoBackupShoot)
wpilib.SmartDashboard.putData('Select Autonomous...', self.autoChooser)"""
# The "front" of the robot (which end is facing forward)
self.front = -1
self.oi = OI(self)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.oi = OI(self)
self.chassis = Chassis(self)
self.logger = logging.getLogger("robotpy")
def robotInit(self):
"""Initialises 'bot w/ all subsystems (winch needs testing) and joysticks"""
#Subsystem initialisation. Woo.
self.drivetrain = Drivetrain(self)
self.lift = Lift(self)
self.claw = Claw(self)
self.mast = Mast(self)
self.winch = Winch(self)
self.oi = OI(self)
#These are self-describing autonomouses. Waaaaaait... Autono-mouse?
self.ThreeToteAutonomousCommand = ThreeToteAutonomous(self)
self.CanAutonomousCommand = CanAutonomous(self)
self.CanNToteAutoCommand = PlayMacro(self, "macro_1.csv")
self.DriveAutonomousCommand = PlayMacro(self, "macro.csv")
self.ToteAutonomousCommand = ToteAutonomous(self)
self.PlayMacroCommand = PlayMacro(self, "autonomous.csv")
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
#Timeout value for the macros from the dashboard (default 15 sec).
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
Settings.num_macro_timeout = self.macroTimeout
def robotInit(self):
Command.getRobot = lambda x=0: self
self.timer = wpilib.Timer()
self.oneShot = False
self.sampSubsystem = SampSubsystem()
self.testSubsystem = TestSubsystem()
self.autonomousCommand = SampCommand()
self.oi = OI()
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.ears = Ears(self)
self.hat = Hat(self)
self.tilt = Tilt(self)
self.oi = OI(self)
#Initialise the macro shenanigans (should probably clean this up once I get the dashboard sorted)
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
self.macroName = self.oi.smart_dashboard.getString("Macro Name", "macro.csv")
Settings.str_macro_name = self.macroName
Settings.num_macro_timeout = self.macroTimeout
macro_string = str(Settings.num_macro_timeout)
print("Robot initialized with a macro timeout of " + macro_string)
self.simpleAutonCommand = PlayMacro(self, "macro.csv")
self.shooterAutonCommand = PlayMacro(self, "macro_launch.csv")
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
# Create operator interface
self.oi = OI(self)
# Create subsystems
self.example_subsystem = ExampleSubsystem(self)
#Create the command used for the autonomous period
self.autonomous_command = ExampleCommand(self)
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.puncher = Puncher()
self.claw = Claw()
self.arm = Arm()
self.intake = Intake()
self.elevator = Elevator()
self.hatch = Hatch()
self.intake_winch = IntakeWinch()
self.oi = OI(self)
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.shooter = Shooter(self)
self.intake_sub = Intake_Sub(self)
self.shifter = Shifter(self)
# The "front" of the robot (which end is facing forward)
self.front = -1
self.oi = OI(self)
class DosPointOh(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
#Timeout value for the macros from the dashboard (default 15 sec).
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
Settings.num_macro_timeout = self.macroTimeout
def autonomous(self):
"""Auton code."""
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0,0)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def test(self):
"""Code for testing."""
pass
def log(self):
"""I know it doesn't log but if it does eventually it'll go here."""
#Log the things:
self.drivetrain.log()
class MyRobot(magicbot.MagicRobot):
drivetrain : Drivetrain
# led_driver : LEDDriver
def createObjects(self):
self.front_left_motor = WPI_TalonSRX(robotmap.front_left_drive)
self.front_right_motor = WPI_TalonSRX(robotmap.front_right_drive)
self.back_left_motor = WPI_TalonSRX(robotmap.back_left_drive)
self.back_right_motor = WPI_TalonSRX(robotmap.back_right_drive)
motor_configuration.bulk_configure(self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
self.left_motors = wpilib.SpeedControllerGroup(self.front_left_motor, self.back_left_motor)
self.right_motors = wpilib.SpeedControllerGroup(self.front_right_motor, self.back_right_motor)
self.front_left_motor.setInverted(True)
self.front_right_motor.setInverted(True)
self.drivetrain_object = wpilib.drive.DifferentialDrive(self.left_motors, self.right_motors)
self.oi = OI()
# self.arduino_serial_connection = serial.Serial(
# port=robotmap.com_port,
# baudrate=9600,
# parity=serial.PARITY_ODD,
# stopbits=serial.STOPBITS_TWO,
# bytesize=serial.SEVENBITS
# )
wpilib.CameraServer.launch('vision.py:main')
def teleopInit(self):
# self.led_driver.write_color()
pass
def teleopPeriodic(self):
self.oi.execute()
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.oi = OI(self)
self.drivetrain = Drivetrain(self)
self.feeder = Feeder(self)
self.arm = Arm(self)
self.hook = Hook(self)
self.oi.setup_button_bindings()
self.autonomous_command = DoNothing(self)
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.rear_puncher = RearPuncher()
self.arm = Arm()
self.intake = Intake()
self.elevator = Elevator()
self.hatch = Hatch()
self.intake_winch = IntakeWinch()
self.lift = Lift()
# The "front" of the robot (which end is facing forward)
self.front = -1
self.oi = OI(self)
def robotInit(self):
self.oi = OI()
self.controller = self.oi.controller
self.driveTrain = DriveTrain()
self.colorSpinner = ColorSpinner()
self.sushiWheel = SushiRotator()
Command.getRobot = lambda x=0: self
Command.getOi = lambda x=0: self.oi
Command.getSushiWheel = lambda x=0: self.sushiWheel
self.timer = wpilib.Timer()
self.oneShot = False
#self.autonomousCommand = autonomous.AutonomousCommand()
wpilib.CameraServer.launch("vision.py:main")
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.running = {}
self.omni_driving = True
self.omni_drive = omni_drive
self.drive_motors = DriveMotors(self)
self.oi = OI(self)
self.chassis = Chassis(self)
self.auto_tasks = move_forward_auto # [[list, of, tasks, to_go, through, sequentially], [and, this, list, will, run, in, parallel]
self.current_auto_tasks = []
self.vision_array = Array("d", [0.0, 0.0, 0.0, 0.0])
self.vision_terminate_event = Event()
self.vision = Vision(self.vision_array, self.vision_terminate_event)
def robotInit(self):
self.activated = False
"""Robot-wide initialization code should go here."""
#SwiftCameraServer().launch('camera1.py:main')
#SwiftCameraServer().launch('camera2.py:main')
wpilib.CameraServer.launch()
self.configuration = constants.COMP_BOT
self.arm = Arm(self)
self.drivetrain = DriveTrain(self)
self.pneumatic = Pneumatic(self)
self.compressor = wpilib.Compressor()
self.camera_servo_1 = CameraServo(self, constants.CAMERA_1_PWM,
constants.CAMERA_1_DEFAULT)
self.camera_servo_2 = CameraServo(self, constants.CAMERA_2_PWM,
constants.CAMERA_2_DEFAULT)
self.oi = OI(self)
def robotInit(self):
Command.robot = self
# Init networktables
NetworkTables.initialize()
self.sd = NetworkTables.getTable('SmartDashboard')
# Init subsystems
self.drivetrain = Drivetrain()
self.Arm = Arm()
# Init oi
self.oi = OI(self)
# Init commands
self.auto = Auto()
def robotInit(self):
super().__init__(self)
# init robot subs and commands
self.Creator = Creator() # program to create robot parts for subs
self.botMap = RobotMap(self)
self.oi = OI(self)
self.teleop = TeleOp(self)
self.Drive = Drive(self)
self.Flywheel = Flywheel(self)
self.Limelight = Limelight(self)
self.Intake = Intake(self)
self.Conveyor = Conveyor(self)
self.Turret = Turret(self)
self.s = Scheduler
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.shooter = Shooter(self)
self.intake_sub = Intake_Sub(self)
self.shifter = Shifter(self)
self.blocker = Blocker(self)
self.climbmotors = Climbmotors(self)
self.climbpistons = Climbpistons(self)
self.agitator = Agitator(self)
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.setDefaultOption("Drive", DriveAutonomous(self))
# The "front" of the robot (which end is facing forward)
self.front = -1
self.oi = OI(self)
def robotInit(self):
"""Robot-wide initialization code should go here"""
super().__init__()
if self.isReal(): # use the real drive train
self.drivetrain = DriveTrain(self)
else: # use the simulated drive train
#self.drivetrain = DriveTrainSim(self)
self.drivetrain = DriveTrainSim(self)
self.shooter = Shooter(self)
self.vision = Vision()
# oi MUST be created after all other subsystems since it uses them
self.oi = OI(self)
self.enabled_time = 0 # something is especially weird with the sim about this needing to be initialized in robotInit
self.autonomousCommand = None # initialize the placeholder command for autonomous
class RobotName(wpilib.SampleRobot):
def robotInit(self):
"""Initialises robot & joysticks."""
self.oi = OI(self)
self.subsystem = Subsystem(self)
#self.AutonomousCommand = AutonomousCommand(self)
self.PlayMacroCommand = PlayMacro(self, "macro.csv")
def autonomous(self):
"""Autonomous commands go in here."""
#self.drivetrain.drive.setSafetyEnabled(False) - disable the safety mode on the drivetrain
self.PlayMacroCommand(self, "macro.csv")
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def operatorControl(self):
"""Teleop stuff goes in here"""
#self.drivetrain.drive.setSafetyEnabled(True) - enables safety things for manual control
joystick = self.oi.getStick()
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) #don't burn up the cpu
def disabled(self):
"""When the robot is disabled, this code runs"""
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005)
def test(self):
"""Testing things would go here"""
pass #There's no tests, so just pass
def log(self):
"""Logging stuff goes here"""
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
self.claw = clawsubsystem.ClawSubsystem(self)
self.climb = climbsubsystem.ClimbSubsystem(self)
self.lift = liftsubsystem.LiftSubsystem(self)
self.drive = drivesubsystem.DriveSubsystem(self)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
self.teleDrive = TeleopDriveLowCommand(self)
SmartDashboard.putNumber("creep_mult", 0.3)
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot",
DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
class Mantis(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.ears = Ears(self)
self.hat = Hat(self)
self.tilt = Tilt(self)
self.oi = OI(self)
#Initialise the macro shenanigans (should probably clean this up once I get the dashboard sorted)
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
self.macroName = self.oi.smart_dashboard.getString("Macro Name", "macro.csv")
Settings.str_macro_name = self.macroName
Settings.num_macro_timeout = self.macroTimeout
macro_string = str(Settings.num_macro_timeout)
print("Robot initialized with a macro timeout of " + macro_string)
self.simpleAutonCommand = PlayMacro(self, "macro.csv")
self.shooterAutonCommand = PlayMacro(self, "macro_launch.csv")
def autonomous(self):
"""Auton code."""
print("Autonomous mode activated")
try:
if self.oi.smart_dashboard.getBoolean("Play Macro"):
self.simpleAutonCommand.start()
elif self.oi.smart_dashboard.getBoolean("Shoot"):
self.shooterAutonCommand.start()
else:
print("No macro selected, waiting for teleop...")
except KeyError:
pass
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.05) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
print("Teleop activated")
self.simpleAutonCommand.cancel()
self.shooterAutonCommand.cancel()
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.05) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
print("Robot disabled")
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0)
self.hat.manualSet(0)
self.ears.manualSet(0)
self.tilt.manualSet(0)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.05) #don't burn up the cpu
def test(self):
"""Code for testing."""
print("Test mode activated")
def log(self):
"""Log our subsystems."""
self.drivetrain.log()
self.ears.log()
self.hat.log()
self.tilt.log()
def robotInit(self):
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
class Mantis(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
self.ears = Ears(self)
#Timeout value for the macros from the dashboard (default 15 sec).
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
Settings.num_macro_timeout = self.macroTimeout
#these are all actually really self explanatory. Wonder if they work.
# self.camera = wpilib.USBCamera()
# self.camera.setExposureManual(50)
# self.camera.setBrightness(80)
# self.camera.setFPS(30)
# self.camera.setSize(320, 240)
# self.camera.setWhiteBalanceAuto()
# self.camera.updateSettings() #update with the new settings so it actually does what we want it to
# server = wpilib.CameraServer.getInstance() #set up the camera server
# server.startAutomaticCapture(self.camera) #start the camera server
def autonomous(self):
"""Auton code."""
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0, False, False)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def test(self):
"""Code for testing."""
pass
def log(self):
"""I know it doesn't log but if it does eventually it'll go here."""
#Log the things:
self.drivetrain.log()