def createObjects(self):
# Joysticks
self.joystick_left = wpilib.Joystick(0)
self.joystick_right = wpilib.Joystick(1)
self.joystick_alt = wpilib.Joystick(2)
# Buttons
self.btn_intake_in = JoystickButton(self.joystick_alt, 2)
self.btn_intake_out = JoystickButton(self.joystick_alt, 1)
# Set up Speed Controller Groups
self.left_motors = wpilib.SpeedControllerGroup(
VictorSP(0),
VictorSP(1),
)
self.right_motors = wpilib.SpeedControllerGroup(
VictorSP(2),
VictorSP(3),
)
# Drivetrain
self.train = wpilib.drive.DifferentialDrive(self.left_motors,
self.right_motors)
# Intake
self.intake_motor = VictorSP(4)
def createObjects(self):
# Joysticks
self.joystick = wpilib.Joystick(0)
# Drive motor controllers
# Dig | 0/1
# 2^1 | Left/Right
# 2^0 | Front/Rear
self.lf_motor = wpilib.Victor(0b00) # =>0
self.lr_motor = wpilib.Victor(0b01) # =>1
self.rf_motor = wpilib.Victor(0b10) # =>2
self.rr_motor = wpilib.Victor(0b11) # =>3
self.drivetrain = wpilib.drive.DifferentialDrive(wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor),
wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
self.btn_sarah = ButtonDebouncer(self.joystick, 2)
self.sarah = False
# Intake
self.intake_wheel_left = wpilib.Spark(5)
self.intake_wheel_right = wpilib.Spark(4)
self.intake_wheels = wpilib.SpeedControllerGroup(self.intake_wheel_left,
self.intake_wheel_right)
self.intake_wheels.setInverted(True)
self.btn_pull = JoystickButton(self.joystick, 3)
self.btn_push = JoystickButton(self.joystick, 1)
def createObjects(self):
# Joysticks
self.joystick = wpilib.Joystick(0)
# Drive motor controllers
# Dig | 0/1
# 2^1 | Left/Right
# 2^0 | Front/Rear
#self.lf_motor = wpilib.Victor(0b00) # => 0
#self.lr_motor = wpilib.Victor(0b01) # => 1
#self.rf_motor = wpilib.Victor(0b10) # => 2
#self.rr_motor = wpilib.Victor(0b11) # => 3
# TODO: This is not in any way an ideal numbering system.
# The PWM ports should be redone to use the old layout above.
self.lf_motor = wpilib.Victor(9)
self.lr_motor = wpilib.Victor(8)
self.rf_motor = wpilib.Victor(7)
self.rr_motor = wpilib.Victor(6)
self.drivetrain = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor),
wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
self.btn_sarah = ButtonDebouncer(self.joystick, 2)
self.sarah = False
# Intake
self.intake_wheel_left = wpilib.Spark(5)
self.intake_wheel_right = wpilib.Spark(4)
self.intake_wheels = wpilib.SpeedControllerGroup(
self.intake_wheel_left, self.intake_wheel_right)
self.intake_wheels.setInverted(True)
self.btn_pull = JoystickButton(self.joystick, 3)
self.btn_push = JoystickButton(self.joystick, 1)
def init():
global joystick, A, B, X, Y, bumper_L, bumper_R, back, start, stick_L, stick_R
joystick = Joystick(robotmap.joystick)
A = JoystickButton(joystick, 1)
B = JoystickButton(joystick, 2)
X = JoystickButton(joystick, 3)
Y = JoystickButton(joystick, 4)
bumper_L = JoystickButton(joystick, 5)
bumper_R = JoystickButton(joystick, 6)
back = JoystickButton(joystick, 7)
start = JoystickButton(joystick, 8)
stick_L = JoystickButton(joystick, 9)
stick_R = JoystickButton(joystick, 10)
def init():
global driverOne
global driverTwo
driverOne = XboxController(robotmap.USB_PORT_DRIVER_ONE)
driverTwo = XboxController(robotmap.USB_PORT_DRIVER_TWO)
toggleLauncher = JoystickButton(driverTwo, robotmap.BUTTON_A)
toggleLauncher.whenPressed(LaunchHatchCommand())
toggleLauncher.whenReleased(RetractCommand())
toggleFront = JoystickButton(driverTwo, robotmap.BUTTON_RIGHT_BUMPER)
toggleFront.whenReleased(ToggleFrontCommand())
toggleRear = JoystickButton(driverTwo, robotmap.BUTTON_LEFT_BUMPER)
toggleRear.whenReleased(ToggleRearCommand())
def __init__(self):
self.driverController = XboxController(0)
self.manipulatorController = XboxController(1)
self.aButtonDriver = JoystickButton(self.driverController, 0)
self.aButtonDriver.whenPressed(DriveStraightCommand(10))
def init():
global logger, joystick, A, B, X, Y, bumper_L, bumper_R, back, start, stick_L, stick_R
logger = logging.getLogger("OI")
joystick = Joystick(robotmap.joystick)
A = JoystickButton(joystick, 1)
B = JoystickButton(joystick, 2)
X = JoystickButton(joystick, 3)
Y = JoystickButton(joystick, 4)
bumper_L = JoystickButton(joystick, 5)
bumper_R = JoystickButton(joystick, 6)
back = JoystickButton(joystick, 7)
start = JoystickButton(joystick, 8)
stick_L = JoystickButton(joystick, 9)
stick_R = JoystickButton(joystick, 10)
logger.debug("OI initialized")
def createObjects(self):
wpilib.CameraServer.launch()
wpilib.LiveWindow.disableAllTelemetry()
self.left_drive_motor = WPI_TalonSRX(0)
WPI_TalonSRX(1).set(WPI_TalonSRX.ControlMode.Follower,
self.left_drive_motor.getDeviceID())
self.right_drive_motor = WPI_TalonSRX(2)
WPI_TalonSRX(3).set(WPI_TalonSRX.ControlMode.Follower,
self.right_drive_motor.getDeviceID())
self.robot_drive = wpilib.drive.DifferentialDrive(
self.left_drive_motor, self.right_drive_motor)
self.r_intake_motor = WPI_VictorSPX(4)
self.l_intake_motor = WPI_VictorSPX(5)
self.elevator_winch = WPI_TalonSRX(6)
self.climber_motor = WPI_TalonSRX(7)
self.wrist_motor = WPI_TalonSRX(8)
self.intake_ir = wpilib.AnalogInput(0)
self.intake_solenoid = wpilib.DoubleSolenoid(2, 3)
self.right_drive_joystick = wpilib.Joystick(0)
self.left_drive_joystick = wpilib.Joystick(1)
self.operator_joystick = wpilib.Joystick(2)
self.compressor = wpilib.Compressor()
self.elevator_limit_switch = wpilib.DigitalInput(0)
self.climber_motor = WPI_TalonSRX(7)
self.navx = AHRS.create_spi()
self.path_tracking_table = NetworkTables.getTable("path_tracking")
self.down_button = ButtonDebouncer(self.operator_joystick, 1)
self.right_button = ButtonDebouncer(self.operator_joystick, 2)
self.left_button = ButtonDebouncer(self.operator_joystick, 3)
self.has_cube_button = ButtonDebouncer(self.operator_joystick, 5)
self.up_button = ButtonDebouncer(self.operator_joystick, 4)
self.left_bumper_button = JoystickButton(self.operator_joystick, 5)
self.right_bumper_button = JoystickButton(self.operator_joystick, 6)
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
stickbutton = StickButton(robot.xbox0, .1)
shoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
block = JoystickButton(robot.xbox0, XboxController.Button.kY)
intake = JoystickButton(robot.xbox0, XboxController.Button.kX)
shiftup = JoystickButton(robot.xbox0,
XboxController.Button.kBumperRight)
shiftdown = JoystickButton(robot.xbox0,
XboxController.Button.kBumperLeft)
triggerbutton = TriggerButton(robot.xbox1, .1)
extendclimber = JoystickButton(robot.xbox1, XboxController.Button.kA)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(ReleaseShoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
triggerbutton.whenPressed(Climbwithtriggers(robot))
extendclimber.toggleWhenPressed(Extendclimber(robot))
def __init__(self, roller_motor, pivot, stick, initial_state):
self.roller_motor = roller_motor
self.pivot = pivot
self.stick = stick
self.rollerenabler = JoystickButton(self.stick, 14)
self.pivotupbutton = JoystickButton(self.stick, 5)
self.pivotdownbutton = JoystickButton(self.stick, 10)
self.pistonoutbutton = JoystickButton(self.stick, 8)
self.pistoninbutton = JoystickButton(self.stick, 7)
#self.ratchetswitchbutton = JoystickButton(self.stick, 15)
#self.ratchetbtnpressed = False
#self.pivotstopbutton = JoystickButton(self.stick, 14)
#self.pivotinitbutton = JoystickButton(self.stick, 13)
self.rollerout = JoystickButton(self.stick, 9)
self.rollerin = JoystickButton(self.stick, 6)
self.state = initial_state
self.pivot.selectProfileSlot(0, 0)
self.switch = wpilib.DigitalInput(2)
self.count = 0
self.sol2 = wpilib.Solenoid(5, 3)
self.sol1 = wpilib.Solenoid(5, 0)
self.sol1.set(False)
self.sol2.set(True)
self.ratchet = wpilib.Solenoid(5, 6)
self.ratchetEnabled = False
self.ratchet.set(not self.ratchetEnabled)
def __init__(self, hs1, hs2, as1, as2, stick):
self.hatchsolenoid1 = hs1
self.hatchsolenoid2 = hs2
self.armsolenoid1 = as1
self.armsolenoid2 = as2
# the corresponding solenoids for each subsystem must be in opposite
# states.
self.hatchsolenoid1.set(False)
self.hatchsolenoid2.set(True)
self.armsolenoid1.set(False)
self.armsolenoid2.set(True)
# Currently trigger and front button.
# TODO separate controls out into separate config class.
self.hatchbutton = JoystickButton(stick, 2)
self.armbutton = JoystickButton(stick, 1)
self.hatchenabled = False
self.armenabled = False
def __init__(self, fl, rl, fr, rr, navx, stick):
self.fl = fl
self.rl = rl
self.fr = fr
self.rr = rr
self.drive = wpilib.drive.MecanumDrive(fl, rl, fr, rr)
self.navx = navx
self.stick = stick
self.foctoggle = JoystickButton(self.stick, 11)
self.focenabled = False
self.foctoggledown = False
def __init__(self, robot):
self.robot = robot
self.xbox = wpilib.Joystick(0)
self.l_trigger = self.xbox.getRawAxis(2)
self.r_trigger = self.xbox.getRawAxis(3)
self.l_bumper = JoystickButton(self.xbox, 6)
self.r_bumper = JoystickButton(self.xbox, 5)
self.a_button = JoystickButton(self.xbox, 1)
self.b_button = JoystickButton(self.xbox, 2)
self.steer = self.xbox.getRawAxis(0)
self.speed = self.l_trigger - self.r_trigger
self.a_button.whileHeld(Pop(self.robot))
self.r_bumper.whileHeld(LiftFront(self.robot))
self.l_bumper.whileHeld(LiftRear(self.robot))
def __init__(self, robot):
# driver mappings
self.driver_joystick = wpilib.XboxController(0)
JoystickButton(self.driver_joystick,
wpilib.XboxController.Button.kX).whenPressed(
TurnByGyro(robot, -90.0))
JoystickButton(self.driver_joystick,
wpilib.XboxController.Button.kY).whenPressed(
TurnByGyro(robot, 90.0))
JoystickButton(self.driver_joystick,
wpilib.XboxController.Button.kBack).whenPressed(
ClimbByGyro(robot))
JoystickButton(self.driver_joystick,
wpilib.XboxController.Button.kStart).whenPressed(
ToggleCompressor(robot))
# operator mappings
self.operator_joystick = wpilib.XboxController(1)
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kA).whenPressed(
DeployHatch(robot))
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kB).whenPressed(
DropCargo(robot))
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kY).whenPressed(
ToggleLED(robot))
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kY).whileHeld(
AlignByCamera(robot))
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kY).whenReleased(
ToggleLED(robot))
JoystickButton(self.operator_joystick,
wpilib.XboxController.Button.kStart).whenPressed(
ToggleCompressor(robot))
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.kTriggerButton)
trigger.whenPressed(Crash())
return joystick
def __init__ (self, robot): robot.joystick = wpilib.Joystick(0) robot.joystick1 = wpilib.Joystick(1) L3_button = JoystickButton(robot.joystick1, 9) LB_button = JoystickButton(robot.joystick1, 5) A_button = JoystickButton(robot.joystick1, 1) B_button = JoystickButton(robot.joystick1, 2) X_button = JoystickButton(robot.joystick1, 3) Y_button = JoystickButton(robot.joystick1, 4) L3_button.whenPressed(TurboDrive()) L3_button.whenReleased(FollowJoystick()) LB_button.whenPressed(Align()) LB_button.whenReleased(FollowJoystick()) X_button.whenPressed(MoveClawTo(power=-.5)) X_button.whenReleased(MoveClawTo(power=0)) B_button.whenPressed(MoveClawTo(power=.5)) B_button.whenReleased(MoveClawTo(power=0)) Y_button.whenPressed(MoveArmTo(power=-1)) Y_button.whenReleased(MoveArmTo(power=0)) A_button.whenPressed(MoveArmTo(power=1)) A_button.whenReleased(MoveArmTo(power=0))
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
"""liftleft = JoystickButton(robot.xbox1, XboxController.Button.kA)
lowerleft = JoystickButton(robot.xbox1, XboxController.Button.kB)
liftright = JoystickButton(robot.xbox1, XboxController.Button.kX)
lowerright = JoystickButton(robot.xbox1, XboxController.Button.kY)
liftfront = JoystickButton(robot.xbox1, XboxController.Button.kStickLeft)
lowerfront = JoystickButton(robot.xbox1, XboxController.Button.kStickRight)
liftrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperRight)
lowerrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperLeft)
lift = JoystickButton(robot.xbox1, XboxController.Button.kStart)
lower = JoystickButton(robot.xbox1, XboxController.Button.kBack)"""
#claw = JoystickButton(robot.xbox1, XboxController.Button.kY)
intake = JoystickButton(robot.xbox1, XboxController.Button.kA)
liftwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperRight)
lowerwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperLeft)
ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX)
triggerbutton = TriggerButton(robot.xbox0, .1)
punch = JoystickButton(robot.xbox0, XboxController.Button.kY)
punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY)
hatch = JoystickButton(robot.xbox0, XboxController.Button.kX)
#park = JoystickButton(robot.xbox0, XboxController.Button.kA)
"""liftleft.whileHeld(LiftLeft(robot))
lowerleft.whileHeld(LowerLeft(robot))
liftright.whileHeld(LiftRight(robot))
lowerright.whileHeld(LowerRight(robot))
liftfront.whileHeld(LiftFront(robot))#
lowerfront.whileHeld(LowerFront(robot#
liftrear.whileHeld(LiftRear(robot))
lowerrear.whileHeld(LowerRear(robot))#
lift.whileHeld(Lift(robot))
lower.whileHeld(Lower(robot))"""
triggerbutton.whenPressed(MoveArmWithTriggers(robot))
intake.toggleWhenPressed(IntakeCargo(robot))
ejectcargo.toggleWhenPressed(EjectCargo(robot))
#claw.toggleWhenPressed(OpenClaw(robot))
punch.whenPressed(Punch(robot))
punch.whenReleased(Pull(robot))
hatch.toggleWhenPressed(CoverHatch(robot))
liftwinch.whileHeld(LiftWinch(robot))
lowerwinch.whileHeld(LowerWinch(robot))
punchrear.whenPressed(PunchRear(robot))
punchrear.whenReleased(PullRear(robot))
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 __init__(self, robot):
self.joystick = wpilib.Joystick(0)
JoystickButton(self.joystick, 12).whenPressed(LowGoal(robot))
JoystickButton(self.joystick, 10).whenPressed(Collect(robot))
JoystickButton(self.joystick,
11).whenPressed(SetPivotSetpoint(robot, Pivot.SHOOT))
JoystickButton(self.joystick,
9).whenPressed(SetPivotSetpoint(robot,
Pivot.SHOOT_NEAR))
DoubleButton(self.joystick, 2, 3).whenActive(Shoot(robot))
# SmartDashboard Buttons
SmartDashboard.putData("Drive Forward", DriveForward(robot, 2.25))
SmartDashboard.putData("Drive Backward", DriveForward(robot, -2.25))
SmartDashboard.putData("Start Rollers",
SetCollectionSpeed(robot, Collector.FORWARD))
SmartDashboard.putData("Stop Rollers",
SetCollectionSpeed(robot, Collector.STOP))
SmartDashboard.putData("Reverse Rollers",
SetCollectionSpeed(robot, Collector.REVERSE))
def teleopPeriodic(self):
"""Called when operation control mode is enabled"""
while self.isEnabled():
self.drive.driveCartesian(
-self.conditonAxis(self.lstick.getX(), 0.05, 0.85, 0.6, 1.5,
-1, 1),
self.conditonAxis(self.lstick.getY(), 0.05, 0.85, 0.6, 1.5, -1,
1),
-self.conditonAxis(self.rstick.getX(), 0.25, 0.85, 0.6, 0.5,
-1, 1), self.gyro.getYaw())
if self.timer.get() > 1:
if (JoystickButton(self.lstick, 3).get()):
self.timer.reset()
self.COMPRESSOR_STATE = not self.COMPRESSOR_STATE
if self.COMPRESSOR_STATE:
self.compressor.start()
else:
self.compressor.stop()
#pilotstick 1
if JoystickButton(self.lstick, 5).get():
self.BallDoorOpen()
if JoystickButton(self.lstick, 4).get():
self.BallDoorClose()
if JoystickButton(self.lstick, 6).get():
self.BallGrabStart()
if JoystickButton(self.lstick, 7).get():
self.BallGrabStop()
#pilotstick 2
if JoystickButton(self.rstick, 3).get():
self.activate(self.GearDoorRaise, self.GearDoorDrop,
self.GEAR_DOOR_STATE)
if JoystickButton(self.rstick, 5).get():
self.activate(self.GearAdjustExtend,
self.GearAdjustRetract,
self.GEAR_ADJUST_STATE)
if JoystickButton(self.rstick, 4).get():
self.activate(self.GearPusherExtend,
self.GearPusherRetract,
self.GEAR_PUSHER_STATE)
def __init__(self, lift_talon, upper_switch, lower_switch, stick):
self.lift_motor = lift_talon
self.upper_switch = upper_switch
self.lower_switch = lower_switch
# I don't think there's a better way to do this. Using an array will
# sacrifice too much readability for not much more conciseness.
self.manual_up = JoystickButton(stick, 4)
self.manual_down = JoystickButton(stick, 3)
self.ball_bottom = JoystickButton(stick, 5)
self.ball_middle = JoystickButton(stick, 6)
self.ball_top = JoystickButton(stick, 7)
self.hatch_bottom = JoystickButton(stick, 10)
self.hatch_middle = JoystickButton(stick, 9)
self.hatch_top = JoystickButton(stick, 8)
self.lift_disabler = JoystickButton(stick, 14)
self.state = "manual_stop"
def teleopPeriodic(self):
"""Called when operation control mode is enabled"""
while self.isEnabled():
'''
self.logger.info("FrontLeft: " + str(self.frontLeftMotor.getMotorOutputVoltage()))
self.logger.info("RearLeft: " + str(self.rearLeftMotor.getMotorOutputVoltage()))
self.logger.info("FrontRight: " + str(self.frontRightMotor.getMotorOutputVoltage()))
self.logger.info("RearRight: " + str(self.rearRightMotor.getMotorOutputVoltage()))
'''
self.drive.driveCartesian(
-self.conditonAxis(self.lstick.getX(), 0.05, 0.85, 0.6, 1.5,
-1, 1),
self.conditonAxis(self.lstick.getY(), 0.05, 0.85, 0.6, 1.5, -1,
1),
-self.conditonAxis(self.rstick.getX(), 0.25, 0.85, 0.6, 0.5,
-1, 1)
#self.gyro.getYaw()
)
if self.solenoid_timer.hasPeriodPassed(0.5):
if JoystickButton(self.lstick, 3).get():
self.COMPRESSOR_STATE = not self.COMPRESSOR_STATE
self.activate(self.compressor.start, self.compressor.stop,
self.COMPRESSOR_STATE)
if JoystickButton(self.lstick, 2).get():
self.TICKLER_STATE = not self.TICKLER_STATE
self.activate(self.BallDoorOpen, self.BallDoorClose,
self.TICKLER_STATE)
if JoystickButton(self.lstick, 1).get():
self.GRABBER_STATE = not self.GRABBER_STATE
self.activate(self.BallGrabStart, self.BallGrabStop,
self.GRABBER_STATE)
#pilotstick 2
if JoystickButton(self.rstick, 3).get():
self.GEAR_DOOR_STATE = not self.GEAR_DOOR_STATE
self.activate(self.GearDoorRaise, self.GearDoorDrop,
self.GEAR_DOOR_STATE)
if JoystickButton(self.rstick, 5).get():
self.GEAR_ADJUST_STATE = not self.GEAR_ADJUST_STATE
self.activate(self.GearAdjustExtend,
self.GearAdjustRetract,
self.GEAR_ADJUST_STATE)
if JoystickButton(self.rstick, 4).get():
self.GEAR_PUSHER_STATE = not self.GEAR_PUSHER_STATE
self.activate(self.GearPusherExtend,
self.GearPusherRetract,
self.GEAR_PUSHER_STATE)
wpilib.Timer.delay(0.04)
def __init__(self, port):
super().__init__(port)
self.timer = wpilib.Timer()
self.timer.start()
self.btnX = JoystickButton(self, robotmap.XBOX_X)
self.btnY = JoystickButton(self, robotmap.XBOX_Y)
self.btnA = JoystickButton(self, robotmap.XBOX_A)
self.btnB = JoystickButton(self, robotmap.XBOX_B)
self.btnLB = JoystickButton(self, robotmap.XBOX_LEFT_BUMPER)
self.btnRB = JoystickButton(self, robotmap.XBOX_RIGHT_BUMPER)
self.btnStart = JoystickButton(self, robotmap.XBOX_START)
self.btnBack = JoystickButton(self, robotmap.XBOX_BACK)
self.btnDpadUp = XboxDPadButton(self, DPAD_BUTTON.DPAD_UP)
self.btnDpadRight = XboxDPadButton(self, DPAD_BUTTON.DPAD_RIGHT)
self.btnDpadDown = XboxDPadButton(self, DPAD_BUTTON.DPAD_DOWN)
self.btnDpadLeft = XboxDPadButton(self, DPAD_BUTTON.DPAD_LEFT)
def robotInit(self):
# Robot initialization function
# VictorSPX = Motor Controllers
self.frontLeftMotor = ctre.WPI_VictorSPX(0)
self.rearLeftMotor = ctre.WPI_VictorSPX(1)
self.frontRightMotor = ctre.WPI_VictorSPX(4)
self.rearRightMotor = ctre.WPI_VictorSPX(5)
self.basketMotor = ctre.WPI_VictorSPX(3)
# Digital Inputs (Limit Switch)
self.basketLimitSwitch = wpilib.DigitalInput(0)
# Motor controller groups for each side of the robot
self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor,
self.rearLeftMotor)
self.right = wpilib.SpeedControllerGroup(self.frontRightMotor,
self.rearRightMotor)
# Differential drive with left and right motor controller groups
self.myRobot = DifferentialDrive(self.left, self.right)
self.myRobot.setExpiration(0.1)
self.direction = -1
# Declare gamepad
self.gamepad = wpilib.Joystick(0)
# Declare buttons
# Controller mapping (1-10): B (East), A (South), Y (North), X (West), Right Bumper, Left Bumper, ?, ?, ?, ?
self.toggleHatchButton = JoystickButton(self.gamepad, 1)
self.toggleBasketButton = JoystickButton(self.gamepad, 2)
self.toggleDirectionButton = JoystickButton(self.gamepad, 3)
self.speedUpButton = JoystickButton(self.gamepad, 4)
self.raiseBasketButton = JoystickButton(self.gamepad, 5)
self.lowerBasketButton = JoystickButton(self.gamepad, 6)
# Determine if already acted on
self.hatchActed = False
self.basketActed = False
self.directionActed = False
# Solenoids
self.hatchSolenoid = wpilib.DoubleSolenoid(0, 1)
self.basketSolenoid = wpilib.DoubleSolenoid(2, 3)
# Compressor
self.compressor = wpilib.Compressor(0)
# Camera Server
wpilib.CameraServer.launch()
def createObjects(self):
self.launcher_motor = CANSparkMax(7, MotorType.kBrushed)
self.launcher_motor.restoreFactoryDefaults()
self.launcher_motor.setOpenLoopRampRate(0)
self.intake = WPI_VictorSPX(1)
self.solenoid = wpilib.Solenoid(0)
self.encoder = self.launcher_motor.getEncoder()
# self.shooter_running = False
self.logger.addFilter(PeriodicFilter(1, bypass_level=logging.WARN))
# 2000rpm is a good setting
# set up joystick buttons
self.joystick_left = wpilib.Joystick(0)
self.joystick_right = wpilib.Joystick(1)
self.joystick_alt = wpilib.Joystick(2)
# self.left_button = Toggle(self.joystick_alt, 10)
# self.middle_button = Toggle(self.joystick_alt, 11)
# self.right_button = Toggle(self.joystick_alt, 12)
self.one = JoystickButton(self.joystick_alt, 7)
self.two = JoystickButton(self.joystick_alt, 8)
self.three = JoystickButton(self.joystick_alt, 9)
self.four = JoystickButton(self.joystick_alt, 10)
self.five = JoystickButton(self.joystick_alt, 11)
self.six = JoystickButton(self.joystick_alt, 12)
self.intake_in = JoystickButton(self.joystick_alt, 3)
self.intake_out = JoystickButton(self.joystick_alt, 4)
self.btn_solenoid = JoystickButton(self.joystick_alt, 1)
# Set up Speed Controller Groups
self.left_motors = wpilib.SpeedControllerGroup(CANSparkMax(1, MotorType.kBrushless), CANSparkMax(2, MotorType.kBrushless), CANSparkMax(3, MotorType.kBrushless))
self.right_motors = wpilib.SpeedControllerGroup(CANSparkMax(4, MotorType.kBrushless), CANSparkMax(5, MotorType.kBrushless), CANSparkMax(6, MotorType.kBrushless))
# Drivetrain
self.train = wpilib.drive.DifferentialDrive(self.left_motors, self.right_motors)
def __init__(self, port: int = robotmap.joystick):
super().__init__(port)
buttons = {
'a': 1,
'b': 2,
'x': 3,
'y': 4,
'bumper_l': 5,
'bumper_r': 6,
'back': 7,
'start': 8,
'l_3': 9,
'r_3': 10
}
for button, number in buttons.items():
self.__dict__[str(button)] = JoystickButton(self, number)
def createObjects(self):
"""
Initialize all wpilib motors & sensors
"""
# Joysticks
self.joystick_left = wpilib.Joystick(0)
self.joystick_right = wpilib.Joystick(1)
self.joystick_alt = wpilib.Joystick(2)
self.btn_fine_movement = JoystickButton(self.joystick_right, 2)
# Drive motor controllers
# ID SCHEME:
# 10^1: 1 = left, 2 = right
# 10^0: 0 = front, 5 = rear
self.lf_motor = WPI_TalonSRX(10)
self.lr_motor = WPI_VictorSPX(15)
self.rf_motor = WPI_TalonSRX(20)
self.rr_motor = WPI_VictorSPX(25)
self.lf_motor.configSelectedFeedbackSensor(
WPI_TalonSRX.FeedbackDevice.CTRE_MagEncoder_Absolute
)
self.rf_motor.configSelectedFeedbackSensor(
WPI_TalonSRX.FeedbackDevice.CTRE_MagEncoder_Absolute
)
# Following masters
self.lr_motor.follow(self.lf_motor)
self.rr_motor.follow(self.rf_motor)
# Drive init
self.train = wpilib.drive.DifferentialDrive(
self.lf_motor, self.rf_motor
)
# Arm
self.arm_motor = WPI_TalonSRX(0)
self.arm_motor.configSelectedFeedbackSensor(
WPI_TalonSRX.FeedbackDevice.CTRE_MagEncoder_Absolute
)
self.arm_limit = wpilib.DigitalInput(4)
# Gyro
self.gyro = navx.AHRS.create_spi()
self.gyro.reset()
self.control_loop_wait_time = 0.02
def __init__(self, robot):
self.joy = wpilib.Joystick(0)
# Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom",
SetElevatorSetpoint(robot, 0))
SmartDashboard.putData("Elevator Platform",
SetElevatorSetpoint(robot, 0.2))
SmartDashboard.putData("Elevator Top", SetElevatorSetpoint(robot, 0.3))
SmartDashboard.putData("Wrist Horizontal", SetWristSetpoint(robot, 0))
SmartDashboard.putData("Raise Wrist", SetWristSetpoint(robot, -45))
SmartDashboard.putData("Open Claw", OpenClaw(robot))
SmartDashboard.putData("Close Claw", CloseClaw(robot))
SmartDashboard.putData("Deliver Soda", Autonomous(robot))
# Create some buttons
d_up = JoystickButton(self.joy, 5)
d_right = JoystickButton(self.joy, 6)
d_down = JoystickButton(self.joy, 7)
d_left = JoystickButton(self.joy, 8)
l2 = JoystickButton(self.joy, 9)
r2 = JoystickButton(self.joy, 10)
l1 = JoystickButton(self.joy, 11)
r1 = JoystickButton(self.joy, 12)
# Connect the buttons to commands
d_up.whenPressed(SetElevatorSetpoint(robot, 0.2))
d_down.whenPressed(SetElevatorSetpoint(robot, -0.2))
d_right.whenPressed(CloseClaw(robot))
d_left.whenPressed(OpenClaw(robot))
r1.whenPressed(PrepareToPickup(robot))
r2.whenPressed(Pickup(robot))
l1.whenPressed(Place(robot))
l2.whenPressed(Autonomous(robot))
def robotInit(self):
try:
wpilib.CameraServer.launch()
except:
pass
self.stick = wpilib.Joystick(0)
self.base = Base(rev.CANSparkMax(4, rev.MotorType.kBrushless),
rev.CANSparkMax(2, rev.MotorType.kBrushless),
rev.CANSparkMax(3, rev.MotorType.kBrushless),
rev.CANSparkMax(1, rev.MotorType.kBrushless),
AHRS.create_spi(wpilib.SPI.Port.kMXP), self.stick)
self.lift = Lift(WPI_TalonSRX(3), wpilib.DigitalInput(0),
wpilib.DigitalInput(1), self.stick)
self.arm = Arm(wpilib.Solenoid(5, 2), wpilib.Solenoid(5, 4),
wpilib.Solenoid(5, 1), wpilib.Solenoid(5, 5),
self.stick)
self.testvar = 0
self.ballintake = BallIntake(WPI_TalonSRX(4))
try:
self.ledController = LEDController.getInstance()
except:
pass
# Various one-time initializations happen here.
self.lift.initSensor()
self.base.navx.reset()
try:
NetworkTables.initialize()
except:
pass
try:
self.visiontable = NetworkTables.getTable("visiontable")
except:
pass
self.lights = False
self.op = False
self.testButton = JoystickButton(self.stick, 16)
self.roller = Roller(WPI_TalonSRX(20), WPI_TalonSRX(10), self.stick,
"init")
def createObjects(self):
self.joystick = wpilib.Joystick(2)
self.winch_button = JoystickButton(self.joystick, 6)
self.cp_extend_button = JoystickButton(self.joystick, 5)
self.cp_solenoid = wpilib.DoubleSolenoid(4, 5)
self.cp_motor = CANSparkMax(10, MotorType.kBrushed)
self.solenoid = wpilib.Solenoid(0)
self.btn_solenoid = JoystickButton(self.joystick, 1)
self.intake = WPI_VictorSPX(1)
self.cp_motor_button = JoystickButton(self.joystick, 7)
self.winch_motor = CANSparkMax(8, MotorType.kBrushless)
self.six = JoystickButton(self.joystick, 12)
self.shooter_motor = CANSparkMax(7, MotorType.kBrushed)
self.shooter_motor.restoreFactoryDefaults()
self.shooter_motor.setOpenLoopRampRate(0)
self.intake_in = JoystickButton(self.joystick, 3)
self.intake_out = JoystickButton(self.joystick, 4)
