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)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
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)
agitate = JoystickButton(robot.xbox0, XboxController.Button.kA)
#releaseshoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
eject = JoystickButton(robot.xbox0, XboxController.Button.kB)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(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))
agitate.whileHeld(Agitate(robot))
#releaseshoot.whileHeld(ReleaseShoot(robot))
eject.whileHeld(Cuntake(robot))
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 __init__(self, robot):
self.robot = robot
self.left_joy = robot.left_joy
self.right_joy = robot.right_joy
self.xbox = robot.xbox
# First character indicates self.right or self.left,
# second indicates position,
# third indicates which button of the position specified
# Ex: ltop0 is self.left top 0
'''
JoystickButton and Xbox button assignments
'''
ltop1 = JoystickButton(self.left_joy, 1)
ltop2 = JoystickButton(self.left_joy, 2)
ltop3 = JoystickButton(self.left_joy, 3)
ltop4 = JoystickButton(self.left_joy, 4)
ltop5 = JoystickButton(self.left_joy, 5)
ltop6 = JoystickButton(self.left_joy, 6)
rtop1 = JoystickButton(self.right_joy, 1)
rtop2 = JoystickButton(self.right_joy, 2)
rtop3 = JoystickButton(self.right_joy, 3)
rtop4 = JoystickButton(self.right_joy, 4)
rtop5 = JoystickButton(self.right_joy, 5)
rtop6 = JoystickButton(self.right_joy, 6)
xboxX = JoystickButton(self.xbox, 3)
xboxY = JoystickButton(self.xbox, 4)
xboxB = JoystickButton(self.xbox, 2)
xboxA = JoystickButton(self.xbox, 1)
xboxLB = JoystickButton(self.xbox, 5)
xboxRB = JoystickButton(self.xbox, 6)
#xbox_left_XY = self.xbox.getY(9)
#self.xbox_XY = JoystickButton(self.xbox, 9)
self.xbox_left_XY = self.xbox.getX()
xboxBACK = JoystickButton(self.xbox, 7)
xboxSTART = JoystickButton(self.xbox, 8)
# whenActive and whenInactive allows toggle between 2 commands
'''
Joystick 0 / Left Joystick Commands
'''
# Button 1 causes cargo motor to spin outwards for 0.5s
#ltop1.whileHeld(Do_Cargo_Eject(robot))
# Button 2 shuts down arm
#ltop2.whileHeld(Do_Die_You_Gravy_Sucking_Pig(robot))
#XXX
#ltop4.whenPressed(Do_Encoder_Check(robot))
ltop5.whileHeld(Do_Beak_Open(robot))
'''
Joystick 1 / Right Joystick Commands
'''
# Button 2 toggles shifters
rtop2.toggleWhenPressed(Do_Shifters_Toggle(robot))
# All the way back, 0 deg
# for testing in sim
#rtop5.whenPressed(Do_Axis_Button_5(robot))
'''
Joystick 2 / Xbox Controller Commands
'''
#xboxSTART.whenPressed(Command_Ramp(robot))
# Y = Defence Position (straight up)
#xboxY.whenPressed(Command_Defense(robot))
# B = Hatch Panel Intake (front of robot)
# B for BEAK
xboxB.whileHeld(Do_Beak_Open(robot))
# Out of Frame
xboxX.whenPressed(Do_Four_Bar(robot))
# In frame
xboxA.whenPressed(Do_Undo_Four_Bar(robot))
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)
hatch = JoystickButton(robot.xbox0, XboxController.Button.kX)
park = JoystickButton(robot.xbox0, XboxController.Button.kBack)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
triggerbutton = TriggerButton(robot.xbox0, .1)
stickbutton = StickButton(robot.xbox0, .1)
ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX)
intakecargo = JoystickButton(robot.xbox1, XboxController.Button.kA)
frontlift = JoystickButton(robot.xbox1, XboxController.Button.kStart)
rearlift = JoystickButton(robot.xbox1, XboxController.Button.kBack)
invertfront = JoystickButton(robot.xbox1,
XboxController.Button.kStickRight)
liftwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperRight)
lowerwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperLeft)
punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY)
hatch.toggleWhenPressed(CoverHatch(robot))
park.whileHeld(Park(robot))
togglecamera.whenPressed(ToggleCamera(robot))
triggerbutton.whenPressed(MoveArmWithTriggers(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
ejectcargo.toggleWhenPressed(EjectCargo(robot))
intakecargo.toggleWhenPressed(IntakeCargo(robot))
frontlift.toggleWhenPressed(LiftFront(robot))
rearlift.toggleWhenPressed(LiftRear(robot))
invertfront.toggleWhenPressed(InvertFront(robot))
liftwinch.whileHeld(LiftWinch(robot))
lowerwinch.whileHeld(LowerWinch(robot))
punchrear.whenReleased(PullRear(robot))
punchrear.whenPressed(PunchRear(robot))
