def __init__(self):
super().__init__()
self.dog = self.GetWatchdog()
self.stick1 = wpilib.Joystick(1)
self.stick2 = wpilib.Joystick(2)
self.stick3 = wpilib.Joystick(3)
self.leftArmStick = wpilib.KinectStick(1)
self.rightArmStick = wpilib.KinectStick(2)
self.motor1 = wpilib.CANJaguar(1)
self.motor2 = wpilib.CANJaguar(2)
self.leftArm = wpilib.Servo(1)
self.rightArm = wpilib.Servo(2)
self.leftLeg = wpilib.Servo(3)
self.rightLeg = wpilib.Servo(4)
self.spinner = wpilib.Servo(5)
self.compressor = wpilib.Compressor(1, 1)
self.compressor.Start()
self.relayMotor = wpilib.Relay(2)
self.solenoid1 = wpilib.Solenoid(1)
self.solenoid2 = wpilib.Solenoid(2)
def __init__(self):
super().__init__()
print("Matt the fantastic ultimate wonderful humble person")
wpilib.SmartDashboard.init()
#self.digitalInput=wpilib.DigitalInput(4)
self.CANJaguar = wpilib.CANJaguar(1)
self.gyro = wpilib.Gyro(1)
self.joystick = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
self.jaguar = wpilib.Jaguar(1)
self.accelerometer = wpilib.ADXL345_I2C(1,
wpilib.ADXL345_I2C.kRange_2G)
self.solenoid = wpilib.Solenoid(7)
self.solenoid2 = wpilib.Solenoid(8)
self.p = 1
self.i = 0
self.d = 0
wpilib.SmartDashboard.PutBoolean('Soleinoid 1', False)
wpilib.SmartDashboard.PutBoolean('Soleinoid 2', False)
#self.pid = wpilib.PIDController(self.p, self.i, self.d, self.gyro, self.jaguar)
self.sensor = wpilib.AnalogChannel(5)
self.ballthere = False
def __init__ (self):
'''
Constructor.
'''
super().__init__()
print("Team 1418 robot code for 2014")
#################################################################
# THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL #
# TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! #
#################################################################
wpilib.SmartDashboard.init()
# Joysticks
self.joystick1 = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
# Motors
self.lf_motor = wpilib.Jaguar(1)
self.lf_motor.label = 'lf_motor'
self.lr_motor = wpilib.Jaguar(2)
self.lr_motor.label = 'lr_motor'
self.rr_motor = wpilib.Jaguar(3)
self.rr_motor.label = 'rr_motor'
self.rf_motor = wpilib.Jaguar(4)
self.rf_motor.label = 'rf_motor'
self.winch_motor = wpilib.CANJaguar(5)
self.winch_motor.label = 'winch'
self.intake_motor = wpilib.Jaguar(6)
self.intake_motor.label = 'intake'
# Catapult gearbox control
self.gearbox_solenoid=wpilib.DoubleSolenoid(2, 1)
self.gearbox_solenoid.label = 'gearbox'
# Arm up/down control
self.vent_bottom_solenoid = wpilib.Solenoid(3)
self.vent_bottom_solenoid.label = 'vent bottom'
self.fill_bottom_solenoid = wpilib.Solenoid(4)
self.fill_bottom_solenoid.label = 'fill bottom'
self.fill_top_solenoid = wpilib.Solenoid(5)
self.fill_top_solenoid.label = 'fill top'
self.vent_top_solenoid = wpilib.Solenoid(6)
self.vent_top_solenoid.label = 'vent top'
self.pass_solenoid = wpilib.Solenoid(7)
self.pass_solenoid.label = 'pass'
self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor, self.lf_motor, self.rf_motor)
self.robot_drive.SetSafetyEnabled(False)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor, True)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor, True)
# Sensors
self.gyro = wpilib.Gyro(1)
self.ultrasonic_sensor = wpilib.AnalogChannel(3)
self.ultrasonic_sensor.label = 'Ultrasonic'
self.arm_angle_sensor = wpilib.AnalogChannel(4)
self.arm_angle_sensor.label = 'Arm angle'
self.ball_sensor = wpilib.AnalogChannel(6)
self.ball_sensor.label = 'Ball sensor'
self.accelerometer = wpilib.ADXL345_I2C(1, wpilib.ADXL345_I2C.kRange_2G)
self.compressor = wpilib.Compressor(1,1)
#################################################################
# END SHARED CODE #
#################################################################
#
# Initialize robot components here
#
self.drive = drive.Drive(self.robot_drive, self.ultrasonic_sensor,self.gyro)
self.initSmartDashboard()
self.pushTimer=wpilib.Timer()
self.catapultTimer=wpilib.Timer()
self.catapult=catapult.Catapult(self.winch_motor,self.gearbox_solenoid,self.pass_solenoid,self.arm_angle_sensor,self.ball_sensor,self.catapultTimer)
self.intakeTimer=wpilib.Timer()
self.intake=intake.Intake(self.vent_top_solenoid,self.fill_top_solenoid,self.fill_bottom_solenoid,self.vent_bottom_solenoid,self.intake_motor,self.intakeTimer)
self.pulldowntoggle=False
self.components = {
'drive': self.drive,
'catapult': self.catapult,
'intake': self.intake
}
self.control_loop_wait_time = 0.025
self.autonomous = AutonomousModeManager(self.components)
try:
import wpilib
except ImportError:
import fake_wpilib as wpilib
#pas import wpilib
lstick = wpilib.Joystick(1)
motor = wpilib.CANJaguar(8)
analog = wpilib.AnalogChannel(1)
class MotorOutput(wpilib.PIDOutput):
def __init__(self, motor):
super().__init__()
self.motor = motor
def PIDWrite(self, output):
self.motor.Set(output)
class AnalogSource(wpilib.PIDSource):
def __init__(self, analog):
super().__init__()
self.analog = analog
def PIDGet(self):
return analog.GetVoltage()
import wpilib
lstick = wpilib.Joystick(1)
rstick = wpilib.Joystick(2)
stick3 = wpilib.Joystick(3)
shifter1 = wpilib.Solenoid(7, 1)
shifter2 = wpilib.Solenoid(7, 2)
leftFrontMotor = wpilib.CANJaguar(2)
leftRearMotor = wpilib.CANJaguar(7)
rightFrontMotor = wpilib.CANJaguar(4)
rightRearMotor = wpilib.CANJaguar(6)
compressor = wpilib.Compressor(8, 1)
drive = wpilib.RobotDrive(leftFrontMotor, leftRearMotor, rightFrontMotor,
rightRearMotor)
def checkRestart():
if lstick.GetRawButton(10):
raise RuntimeError("Restart")
def disabled():
while wpilib.IsDisabled():
checkRestart()
wpilib.Wait(0.01)
import wpilib from DualSpeedController import DualSpeedController from EncoderSource import EncoderSource from WinchOutput import WinchOutput # Joysticks lstick = wpilib.Joystick(1) rstick = wpilib.Joystick(2) stick3 = wpilib.Joystick(3) # Motors and drive system leftFrontMotor = wpilib.CANJaguar(2) leftRearMotor = wpilib.CANJaguar(7) leftMotor = DualSpeedController(leftFrontMotor, leftRearMotor, 1) rightFrontMotor = wpilib.CANJaguar(4) rightRearMotor = wpilib.CANJaguar(6) rightMotor = DualSpeedController(rightFrontMotor, rightRearMotor, 2) kickerMotor1 = wpilib.CANJaguar(5) kickerMotor2 = wpilib.CANJaguar(8) kickerMotor = DualSpeedController(kickerMotor1, kickerMotor2, 3) intakeMotor = wpilib.CANJaguar(3) drive = wpilib.RobotDrive(leftMotor, rightMotor) # Pneumatics shifter1 = wpilib.Solenoid(7, 1) shifter2 = wpilib.Solenoid(7, 2) ratchet1 = wpilib.Solenoid(7, 3) ratchet2 = wpilib.Solenoid(7, 4) compressor = wpilib.Compressor(8, 1)
def __init__(self):
''' initialize things'''
super().__init__()
print("Electrical test program -- don't use for competition!")
#################################################################
# THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL #
# TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! #
#################################################################
wpilib.SmartDashboard.init()
# Joysticks
self.joystick1 = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
# Motors
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rr_motor = wpilib.Jaguar(3)
self.rf_motor = wpilib.Jaguar(4)
self.winch_motor = wpilib.CANJaguar(5)
self.intake_motor = wpilib.Jaguar(6)
# Catapult gearbox control
self.gearbox_in_solenoid = wpilib.Solenoid(1)
self.gearbox_out_solenoid = wpilib.Solenoid(2)
# Arm up/down control
self.vent_bottom_solenoid = wpilib.Solenoid(3)
self.fill_bottom_solenoid = wpilib.Solenoid(4)
self.fill_top_solenoid = wpilib.Solenoid(5)
self.vent_top_solenoid = wpilib.Solenoid(6)
self.solenoid6 = wpilib.Solenoid(7)
self.ball_nudge_solenoid = wpilib.Solenoid(8)
self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor,
self.lf_motor, self.rf_motor)
self.robot_drive.SetSafetyEnabled(False)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor,
True)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor,
True)
# Sensors
self.gyro = wpilib.Gyro(1)
self.ultrasonic_sensor = wpilib.AnalogChannel(3)
self.arm_angle_sensor = wpilib.AnalogChannel(4)
self.ball_sensor = wpilib.AnalogChannel(6)
self.accelerometer = wpilib.ADXL345_I2C(1,
wpilib.ADXL345_I2C.kRange_2G)
self.compressor = wpilib.Compressor(1, 1)
self.compressor.Start()
