def teleop():
dog = wpilib.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
shiftTime = wpilib.Timer()
shiftTime.Start()
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
dog.Feed()
checkRestart()
if shiftTime.Get() > 0.3:
shifter1.Set(False)
shifter2.Set(False)
# Shifter control
if rstick.GetTrigger():
shifter1.Set(True)
shifter2.Set(False)
shiftTime.Reset()
highGear = True
elif lstick.GetTrigger():
shifter1.Set(False)
shifter2.Set(True)
shiftTime.Reset()
highGear = False
# Drive control
drive.TankDrive(lstick, rstick)
wpilib.Wait(0.04)
def teleop():
dog = wpilib.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
dog.Feed()
drive.TankDrive(stick1, stick2)
checkRestart()
wpilib.Wait(0.01)
def teleop():
dog = wpi.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
dog.SetEnabled(False)
dog.Kill()
while wpi.IsOperatorControl() and wpi.IsEnabled():
dog.Feed()
drive.tankDrive(stick1, stick2) #a quiet jaunt around the park
checkRestart()
wpi.Wait(0.01)
def teleop():
dog = wpilib.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
dog.Feed()
checkRestart()
# Motor control
motor.Set(lstick.GetY())
wpilib.Wait(0.04)
def teleop():
print("Robot Teleoperated")
dog = wpi.GetWatchdog()
global doggy
if doggy:
dog.SetEnabled(True)
dog.SetExpiration(0.25)
else:
dog.SetEnabled(False)
dog.Kill()
while wpi.IsOperatorControl() and wpi.IsEnabled():
dog.Feed()
drive.arcadeDrive(stick1) #a quiet jaunt around the park
checkRestart()
wpi.Wait(0.01)
def run_old():
"""Main loop, old"""
while 1:
if wpi.IsDisabled():
print("Running disabled()")
disabled()
while wpi.IsDisabled():
wpi.Wait(0.01)
elif wpi.IsAutonomous():
print("Running autonomous()")
autonomous()
while wpi.IsAutonomous() and wpi.IsEnabled():
wpi.Wait(0.01)
else:
print("Running teleop()")
teleop()
while wpi.IsOperatorControl() and wpi.IsEnabled():
wpi.Wait(0.01)
def run():
"""Main loop"""
print("Start compressor")
compressor.Start()
while 1:
if wpilib.IsDisabled():
print("Running disabled()")
disabled()
while wpilib.IsDisabled():
wpilib.Wait(0.01)
elif wpilib.IsAutonomous():
print("Running autonomous()")
autonomous()
while wpilib.IsAutonomous() and wpilib.IsEnabled():
wpilib.Wait(0.01)
else:
print("Running teleop()")
teleop()
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
wpilib.Wait(0.01)
def teleop():
print ("Robot Teleoperated")
dog = wpi.GetWatchdog()
global doggy
if doggy:
dog.SetEnabled(True)
dog.SetExpiration(0.25)
else:
dog.SetEnabled(False)
dog.Kill()
while wpi.IsOperatorControl() and wpi.IsEnabled():
dog.Feed()
if stick1.get_button(stick1.a):
drive.arcadeDrive(stick1) #a quiet jaunt around the park
else:
drive.tankDrive(stick1)
#base.send(stick1.getStickAxes())
#base.send(stick1.get_button_list())
checkRestart()
wpi.Wait(0.01)
def OperatorControl(self):
self.dog.SetEnabled(True)
self.dog.SetExpiration(0.25)
solenoidTimer = wpilib.Timer()
solenoidTimer.Start()
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
self.dog.Feed()
if self.stick1.GetRawButton(6):
raise SystemRestart
# Normal motors
yval = self.stick2.GetY()
self.motor1.Set(yval)
self.motor2.Set(yval)
# Solenoid control
if self.stick1.GetTrigger():
self.solenoid1.Set(True)
self.solenoid2.Set(False)
solenoidTimer.Reset()
if self.stick2.GetTrigger():
self.solenoid1.Set(False)
self.solenoid2.Set(True)
solenoidTimer.Reset()
if solenoidTimer.Get() > 0.2:
self.solenoid1.Set(False)
self.solenoid2.Set(False)
# Relay driven motor
if self.stick3.GetTrigger():
self.relayMotor.Set(wpilib.Relay.kForward)
elif self.stick3.GetTop():
self.relayMotor.Set(wpilib.Relay.kReverse)
else:
self.relayMotor.Set(wpilib.Relay.kOff)
# Servo control
serveMan = (1.0 + self.stick3.GetY()) / 2.0
# Left Arm
if self.stick3.GetRawButton(7):
self.leftArm.Set(serveMan)
else:
self.leftArm.Set((1.0 + self.leftArmStick.GetY()) / 2.0)
# Right Arm
if self.stick3.GetRawButton(8):
self.rightArm.Set((1.0 - self.stick3.GetY()) / 2.0)
else:
self.rightArm.Set((1.0 - self.rightArmStick.GetY()) / 2.0)
# Left Leg
if self.stick3.GetRawButton(9):
self.leftLeg.Set(serveMan)
else:
self.leftLeg.Set(0.2 + 0.36 *
(1.0 + self.leftArmStick.GetX()) / 2.0)
#elif self.leftArmStick.GetRawButton(3):
# self.leftLeg.Set(0.2)
#else:
# self.leftLeg.Set(0.56)
# Right Leg
if self.stick3.GetRawButton(10):
self.rightLeg.Set(serveMan)
else:
self.rightLeg.Set(0.58 + 0.42 *
(1.0 - self.rightArmStick.GetX()) / 2.0)
#elif self.leftArmStick.GetRawButton(2):
# self.rightLeg.Set(1.0)
#else:
# self.rightLeg.Set(0.58)
# Spinner
if self.stick3.GetRawButton(11):
self.spinner.Set(serveMan)
elif self.leftArmStick.GetY() < -0.5 and self.rightArmStick.GetY(
) < -0.5:
self.spinner.Set(1.0)
else:
self.spinner.Set(0.5)
wpilib.Wait(0.04)
def teleop():
while wpilib.IsOperatorControl() and wpilib.IsEnabled():
checkRestart()
wpilib.Wait(0.01)