def __init__(self,
leftMotPort,
rightMotPort,
solenoidUpPort,
solenoidDownPort,
motGain=1,
intPos=0):
self._leftMot = wp.TalonSRX(leftMotPort)
self._rightMot = wp.TalonSRX(rightMotPort)
#self._feedNoid = 5 if (self._joystickObj.getAxisCount() == 0) else self._joystickObj.getAxisCount()
self._feedNoid = wp.DoubleSolenoid(solenoidUpPort, solenoidDownPort)
self._feedNoid.set(intPos)
self._leftSpeed = 0
self._rightSpeed = 0
self._motGain = motGain
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#traceback.print_stack()
m1 = wpilib.TalonSRX(MOTOR1)
m2 = wpilib.TalonSRX(MOTOR2)
self.robot_drive = wpilib.RobotDrive(m1, m2)
self.stick = wpilib.Joystick(0)
print(self.stick)
#pprint (vars(self.stick))
#self.button1 = wpilib.buttons.JoystickButton(self.stick, 0)
self.s1 = wpilib.DigitalOutput(SOLENOID)
self.CannonIsFiring = False
def robotInit(self):
'''Robot initialization function'''
#positions = [0,-625,-1210,-1815,-2425,-2635]
positions = [0, -325, -650, -975, -1300, -1395]
scorePos = [0, 0, -275, -545, -805, -1075]
self.motorFrontRight = wp.TalonSRX(frontRightPort)
self.motorBackRight = wp.TalonSRX(backRightPort)
self.motorFrontLeft = wp.TalonSRX(frontLeftPort)
self.motorBackLeft = wp.TalonSRX(backLeftPort)
self.stick = joy.happyHappyJoyJoy(leftDriveJoyPort)
self.stick2 = joy.happyHappyJoyJoy(rightDriveJoyPort)
self.cop = joy.happyHappyJoyJoy(coPilotJoyPort)
self.smartDs = wp.SmartDashboard() #the smart dashboard communication
self.accel = wp.BuiltInAccelerometer()
self.driveEncd = wp.Encoder(driveEncdAPort, driveEncdBPort)
self.feeders = feed.feedMe(feederLeftPort, feederRightPort,
feedUpChannel, feedDownChannel, 0.35)
self.rightSwitch = wp.DigitalInput(rightToteDetPort)
self.leftSwitch = wp.DigitalInput(leftToteDetPort)
self.autoSwitch = wp.DigitalInput(autoSwitchPort)
self.comp = wp.Compressor()
self.Vator = ele.elevatorObj(liftMotPort, liftEncdAPort, liftEncdBPort,
positions, scorePos, 0.75, 30)
try:
self.camServ = wp.CameraServer()
self.usbCam = wp.USBCamera()
self.usbCam.setExposureManual(50)
self.usbCam.setBrightness(80)
self.usbCam.updateSettings() # force update before we start thread
self.camServ.startAutomaticCapture(self.usbCam)
except:
pass
def __init__(self, motorPort, encdA, encdB, positions, scorePos, motScaler = 1, gain = 35, intIndex = 0, manual = False):
self._liftMot = wp.TalonSRX(motorPort)
self._encd = wp.Encoder(encdA, encdB)
self._encd.reset()
self._gain = gain
self._positions = positions
self._index = intIndex
self._position = self._positions[self._index]
self._manual = manual
self._motScaler = motScaler
self._manSpeed = 0
self._speed = 0
self._setPosion = False
self._scorePos = scorePos
#!/usr/bin/env python
import time
import hal
import wpilib
#from talonsrx import TalonSRX
#import piRobotLib
import logging
from pprint import pprint
# Constants for the pins the motors are connected to.
MOTOR1 = 0
try:
print('starting test')
#pprint(vars(hal))
m1 = wpilib.TalonSRX(MOTOR1)
print(m1)
pprint(vars(m1))
loopTime = hal.getLoopTiming() / (
wpilib.SensorBase.kSystemClockTicksPerMicrosecond * 1e3)
print('loopTime: ', loopTime)
# set the speed of the motor - speed is between -1 and 1
for i in range(-10, 11):
m1.setSpeed(i / 10.0)
time.sleep(10)
except KeyboardInterrupt:
pass
