def __init__(self): self.mainCompressor = Compressor(PCMID) self.intakeSolenoid = Solenoid(PCMID, intakeSolenoidChannel) self.isExtended = False self.mainCompressor.start()
class MyRobot(wpilib.TimedRobot): """ Small program to verify Neo motor and encoder are working. """ def robotInit(self): self.solenoid = Solenoid(0, 1) def teleopInit(self): self.solenoid.set(True)
def __init__(self, Robot): #self.navx = Robot.navx self.speedLimit = 0.999 self._leftRamp = 0.0 self._rightRamp = 0.0 self._rampSpeed = 6.0 self._kOonBalanceAngleThresholdDegrees = 5.0 self._autoBalance = True self._quickstop_accumulator = 0.0 self._old_wheel = 0.0 self._driveReversed = True self._drivePool = DataPool("Drive") # setup drive train motors self.rightDrive = SyncGroup(RIGHT_DRIVE_MOTOR_IDS, WPI_VictorSPX) self.leftDrive = SyncGroup(LEFT_DRIVE_MOTOR_IDS, WPI_VictorSPX) self.rightDrive.setInverted(True) # setup drive train gear shifter self.shifter = Solenoid(DRIVE_SHIFTER_PORT) self.shifter.set(False) # setup drive train encoders self.leftEncoder = Encoder(LEFT_DRIVE_ENCODER_A, LEFT_DRIVE_ENCODER_B, False, Encoder.EncodingType.k4X) self.rightEncoder = Encoder(RIGHT_DRIVE_ENCODER_A, RIGHT_DRIVE_ENCODER_B, False, Encoder.EncodingType.k4X) self.leftEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK) self.leftEncoder.setReverseDirection(True) self.rightEncoder.setReverseDirection(False) self.rightEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK)
class Intake: def __init__(self, Robot): self._lift = Robot.lift self._ramp = 0.0 self._rampSpeed = 6.0 self._intakeMotorLeft = WPI_VictorSPX(*INTAKE_MOTOR_LEFT_IDS) self._intakeMotorRight = WPI_VictorSPX(*INTAKE_MOTOR_RIGHT_IDS) self._intakeMotorRight.setInverted(True) self._intakePistons = Solenoid(INTAKE_PISTONS) self._photosensor = LimelightPhotosensor(Robot.limelight, 1) def rampSpeed(self, speed): # Ramp to prevent brown outs self._ramp += (speed - self._ramp) / self._rampSpeed self._intakeMotorLeft.set(self._ramp) self._intakeMotorRight.set(self._ramp) def setSpeed(self, speed): self._intakeMotorLeft.set(speed) self._intakeMotorRight.set(speed) def getSpeed(self): return self._intakeMotorLeft.get() def pistonToggle(self): self._intakePistons.set(not self._intakePistons.get()) def hasCube(self): return self._photosensor.isTriggered() def periodic(self): #if lift.isBottom(): #photosensor.update() pass
def __init__(self, Robot): self._lift = Robot.lift self._ramp = 0.0 self._rampSpeed = 6.0 self._intakeMotorLeft = WPI_VictorSPX(*INTAKE_MOTOR_LEFT_IDS) self._intakeMotorRight = WPI_VictorSPX(*INTAKE_MOTOR_RIGHT_IDS) self._intakeMotorRight.setInverted(True) self._intakePistons = Solenoid(INTAKE_PISTONS) self._photosensor = LimelightPhotosensor(Robot.limelight, 1)
def __init__(self, robot): super().__init__() self.robot = robot self.cylinder1Up = Solenoid(6, 4) self.cylinder1Down = Solenoid(6, 5) self.cylinder2Up = Solenoid(6, 6) self.cylinder2Down = Solenoid(6, 7) self.ARM_STATUS = False self.BOTH_HELD = False
def initialize(self): self.xbox = oi.getJoystick(2) self.joystick0 = oi.getJoystick(0) self.joystick1 = oi.getJoystick(1) self.kicker = Solenoid(map.hatchKick) self.slider = Solenoid(map.hatchSlide) self.kick("in") self.slide("in") self.lastKick = False self.lastSlide = False
def __init__(self): super().__init__() self._l_motor = Talon(constants.motor_intake_l) self._r_motor = Talon(constants.motor_intake_r) self._intake_piston = Solenoid(constants.solenoid_intake) self._photosensor = DigitalInput(constants.far_photosensor) self._left_pwm = 0 self._right_pwm = 0 self._open = False
def __init__(self): self.colorWheelExtend = Solenoid(robotmap.PCM_ID, robotmap.COLOR_WHEEL_EXTEND_SOLENOID) self.colorWheelRetract = Solenoid( robotmap.PCM_ID, robotmap.COLOR_WHEEL_RETRACT_SOLENOID) self.colorWheelMotor = Spark(robotmap.COLOR_WHEEL_ID) self.RGBSensor = ColorSensorV3(wpilib.I2C.Port.kOnboard) self.colorWheelExtend.set(False) self.colorWheelRetract.set(True)
class lift(Component): def __init__(self, robot): super().__init__() self.robot = robot self.cylinder1Up = Solenoid(6, 4) self.cylinder1Down = Solenoid(6, 5) self.cylinder2Up = Solenoid(6, 6) self.cylinder2Down = Solenoid(6, 7) self.ARM_STATUS = False self.BOTH_HELD = False def climbUpDown(self, leftButtonPressed, rightButtonPressed): if(rightButtonPressed == True and leftButtonPressed == True and self.BOTH_HELD == False): self.BOTH_HELD = True # Toggle arm status if(self.ARM_STATUS == False): self.ARM_STATUS = True elif(self.ARM_STATUS == True): self.ARM_STATUS = False # Set cylinder to up or down... Don't break plz!!! self.cylinder1Up.set(self.ARM_STATUS) self.cylinder1Down.set(not self.ARM_STATUS) self.cylinder2Up.set(self.ARM_STATUS) self.cylinder2Down.set(not self.ARM_STATUS) # Reset the button held flag elif(rightButtonPressed == False and leftButtonPressed == False): self.BOTH_HELD = False
class Popper(Subsystem): def __init__(self, can_id=0, channel=0): super().__init__() self.solenoid = Solenoid(can_id, channel) def set(self, state): self.solenoid.set(state) def extend(self): self.set(True) def retract(self): self.set(False)
def __init__(self): super().__init__() self._l_motor = Talon(hardware.intake_left) self._r_motor = Talon(hardware.intake_right) self._intake_piston = Solenoid(hardware.intake_solenoid) self._left_pwm = 0 self._right_pwm = 0 self._open = False self._left_intake_amp = CircularBuffer(25) self._right_intake_amp = CircularBuffer(25) self._pulse_timer = Timer()
def __init__(self, robot): super().__init__("Claw") self.robot = robot self.leftMotor = Spark(robotmap.CLAWLEFT) self.rightMotor = Spark(robotmap.CLAWRIGHT) self.CLAW_OPEN = Solenoid(robotmap.PCM1_CANID, robotmap.CLAW_OPEN_SOLENOID) self.CLAW_CLOSE = Solenoid(robotmap.PCM1_CANID, robotmap.CLAW_CLOSE_SOLENOID) self.sensor = InfraredSensor(robotmap.INFRARED_SENSOR_CHANNEL) self.close()
def __init__(self, robot): super().__init__("Drive") self.robot = robot self.left_master = WPI_TalonSRX(robotmap.DRIVELEFTMASTER) self.right_master = WPI_TalonSRX(robotmap.DRIVERIGHTMASTER) self.left_slave = WPI_TalonSRX(robotmap.DRIVELEFTSLAVE) self.right_slave = WPI_TalonSRX(robotmap.DRIVERIGHTSLAVE) self.shifter_high = Solenoid(robotmap.PCM1_CANID, robotmap.SHIFTER_HIGH) self.shifter_low = Solenoid(robotmap.PCM1_CANID, robotmap.SHIFTER_LOW) self.differential_drive = DifferentialDrive(self.left_master, self.right_master) self.TalonConfig() self.shiftLow()
def __init__(self, robot): super().__init__("Climb") self.robot = robot self.winchMotor = Spark(robotmap.CLIMBWINCH) self.armUpSolenoid = Solenoid(robotmap.CLIMBARM_UP) self.armDownSolenoid = Solenoid(robotmap.CLIMBARM_DOWN) self.lockCloseSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_CLOSE) self.lockOpenSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_OPEN) self.hookLimit = DigitalInput(robotmap.LIMIT_SWITCH_HOOK)
def createPistons(self, pistonSpec): piston = None if pistonSpec['Type'] == 'Double': piston = DoubleSolenoid(pistonSpec['portA'], pistonSpec['portB']) elif pistonSpec['Type'] == 'single': piston = Solenoid(pistonSpec['portA']) else: print("IDK your pistons") return piston
def __init__(self): super().__init__() self._motor = SyncGroup(Talon, hardware.elevator) self._stabilizer_piston = Solenoid(hardware.stabilizer_solenoid) # Motion Planning! self._follower = TrajectoryFollower() self._calibrated = False self.tote_count = 0 self.has_bin = False # Do we have a bin? self._reset = True # starting a new stack? self.tote_first = False # We're stacking totes without a bin. self._should_drop = False # Are we currently trying to get a bin ? self._manual_stack = False self._cap = False self._follower.set_goal(Setpoints.BIN) # Base state self._follower_thread = Thread(target=self.update_follower) self._follower_thread.start()
class Intake(Component): def __init__(self): super().__init__() self._l_motor = Talon(constants.motor_intake_l) self._r_motor = Talon(constants.motor_intake_r) self._intake_piston = Solenoid(constants.solenoid_intake) self._photosensor = DigitalInput(constants.far_photosensor) self._left_pwm = 0 self._right_pwm = 0 self._open = False def update(self): self._l_motor.set(self._left_pwm) self._r_motor.set(self._right_pwm) self._intake_piston.set(not self._open) def spin(self, power, same_direction=False): self._left_pwm = power self._right_pwm = power * (1 if same_direction else -1) def intake_tote(self): power = .3 if not self._photosensor.get() else .75 self.spin(power) def intake_bin(self): power = .3 if not self._photosensor.get() else .65 self.spin(power) def open(self): self._open = True def close(self): self._open = False def stop(self): """Disables EVERYTHING. Only use in case of critical failure""" self._l_motor.set(0) self._r_motor.set(0)
def initialize(self): #makes control objects self.xbox = oi.getJoystick(2) self.joystick0 = oi.getJoystick(0) self.joystick1 = oi.getJoystick(1) #makes solenoid objects to be used in kick and slide functions self.kicker = Solenoid(map.hatchKick) self.slider = Solenoid(map.hatchSlide) self.maxVolts = 10 timeout = 0 self.wheels = Talon(map.hatchWheels) self.wheels.setNeutralMode(2) self.wheels.configVoltageCompSaturation(self.maxVolts) self.wheels.configContinuousCurrentLimit(20, timeout) #20 Amps per motor self.wheels.configPeakCurrentLimit( 30, timeout) #30 Amps during Peak Duration self.wheels.configPeakCurrentDuration( 100, timeout) #Peak Current for max 100 ms self.wheels.enableCurrentLimit(True) self.wheels.setInverted(True) self.powerIn = 0.9 self.powerOut = -0.9 #sets kicker and slide solenoids to in self.kick("in") self.slide("in") #starts lastkick/slide booleans self.lastKick = False self.lastSlide = False self.hasHatch = False self.outPower = 0
def init(self): self.logger.info("DeepSpaceLift::init()") self.timer = wpilib.Timer() self.timer.start() self.robot_mode = RobotMode.TEST self.last_lift_adjust_time = 0 self.lift_adjust_timer = wpilib.Timer() self.lift_adjust_timer.start() self.state_timer = wpilib.Timer() self.current_state = LiftState.LIFT_START_CONFIGURATION self.current_lift_preset = LiftPreset.LIFT_PRESET_STOW self.current_lift_preset_val = self.lift_stow_position self.lift_setpoint = self.min_lift_position self.lift_adjust_val = 0 self.lift_talon = TalonSRX(robotmap.LIFT_CAN_ID) '''Select and zero sensor in init() function. That way the zero position doesn't get reset every time we enable/disable robot''' self.lift_talon.configSelectedFeedbackSensor(FeedbackDevice.Analog, 0, robotmap.CAN_TIMEOUT_MS) self.lift_talon.setSelectedSensorPosition(0, 0, robotmap.CAN_TIMEOUT_MS) self.lift_pneumatic_extend = Solenoid(robotmap.PCM1_CANID, robotmap.LIFT_RAISE_SOLENOID) self.lift_pneumatic_retract = Solenoid(robotmap.PCM1_CANID, robotmap.LIFT_LOWER_SOLENOID) self.lift_pneumatic_extend.set(False) self.lift_pneumatic_retract.set(True) self.test_lift_pneumatic = sendablechooser.SendableChooser() self.test_lift_pneumatic.setDefaultOption("Retract", 1) self.test_lift_pneumatic.addOption("Extend", 2) SmartDashboard.putData("TestLiftPneumatic", self.test_lift_pneumatic)
class PneumaticsSubsystem(Subsystem): def __init__(self): self.mainCompressor = Compressor(PCMID) self.intakeSolenoid = Solenoid(PCMID, intakeSolenoidChannel) self.isExtended = False self.mainCompressor.start() def initDefaultCommand(self): pass def flipSolenoid(self): if self.isExtended == False: self.isExtended = True else: self.isExtended == False self.intakeSolenoid.set(isExtended) def getIsExtended(self): return self.isExtended
def __init__(self): super().__init__() self._motor = SyncGroup(Talon, constants.motor_elevator) self._position_encoder = Encoder(*constants.encoder_elevator) self._photosensor = DigitalInput(constants.photosensor) self._stabilizer_piston = Solenoid(constants.solenoid_dropper) self._position_encoder.setDistancePerPulse( (PITCH_DIAMETER * math.pi) / TICKS_PER_REVOLUTION) # Trajectory controlling stuff self._follower = TrajectoryFollower() self.assure_tote = CircularBuffer(5) self.auto_stacking = True # Do the dew self._tote_count = 0 # Keep track of totes! self._has_bin = False # Do we have a bin on top? self._new_stack = True # starting a new stack? self._tote_first = False # Override bin first to grab totes before anything else self._should_drop = False # Are we currently trying to get a bin ? self._close_stabilizer = True # Opens the stabilizer manually self.force_stack = False # manually actuates the elevator down and up self._follower.set_goal(Setpoints.BIN) # Base state self._follower_thread = Thread(target=self.update_follower) self._follower_thread.start() self._auton = False quickdebug.add_tunables(Setpoints, ["DROP", "STACK", "BIN", "TOTE", "FIRST_TOTE"]) quickdebug.add_printables( self, [('position', self._position_encoder.getDistance), ('photosensor', self._photosensor.get), "has_bin", "tote_count", "tote_first", "at_goal", "has_game_piece", "auto_stacking"])
def __init__(self): self.stateTimer = wpilib.Timer() self.stateTimer.start() self.ballRakeExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_EXTEND_SOLENOID) self.ballRakeRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_RETRACT_SOLENOID) self.ballHatchExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_EXTEND_SOLENOID) self.ballHatchRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_RETRACT_SOLENOID) self.ballTickler = Spark(robotmap.BALL_TICKLER_ID) self.bottomIntake = Spark(robotmap.BOTTOM_INTAKE_ID) self.rakeMotor = Talon(robotmap.RAKE_ID) self.ballRakeExtend.set(False) self.ballRakeRetract.set(True) self.ballHatchExtend.set(False) self.ballHatchRetract.set(True)
class ClawSubsystem(Subsystem): def __init__(self, robot): super().__init__("Claw") self.robot = robot self.leftMotor = Spark(robotmap.CLAWLEFT) self.rightMotor = Spark(robotmap.CLAWRIGHT) self.CLAW_OPEN = Solenoid(robotmap.PCM1_CANID, robotmap.CLAW_OPEN_SOLENOID) self.CLAW_CLOSE = Solenoid(robotmap.PCM1_CANID, robotmap.CLAW_CLOSE_SOLENOID) self.sensor = InfraredSensor(robotmap.INFRARED_SENSOR_CHANNEL) self.close() def initDefaultCommand(self): self.setDefaultCommand(ObtainBoxContinuous(self.robot)) def open(self): self.CLAW_OPEN.set(True) self.CLAW_CLOSE.set(False) def close(self): self.CLAW_OPEN.set(False) self.CLAW_CLOSE.set(True) def setSpeed(self, pullSpeed): #positive left speed is pull self.leftMotor.set(pullSpeed) self.rightMotor.set(-pullSpeed) def boxIsClose(self): return self.sensor.GetMedianVoltage() > 0.6 def boxIsReallyClose(self): return self.sensor.GetMedianVoltage() > 2.6
class HatchMech(Subsystem): def __init__(self, Robot): """ Create all physical parts used by subsystem. """ super().__init__('Hatch') self.debug = True self.robot = Robot def initialize(self): self.xbox = oi.getJoystick(2) self.joystick0 = oi.getJoystick(0) self.joystick1 = oi.getJoystick(1) self.kicker = Solenoid(map.hatchKick) self.slider = Solenoid(map.hatchSlide) self.kick("in") self.slide("in") self.lastKick = False self.lastSlide = False def periodic(self): #if self.xbox.getRawButton(map.kickHatch) == True: self.kick("out") #elif self.xbox.getRawButton(map.toggleHatch) == True: self.kick("in") #if self.xbox.getRawButton(map.extendHatch) == True: self.slide("out") #elif self.xbox.getRawButton(map.retractHatch) == True: self.slide("in") currKick = self.xbox.getRawButton(map.kickHatch) currSlide = self.xbox.getRawButton(map.toggleHatch) if currKick and currKick != self.lastKick: self.kick("toggle") if currSlide and currSlide != self.lastSlide: self.slide("toggle") self.lastKick = currKick self.lastSlide = currSlide if self.joystick0.getRawButton( map.drivehatch) or self.joystick1.getRawButton(map.drivehatch): self.kick("out") def kick(self, mode): if mode == "out": self.kicker.set(True) elif mode == "in": self.kicker.set(False) else: self.kicker.set(not self.kicker.get()) def slide(self, mode): if mode == "out": self.slider.set(True) elif mode == "in": self.slider.set(False) else: self.slider.set(not self.slider.get()) def isEjectorOut(self): return self.kicker.get() def toggle(self): if self.kicker.get(): self.kick("out") else: self.kick("in") def disable(self): self.kick("in") def dashboardInit(self): pass def dashboardPeriodic(self): pass
class Pneumatics(Subsystem): def __init__(self): super().__init__("Pneumatics") self.solenoid_R = Solenoid(robotmap.solenoid_R) self.solenoid_L = Solenoid(robotmap.solenoid_L) self.is_active = False def extend(self): self.solenoid_L.set(False) self.solenoid_R.set(True) def retract(self): self.solenoid_R.set(False) self.solenoid_L.set(True) def halt(self): self.solenoid_R.set(False) self.solenoid_L.set(False) def get_active(self): return self.is_active def alternate(self): pass
class Drive: def __init__(self, Robot): #self.navx = Robot.navx self.speedLimit = 0.999 self._leftRamp = 0.0 self._rightRamp = 0.0 self._rampSpeed = 6.0 self._kOonBalanceAngleThresholdDegrees = 5.0 self._autoBalance = True self._quickstop_accumulator = 0.0 self._old_wheel = 0.0 self._driveReversed = True self._drivePool = DataPool("Drive") # setup drive train motors self.rightDrive = SyncGroup(RIGHT_DRIVE_MOTOR_IDS, WPI_VictorSPX) self.leftDrive = SyncGroup(LEFT_DRIVE_MOTOR_IDS, WPI_VictorSPX) self.rightDrive.setInverted(True) # setup drive train gear shifter self.shifter = Solenoid(DRIVE_SHIFTER_PORT) self.shifter.set(False) # setup drive train encoders self.leftEncoder = Encoder(LEFT_DRIVE_ENCODER_A, LEFT_DRIVE_ENCODER_B, False, Encoder.EncodingType.k4X) self.rightEncoder = Encoder(RIGHT_DRIVE_ENCODER_A, RIGHT_DRIVE_ENCODER_B, False, Encoder.EncodingType.k4X) self.leftEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK) self.leftEncoder.setReverseDirection(True) self.rightEncoder.setReverseDirection(False) self.rightEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK) def cheesyDrive(self, wheel, throttle, quickturn, altQuickturn, shift): throttle = Util.deadband(throttle) wheel = Util.deadband(wheel) if self._driveReversed: wheel *= -1 neg_inertia = wheel - self._old_wheel self._old_wheel = wheel wheel = Util.sinScale(wheel, 0.9, 1, 0.9) if wheel * neg_inertia > 0: neg_inertia_scalar = 2.5 else: if abs(wheel) > .65: neg_inertia_scalar = 6 else: neg_inertia_scalar = 4 neg_inertia_accumulator = neg_inertia * neg_inertia_scalar wheel += neg_inertia_accumulator if altQuickturn: if abs(throttle) < 0.2: alpha = .1 self._quickstop_accumulator = ( 1 - alpha) * self._quickstop_accumulator + alpha * self.limit( wheel, 1.0) * 5 over_power = -wheel * .75 angular_power = -wheel * 1 elif quickturn: if abs(throttle) < 0.2: alpha = .1 self._quickstop_accumulator = ( 1 - alpha) * self._quickstop_accumulator + alpha * self.limit( wheel, 1.0) * 5 over_power = 1 angular_power = -wheel * 1 else: over_power = 0 sensitivity = .9 angular_power = throttle * wheel * sensitivity - self._quickstop_accumulator self._quickstop_accumulator = Util.wrap_accumulator( self._quickstop_accumulator) if shift: if not self.shifter.get(): self.shifter.set(True) else: if self.shifter.get(): self.shifter.set(False) right_pwm = left_pwm = throttle left_pwm += angular_power right_pwm -= angular_power if left_pwm > 1: right_pwm -= over_power * (left_pwm - 1) left_pwm = 1 elif right_pwm > 1: left_pwm -= over_power * (right_pwm - 1) right_pwm = 1 elif left_pwm < -1: right_pwm += over_power * (-1 - left_pwm) left_pwm = -1 elif right_pwm < -1: left_pwm += over_power * (-1 - right_pwm) right_pwm = -1 if self._driveReversed: left_pwm *= -1 right_pwm *= -1 if self.shifter.get(): # if low gear #leftDrive.set(left_pwm) #rightDrive.set(right_pwm) self.moveRamped(left_pwm, right_pwm) else: self.moveRamped(left_pwm, right_pwm) def setGear(self, gear): if self.shifter.get() != gear: self.shifter.set(gear) def tankDrive(self, left, right): scaledBalance = self.autoBalance() left = self.limit(left + scaledBalance, self.speedLimit) right = self.limit(right + scaledBalance, self.speedLimit) self.leftDrive.set(left * LEFT_DRIFT_OFFSET) self.rightDrive.set(right * RIGHT_DRIFT_OFFSET) def limit(self, wheel, d): return Util.limit(wheel, d) def moveRamped(self, desiredLeft, desiredRight): self._leftRamp += (desiredLeft - self._leftRamp) / self._rampSpeed self._rightRamp += (desiredRight - self._rightRamp) / self._rampSpeed self.tankDrive(self._leftRamp, self._rightRamp) def autoShift(self, b): if self.shifter.get() != b: self.shifter.set(b) def periodic(self): self._drivePool.logDouble("gyro_angle", self.getRotation()) self._drivePool.logDouble("left_enc", self.rightEncoder.getDistance()) self._drivePool.logDouble("right_enc", self.leftEncoder.getDistance()) def setDrivetrainReversed(self, rev): self.driveReversed = rev def driveReversed(self): return self.driveReversed def getRotation(self): return self.navx.getAngle() def getLeftDistance(self): return self.leftEncoder.getDistance() * 2.54 * ROBOT_INVERTED def getRightDistance(self): return self.rightEncoder.getDistance() * 2.54 * ROBOT_INVERTED def resetDistance(self): self.leftEncoder.reset() self.rightEncoder.reset() def autoBalance(self): '''if self._autoBalance: pitchAngleDegrees = self.navx.getPitch() scaledPower = 1 + (0 - pitchAngleDegrees - self._kOonBalanceAngleThresholdDegrees) / self._kOonBalanceAngleThresholdDegrees if scaledPower > 2: scaledPower = 2 #return scaledPower;''' return 0 def setSpeedLimit(self, speedLimit): self.speedLimit = self.limit(speedLimit, DRIVE_SPEED_LIMIT)
def robotInit(self): self.solenoid = Solenoid(0, 1)
def __init__(self): super().__init__("Pneumatics") self.solenoid_R = Solenoid(robotmap.solenoid_R) self.solenoid_L = Solenoid(robotmap.solenoid_L) self.is_active = False
pickup_achange_motor1 = CANTalon(45) pickup_achange_motor2 = CANTalon(46) pickup_achange_motor1.changeControlMode(CANTalon.ControlMode.Follower) pickup_achange_motor1.set(47) pickup_achange_motor1.reverseOutput(True) pickup_roller_motor = CANTalon(8) pickup = Pickup(pickup_achange_motor1, pickup_achange_motor2, pickup_roller_motor) #Manual shooter Talons and Objects flywheel_motor = CANTalon(44) shooter_act = Solenoid(1) turntable_motor = CANTalon(12) manual_shooter = ManualShooter(flywheel_motor, shooter_act, turntable_motor) #DT Talons and Objects dt_right = CANTalon(1) # dt_r2 = CANTalon(2) # dt_r3 = CANTalon(3) dt_left = CANTalon(10) # dt_l2 = CANTalon(11) # dt_l3 = CANTalon(12) dt_shifter = Solenoid(0) # dt_r2.changeControlMode(CANTalon.ControlMode.Follower) # dt_r3.changeControlMode(CANTalon.ControlMode.Follower)
dt_r3.changeControlMode(CANTalon.ControlMode.Follower) dt_r4.changeControlMode(CANTalon.ControlMode.Follower) dt_l2.changeControlMode(CANTalon.ControlMode.Follower) dt_l3.changeControlMode(CANTalon.ControlMode.Follower) dt_l4.changeControlMode(CANTalon.ControlMode.Follower) dt_r2.set(1) dt_r3.set(1) dt_r4.set(1) dt_l2.set(7) dt_l3.set(7) dt_l4.set(7) dt = DriveTrain(1.0, dt_left, dt_right, left_encoder=None, right_encoder=None) #Pneumatics s_a = Solenoid(1) s_b = Solenoid(2) s_c = Solenoid(3) s_d = Solenoid(4) # Drive Controllers driver_stick = Attack3Joystick(0) xbox_controller = XboxJoystick(1) ac = ArcadeDriveController(dt, driver_stick) hid_sp = SensorPoller( (driver_stick, xbox_controller)) # human interface devices # Mech Talons, objects, and controller # define MechController mc = MechController(driver_stick, xbox_controller)
class HatchMech(Subsystem): def __init__(self, Robot): #Create all physical parts used by subsystem. super().__init__('Hatch') #self.debug = True self.robot = Robot def initialize(self): #makes control objects self.xbox = oi.getJoystick(2) self.joystick0 = oi.getJoystick(0) self.joystick1 = oi.getJoystick(1) #makes solenoid objects to be used in kick and slide functions self.kicker = Solenoid(map.hatchKick) self.slider = Solenoid(map.hatchSlide) self.maxVolts = 10 timeout = 0 self.wheels = Talon(map.hatchWheels) self.wheels.setNeutralMode(2) self.wheels.configVoltageCompSaturation(self.maxVolts) self.wheels.configContinuousCurrentLimit(20,timeout) #20 Amps per motor self.wheels.configPeakCurrentLimit(30,timeout) #30 Amps during Peak Duration self.wheels.configPeakCurrentDuration(100,timeout) #Peak Current for max 100 ms self.wheels.enableCurrentLimit(True) self.wheels.setInverted(True) self.powerIn = 0.9 self.powerOut = -0.9 #sets kicker and slide solenoids to in self.kick("in") self.slide("in") #starts lastkick/slide booleans self.lastKick = False self.lastSlide = False self.hasHatch = False self.outPower = 0 def periodic(self): self.updateHatch() self.currKick = self.xbox.getRawButton(map.kickHatch) self.currSlide = self.xbox.getRawButton(map.toggleHatch) #if the variable is true and it does not equal the lastkick/slide boolean, sets it to the opposite of what it currently is if self.currKick and (self.currKick != self.lastKick): self.kick("toggle") if self.currSlide and (self.currSlide != self.lastSlide): self.slide("toggle") #after the if statement, sets the lastkick/slide to the currkick/slide self.lastKick = self.currKick self.lastSlide = self.currSlide self.setWheels() # kick function to activate kicker solenoid def kick(self, mode): #out mode sets kicker solenoid to true if mode == "out": self.setKick(True) #in mode sets kicker solenoid to false elif mode == "in": self.setKick(False) #if neither of them, makes the kicker solenoid to the opposite of what it is else: self.setKick(not self.kicker.get()) # slide function to activate slide solenoid def slide(self, mode): # out mode sets slider solenoid to true if mode == "out": self.slider.set(True) # in mode sets slider solenoid to false elif mode == "in": self.slider.set(False) #if neither of them, makes the slider solenoid to the opposite of what it is else: self.slider.set(not self.slider.get()) def setKick(self, state): self.kicker.set(state) if state and self.slider.get() and self.hasHatch: self.hasHatch = False def setWheels(self): if self.kicker.get() and self.slider.get() and self.hasHatch: self.wheels.set(self.powerOut) self.outPower = self.powerOut elif not self.kicker.get() and self.slider.get() and not self.hasHatch: #should be "and not self.hasHatch" self.wheels.set(self.powerIn) self.outPower = self.powerIn #elif self.joystick1.getRawButton(1): # self.wheels.set(self.powerIn) # self.outPower = self.powerIn else: self.wheels.set(0) self.outPower = 0 def updateHatch(self): #only checks current to possibly set false to true for hasHatch threshold = 10 #10 amp current separates freely spinning and stalled if self.slider.get() and self.wheels.getOutputCurrent()>threshold: self.hasHatch = True if self.joystick0.getRawButton(3) or self.joystick0.getRawButton(4) or self.joystick1.getRawButton(3) or self.joystick1.getRawButton(4): self.hasHatch = True #disable function runs kick function on in def disable(self): self.kick("in") def dashboardInit(self): pass def dashboardPeriodic(self): #commented out some values. DON'T DELETE THESE VALUES #SmartDashboard.putNumber("Hatch Current", self.wheels.getOutputCurrent()) #SmartDashboard.putNumber("Power", self.outPower) SmartDashboard.putBoolean("Has Hatch", self.hasHatch) SmartDashboard.putBoolean("Slider Out", self.slider.get()) SmartDashboard.putBoolean("Kicker Out", self.kicker.get())