def robotInit(self):
self.Arm1 = wpilib.CANTalon(6)
self.Arm1.reverseSensor(True)
self.Arm2 = wpilib.CANTalon(7)
self.Arm2.reverseSensor(True)
self.Control = ArmReplay(self.Arm1, self.Arm2)
self.Joystick = wpilib.Joystick(0)
self.Replay = ArmReplayReader(self.Control, "testPath")
self.i = 0
self.Replay.enable()
class TestArmEncoders (wpilib.IterativeRobot):
def robotInit(self):
self.Arm1 = wpilib.CANTalon(6)
self.Arm1.reverseSensor(True)
self.Arm2 = wpilib.CANTalon(7)
self.Arm2.reverseSensor(True)
self.Control = ArmReplay(self.Arm1, self.Arm2)
self.Joystick = wpilib.Joystick(0)
self.Replay = ArmReplayReader(self.Control, "testPath")
self.i = 0
self.Replay.enable()
#self.Control.setTarget((10000, 0))
def autonomousPeriodic(self):
pass
def teleopInit(self):
pass
def teleopPeriodic(self):
#print(self.Arm1.getEncPosition(), self.Arm2.getEncPosition())
if self.Joystick.getRawButton(1): #A
self.Control.setTarget(self.Control.getPositions())
if self.Joystick.getRawButton(2): #B
self.Control.update()
if self.Joystick.getRawButton(3): #X
self.Replay.enable()
#if self.Joystick.getRawButton(4): #Y
# self.Replay.disable()
#self.Control.update()
self.Replay.update()
#self.Arm1.set(0)
#print(self.Arm1.getEncPosition())
self.i += 1