def robotInit(self):
'''Robot-wide initialization code should go here'''
#start camera
wpilib.CameraServer.launch()
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
self.joystick1 = getJoystick1()
#self.auto = driveForward.DriveForward(16)
#self.auto = AutoEncoders(20)
#self.auto = ProfiledForward(10)
self.auto = StateSpaceDriveCommand("straight3m.tra")
#self.auto = autonomous.Autonomuscc()
#self.auto = AutoEncoders()
self.elevatorSwitch = ElevatorSwitch()
self.elevatorScale = ElevatorScale()
self.elevatorIntake = ElevatorIntake()
self.driveForward = driveForward.DriveForward(10)
def robotInit(self):
'''Robot-wide initialization code should go here'''
#start camera
wpilib.CameraServer.launch()
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.auto = autonomous.ForwardOnly()
self.auto = autonomous.SwitchCommands()
#self.auto = TurnRight(90)
#self.auto = Wait9ThenForward()
#self.auto = RightPosRightSwitchAuto()
#self.auto = AutoEncodersTurnLeft(90)
#self.auto = MiddlePosLeftSwitchAuto()
self.elevatorSwitch = ElevatorSwitch()
self.elevatorScale = ElevatorScale()
self.elevatorIntake = ElevatorIntake()
self.driveForward = driveForward.DriveForward(10)
def robotInit(self):
'''Robot-wide initialization code should go here'''
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
self.angle = turnlikeistuesday.Turnlikeistuesday(90)
self.DriveForward = driveForward.DriveForward()
'''
class Gneiss(CommandBasedRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.angle = turnlikeistuesday.Turnlikeistuesday(90)
self.angle = turn_profiled.TurnProfiled(90)
self.DriveForward = driveForward.DriveForward()
'''
self.goToPickup = commands.elevatorPickupHeight()
self.goToScale = commands.elevatorScaleHeight()
self.goToSwitch = commands.elevatorSwitchHeight()
self.goDown = commands.elevatorDownHeight()
self.pullIn = commands.grabberPullIn()
self.spitOut = commands.grabberSpitOut()
'''
def autonomousInit(self):
'''Called only at the beginning of autonomous mode'''
self.elevator.setSolenoidState(true) #assumes true is open
pass
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def teleopInit(self):
'''Called only at the beginning of teleoperated mode'''
#How the buttons for the xbox controller are mapped
self.drivetrain.init_logger()
b = JoystickButton(self.joystick, 1) #A
b2 = JoystickButton(self.joystick, 2) #B
b.whenPressed(self.angle)
b2.cancelWhenPressed(self.angle)
b3 = JoystickButton(self.joystick, 3) #X
b4 = JoystickButton(self.joystick, 4) #Y
b3.whenPressed(self.DriveForward)
b4.cancelWhenPressed(self.DriveForward)
'''
class Gneiss(CommandBasedRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
#start camera
wpilib.CameraServer.launch()
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.auto = autonomous.ForwardOnly()
self.auto = autonomous.SwitchCommands()
#self.auto = TurnRight(90)
#self.auto = Wait9ThenForward()
#self.auto = RightPosRightSwitchAuto()
#self.auto = AutoEncodersTurnLeft(90)
#self.auto = MiddlePosLeftSwitchAuto()
self.elevatorSwitch = ElevatorSwitch()
self.elevatorScale = ElevatorScale()
self.elevatorIntake = ElevatorIntake()
self.driveForward = driveForward.DriveForward(10)
def teleopInit(self):
self.drivetrain.zeroEncoders()
self.drivetrain.zeroNavx()
buttonA = JoystickButton(self.joystick, 1)
buttonB = JoystickButton(self.joystick, 2)
buttonY = JoystickButton(self.joystick, 4)
buttonA.whenPressed(self.elevatorIntake)
buttonY.whenPressed(self.elevatorScale)
buttonB.whenPressed(self.elevatorSwitch)
def teleopPeriodic(self):
super().teleopPeriodic()
self.table.putString("Joystick", self.joystick.getName())
def autonomousInit(self):
self.elevator.zeroEncoder()
self.drivetrain.zeroEncoders()
self.drivetrain.zeroNavx()
self.auto.start()
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def robotInit(self):
'''Robot-wide initialization code should go here'''
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.startSide = "l" #starting side
self.gamecode = "rlr" #wpilib.DriverStation.getGameSpecificMessage()
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.angle = turnlikeistuesday.Turnlikeistuesday(90)
self.angle = turn_profiled.TurnProfiled(90)
self.auto = driveForward.DriveForward(10)
'''self.elevatorZero = elevatorZero.elevatorZero()'''
#self.driveForward = driveForward.DriveForward(10)
self.driveForward = automous.Test()
'''
class Rockslide(CommandBasedRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
#start camera
wpilib.CameraServer.launch()
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
self.joystick1 = getJoystick1()
#self.auto = driveForward.DriveForward(16)
#self.auto = AutoEncoders(20)
#self.auto = ProfiledForward(10)
self.auto = StateSpaceDriveCommand("straight3m.tra")
#self.auto = autonomous.Autonomuscc()
#self.auto = AutoEncoders()
self.elevatorSwitch = ElevatorSwitch()
self.elevatorScale = ElevatorScale()
self.elevatorIntake = ElevatorIntake()
self.driveForward = driveForward.DriveForward(10)
def teleopInit(self):
self.drivetrain.zeroEncoders()
self.drivetrain.zeroNavx()
buttonA = JoystickButton(self.joystick1, 1)
buttonY = JoystickButton(self.joystick1, 4)
#buttonA.whenPressed(ElevatorTest2())
buttonA.whenPressed(self.elevatorIntake)
buttonY.whenPressed(self.elevatorScale)
def teleopPeriodic(self):
super().teleopPeriodic()
self.table.putString("Joystick", self.joystick.getName())
def autonomousInit(self):
self.elevator.zeroEncoder()
self.drivetrain.zeroEncoders()
self.drivetrain.zeroNavx()
self.auto.start()
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
class Gneiss(CommandBasedRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.startSide = "l" #starting side
self.gamecode = "rlr" #wpilib.DriverStation.getGameSpecificMessage()
self.drivetrain = Drivetrain()
self.drivetrain.zeroEncoders()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.angle = turnlikeistuesday.Turnlikeistuesday(90)
self.angle = turn_profiled.TurnProfiled(90)
self.auto = driveForward.DriveForward(10)
#self.autoTimeBased = autoTimeBased.TimeBasedStart()
self.autoEncoders = commands.autoEncoders.AutoEncoders(5)
'''self.elevatorZero = elevatorZero.elevatorZero()'''
self.driveForward = driveForward.DriveForward(10)
#self.driveForward = automous.Test()
def autonomousInit(self):
'''Called only at the beginning of autonomous mode'''
'''if self.startSide == "l":
if self.gamecode[1:] == "l": #L the Letter
gotoSwitchL.gotoSwitchL("l").start()
else: if self.gamecode[:2][1:] == "l":
goToScaleL.goToScaleL("l").start()
else:
goToSwitchL.gotoSwitchL("r").start()'''
self.autoEncoders.start()
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def teleopInit(self):
'''Called only at the beginning of teleoperated mode'''
self.drivetrain.zeroEncoders()
#How the buttons for the xbox controller are mapped
self.drivetrain.init_logger()
b = JoystickButton(self.joystick, 7) #A
b2 = JoystickButton(self.joystick, 8) #B
#b.whenPressed(self.angle)
b2.cancelWhenPressed(self.angle)
from time import sleep
import multiprocessing
def worker():
print "Robot in running"
return
p = multiprocessing.Process(target=worker)
p.start()
p.join()
# H-drive drivetrain
drivetrain = Drivetrain()
# sensor_stick = SensorStick()
status_light = StatusLight()
#testsystem = Test()
def drive_in_square():
drivetrain.arcade_drive(1.0, 0.0, 0.0)
sleep(1)
drivetrain.arcade_drive(0.0, 0.0, 1.0)
sleep(1)
drivetrain.arcade_drive(-1.0, 0.0, 0.0)
sleep(1)
drivetrain.arcade_drive(0.0, 0.0, -1.0)
sleep(1)
from subsystems import Drivetrain # H-drive drivetrain drivetrain = Drivetrain() drivetrain.arcade_drive(0.0, 0.0, 0.0)
class Gneiss(CommandBasedRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
Command.getRobot = lambda x=0: self
#Variables that are used by the code
self.startSide = "l" #starting side
self.gamecode = "rlr" #wpilib.DriverStation.getGameSpecificMessage()
self.drivetrain = Drivetrain()
self.elevator = Elevator()
self.intake = Intake()
self.table = networktables.NetworkTables.getTable("String")
self.joystick = getJoystick()
#self.angle = turnlikeistuesday.Turnlikeistuesday(90)
self.angle = turn_profiled.TurnProfiled(90)
self.auto = driveForward.DriveForward(10)
'''self.elevatorZero = elevatorZero.elevatorZero()'''
#self.driveForward = driveForward.DriveForward(10)
self.driveForward = automous.Test()
'''
self.goToPickup = commands.elevatorPickupHeight()
self.goToScale = commands.elevatorScaleHeight()
self.goToSwitch = commands.elevatorSwitchHeight()
self.goDown = commands.elevatorDownHeight()
self.pullIn = commands.grabberPullIn()
self.spitOut = commands.grabberSpitOut()
'''
def autonomousInit(self):
'''Called only at the beginning of autonomous mode'''
'''if self.startSide == "l":
if self.gamecode[1:] == "l": #L the Letter
gotoSwitchL.gotoSwitchL("l").start()
else: if self.gamecode[:2][1:] == "l":
goToScaleL.goToScaleL("l").start()
else:
goToSwitchL.gotoSwitchL("r").start()'''
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def teleopInit(self):
'''Called only at the beginning of teleoperated mode'''
#How the buttons for the xbox controller are mapped
self.drivetrain.init_logger()
b = JoystickButton(self.joystick, 1) #A
b2 = JoystickButton(self.joystick, 2) #B
b.whenPressed(self.angle)
b2.cancelWhenPressed(self.angle)
b3 = JoystickButton(self.joystick, 3) #X
b4 = JoystickButton(self.joystick, 4) #Y
b3.whenPressed(self.driveForward)
b4.cancelWhenPressed(self.driveForward)
b5 = JoystickButton(self.joystick, 5) #leftbumper
b6 = JoystickButton(self.joystick, 6) #rightbumper
b5.whenPressed(self.auto)
b6.cancelWhenPressed(self.auto)
'''