def init():
global joystick
joystick = Joystick(0)
crossbow_open = JoystickButton(joystick, 1)
crossbow_open.whenPressed(CrossBow())
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)
def __init__(self):
self.driveRobot = DriveTrain()
self.arm = ArmSystem()
self.pneumatics = PneumaticsCommand()
# self.servo = ServoCommand()
self.armToggle = Toggle(self.pneumatics.extendArm,
self.pneumatics.retractArm)
self.gripToggle = Toggle(self.pneumatics.openGrip,
self.pneumatics.closeGrip)
self.joystick = Joystick(0)
self.armUpButton = JoystickButton(self.joystick, 6)
self.armDownButton = JoystickButton(self.joystick, 4)
self.stopButton = JoystickButton(self.joystick, 10)
''' Extension and retraction variables - syntax: ''' # JoystickButton(self.joystick, [appointed button number])
# self.armExtendButton = JoystickButton(self.joystick, 5)
# self.armRetractButton = JoystickButton(self.joystick, 3)
# self.armToggle = False
# self.armLast = False
# self.grabToggle = False
# self.grabLast = False
self.armButton = JoystickButton(self.joystick, 2)
self.gripButton = JoystickButton(self.joystick, 1)
def __init__(self):
self.driver = joystick.Joystick(Constants.DRIVER_PORT,
Constants.DRIVER_X_MOD,
Constants.DRIVER_Y_MOD,
Constants.DRIVER_Z_MOD)
self.operator = joystick.Joystick(Constants.OPERATOR_PORT,
Constants.OPERATOR_X_MOD,
Constants.OPERATOR_Y_MOD,
Constants.OPERATOR_Z_MOD)
self.hatchbutton = JoystickButton(self.driver, 1)
self.hatchbutton.whenPressed(togglehatchlatch.ToggleHatchLatch())
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Crash())
return joystick
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Crash())
def __init__(self, port):
super().__init__(port)
self.xButton = JoystickButton(self, 3)
self.yButton = JoystickButton(self, 4)
self.aButton = JoystickButton(self, 1)
self.bButton = JoystickButton(self, 2)
self.rightBumper = JoystickButton(self, 6)
self.leftBumper = JoystickButton(self, 5)
self.startButton = JoystickButton(self, 8)
self.selectButton = JoystickButton(self, 7)
self.leftStickButton = JoystickButton(self, 9)
self.rightStickButton = JoystickButton(self, 10)
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick_player
joystick_player = Joystick(0)
set_joystick()
trigger = JoystickButton(joystick_player, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Record(FollowJoystick()))
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button1 = JoystickButton(joystick, 1)
button1.whileHeld(Targeting())
return Joystick
class OI(metaclass=singleton.Singleton):
"""Deals with anything controller related,
be it gamepads, joysticks, or steering wheels."""
def __init__(self):
self.driver = joystick.Joystick(Constants.DRIVER_PORT,
Constants.DRIVER_X_MOD,
Constants.DRIVER_Y_MOD,
Constants.DRIVER_Z_MOD)
self.operator = joystick.Joystick(Constants.OPERATOR_PORT,
Constants.OPERATOR_X_MOD,
Constants.OPERATOR_Y_MOD,
Constants.OPERATOR_Z_MOD)
self.hatchbutton = JoystickButton(self.driver, 1)
self.hatchbutton.whenPressed(togglehatchlatch.ToggleHatchLatch())
def teleopInit(self):
self.drivetrain.zeroEncoders()
self.drivetrain.zeroNavx()
buttonA = JoystickButton(self.joystick1, 1)
buttonY = JoystickButton(self.joystick1, 4)
buttonA.whenPressed(self.elevatorIntake)
buttonY.whenPressed(self.elevatorScale)
def getJoystick():
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
return joystick
def robotInit(self):
#**************Camera Initialization********************
#Networktables.initialize('server=roborio.5970-frc.local')
#wpilib.CameraServer.launch()
#wpilib.CameraServer.launch('vision.py:main')
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#**************Robot-Side Initialization***************
# Inititalize the Drive motors
self.left_motors = []
self.left_motors.append(wpilib.VictorSP(0))
self.left_motors.append(wpilib.VictorSP(1))
self.right_motors = []
self.right_motors.append(wpilib.VictorSP(4))
self.right_motors.append(wpilib.VictorSP(3))
# too lazy to change the formal from a list even though its only 1 thing.deal with it.
# Initialize the winch Motor
self.winch_motor = []
self.winch_motor.append(wpilib.VictorSP(8))
# Initialize the triger Motor
self.Triger_motor = []
self.Trigger_motor.append(wpilib.VictorSP(7))
#***************Driverstation Initialization******************
#TANK DRIVE Xbox
# Initialize the Joysticks that will be used
self.xbox = wpilib.XboxController(1)
#got the pinouts off of google need to test
self.WinchUp = JoystickButton(self.xbox, 0) #A
self.WinchDown = JoystickButton(self.xbox, 1) #B
self.Trigger = JoystickButton(self.xbox, 3) #Y
#Initialize the Joysticks that will be used--idk what this does because im doing this @11:45 before comp, so im not deleting it
self.throttle = wpilib.Joystick(1)
self.steering = wpilib.Joystick(2)
class OI():
def __init__(self):
self.driveRobot = DriveTrain()
self.arm = ArmSystem()
self.pneumatics = PneumaticsCommand()
# self.servo = ServoCommand()
self.armToggle = Toggle(self.pneumatics.extendArm,
self.pneumatics.retractArm)
self.gripToggle = Toggle(self.pneumatics.openGrip,
self.pneumatics.closeGrip)
self.joystick = Joystick(0)
self.armUpButton = JoystickButton(self.joystick, 6)
self.armDownButton = JoystickButton(self.joystick, 4)
self.stopButton = JoystickButton(self.joystick, 10)
''' Extension and retraction variables - syntax: ''' # JoystickButton(self.joystick, [appointed button number])
# self.armExtendButton = JoystickButton(self.joystick, 5)
# self.armRetractButton = JoystickButton(self.joystick, 3)
# self.armToggle = False
# self.armLast = False
# self.grabToggle = False
# self.grabLast = False
self.armButton = JoystickButton(self.joystick, 2)
self.gripButton = JoystickButton(self.joystick, 1)
def poll(self):
''' Axis control - syntax: ''' # self.joystick.get[axis]()
self.xAxis = self.joystick.getX()
self.yAxis = self.joystick.getY()
self.zAxis = self.joystick.getZ()
self.driveRobot.drive(self.xAxis, self.yAxis, self.zAxis)
# print(self.armUpButton.get())
self.arm.armMove(0.5, self.armUpButton.get(), self.armDownButton.get())
self.armToggle.togglePneumatics(self.armButton.get())
self.gripToggle.togglePneumatics(self.gripButton.get())
def init():
"""
Initialize operator input (OI) objects.
"""
global joystick, controller, start_btn, divider
joystick = Joystick(robotmap.joystick.port)
controller = XboxController(robotmap.joystick.port)
start_btn = JoystickButton(joystick, 7)
divider = 1
class OI():
backwardsButton = False
backwardsToggle = False
def __init__(self):
self.joystick = wpilib.Joystick(robotMap.JOYSTICK)
self.gamepad = wpilib.Joystick(robotMap.GAMEPAD)
self.winchToggle = JoystickButton(self.joystick, robotMap.WINCHTOGGLE)
from commands import teleClimb
self.winchToggle.toggleWhenPressed(teleClimb.TeleClimb())
def getLeftSpeed(self):
return self.gamepad.getRawAxis(robotMap.LEFTDRIVECONTROL)
def getRightSpeed(self):
return self.gamepad.getRawAxis(robotMap.RIGHTDRIVECONTROL)
def backwardsCheck(self):
if (self.backwardsButton and not self.gamepad.getRawButton(robotMap.REVERSE)):
self.backwardsButton = False
elif (not self.backwardsButton and self.gamepad.getRawButton(robotMap.REVERSE)) :
self.backwardsButton = True
self.backwardsToggle = not self.backwardsToggle
def getBackwards(self):
return self.backwardsToggle
def getSlowDown(self):
return self.gamepad.getRawButton(robotMap.SLOWDOWN)
def getWinchSpeed(self):
return self.joystick.getRawAxis(robotMap.WINCH)
def getPOV(self):
return self.gamepad.getPOV()
def init():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
global leftDriverStick
global rightDriverStick
leftDriverStick = T16000M(0)
rightDriverStick = T16000M(1)
global btnDriveSlow
btnDriveSlow = JoystickButton(leftDriverStick, 1)
def init():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
global leftDriverStick
global rightDriverStick
global resetYawBtn
global autoBtn
global autoTurnBtn
leftDriverStick = T16000M(0)
rightDriverStick = T16000M(1)
resetYawBtn = JoystickButton(rightDriverStick, 2)
resetYawBtn.whenPressed(ResetYawAngle())
autoBtn = JoystickButton(leftDriverStick, 2)
autoBtn.whenPressed(AutoDriveForwardToScale())
def setup_button_bindings(self):
cmdcfg = configparser.ConfigParser()
cmdcfg.read(self._command_config)
arm_max_position = cmdcfg.getint("ArmCommands", "RAISED_BOUND")
hook_max_position = cmdcfg.getint("HookCommands", "EXTENDED_BOUND")
scoring_right_trigger = JoystickButton(self._controllers[UserController.SCORING], JoystickButtons.RIGHTTRIGGER)
scoring_a_button = JoystickButton(self._controllers[UserController.SCORING], JoystickButtons.A)
scoring_y_button = JoystickButton(self._controllers[UserController.SCORING], JoystickButtons.Y)
scoring_left_trigger = JoystickButton(self._controllers[UserController.SCORING], JoystickButtons.LEFTTRIGGER)
scoring_right_trigger.whenPressed(ShootBall(self.robot))
#scoring_y_button.whenPressed(RaiseArmExtendHook(self.robot, arm_max_position, hook_max_position))
#scoring_a_button.whenPressed(RetractHookToCount(self.robot, 1.0, 0))
scoring_left_trigger.whenPressed(PickUpBall(self.robot, 1.0, "PickUpBall", 5.0))
def get_joystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
joystick2 = Joystick(1)
# TODO lots of commands to map here
# TODO how are we going to count taps for position?
# trigger = JoystickButton(joystick=joystick, buttonNumber=5)
# trigger.whenPressed(gear_shift.gear_shift(True))
# trigger.whenReleased(gear_shift.gear_shift(False))
# rtrigger = JoystickButton(joystick=joystick, buttonNumber=6)
# rtrigger.whenPressed(set_arm_pos.SetArmPosition(1024.0))
# rtrigger.whenReleased(set_arm_pos.SetArmPosition(0.0))
buttonB = JoystickButton(joystick=joystick, buttonNumber=2)
buttonB.whenPressed(hatch_punch(True))
buttonB.whenReleased(hatch_punch(False))
buttonX = JoystickButton(joystick=joystick, buttonNumber=3)
buttonX.whenPressed(SetElvPay(-3000, 470))
buttonA = JoystickButton(joystick=joystick, buttonNumber=1)
buttonA.whenPressed(SetElvPay(-3000, 2250))
buttonL1 = JoystickButton(joystick=joystick, buttonNumber=5)
buttonL1.whenPressed(BallIn())
buttonL1.whenReleased(BallStop())
buttonR1 = JoystickButton(joystick=joystick, buttonNumber=6)
buttonR1.whenPressed(BallOut())
buttonR1.whenReleased(BallStop())
#button12 = JoystickButton(joystick=joystick2, buttonNumber=12)
#button12.whenPressed(SetElvPay(0, 0))
#buttonB = JoystickButton(joystick=joystick2, buttonNumber=2)
#buttonB.whenPressed(SetElvSpeed(0.5))
#buttonB.whenReleased(SetElvSpeed(0.0))
#buttonA = JoystickButton(joystick=joystick2, buttonNumber=1)
#buttonA.whenPressed(SetElvSpeed(-0.5))
#buttonA.whenReleased(SetElvSpeed(0.0))
#high hatch
buttonL1 = JoystickButton(joystick=joystick2, buttonNumber=5)
buttonL1.whenPressed(SetElvPay(-25000, 470))
#mid hatch
buttonX = JoystickButton(joystick=joystick2, buttonNumber=3)
buttonX.whenPressed(SetElvPay(-17000, 470))
#stow
buttonA = JoystickButton(joystick=joystick2, buttonNumber=1)
buttonA.whenPressed(SetElvPay(0, 0))
#high ball
buttonR1 = JoystickButton(joystick=joystick2, buttonNumber=6)
buttonR1.whenPressed(SetElvPay(-25000, 1100))
#mid ball
buttonY = JoystickButton(joystick=joystick2, buttonNumber=4)
buttonY.whenPressed(SetElvPay(-17000, 1100))
#low ball
buttonB = JoystickButton(joystick=joystick2, buttonNumber=2)
buttonB.whenPressed(SetElvPay(-3000, 1100))
#elevator up
buttonLS = JoystickButton(joystick=joystick2, buttonNumber=9)
buttonLS.whenPressed(SetElvSpeed(-0.7))
buttonLS.whenReleased(SetElvSpeed(0.0))
#all stop
buttonRS = JoystickButton(joystick=joystick2, buttonNumber=10)
buttonRS.whenPressed(SetElvSpeed(0.0))
buttonRS.whenPressed(SetPaySpeed(0.0))
#elbow up
buttonBack = JoystickButton(joystick=joystick2, buttonNumber=7)
buttonBack.whenPressed(SetPaySpeed(-0.3))
buttonBack.whenReleased(SetPaySpeed(0.0))
#elbow down
buttonStart = JoystickButton(joystick=joystick2, buttonNumber=8)
buttonStart.whenPressed(SetPaySpeed(0.3))
buttonStart.whenReleased(SetPaySpeed(0.0))
return joystick
def init():
global joystick
joystick = Joystick(0)
crossbow = JoystickButton(joystick, 5)
crossbow_in_hold = JoystickButton(joystick, 6)
solenoid_intake = JoystickButton(joystick, 1)
crossbow.whenPressed(Crossbow(0.8, 1))
crossbow_in_hold.whenPressed(Crossbow(-0.6, 1.75))
solenoid_intake.whenPressed(PullIntake())
intake = JoystickButton(joystick, 4)
intake.toggleWhenPressed(Intake())
def getJoystick():
global joystick
if (joystick is None):
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
return joystick
def get_joystick():
joystick = Joystick(0)
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whenPressed(SwitchMode())
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(OperateConveyor())
button_11 = JoystickButton(joystick, 11)
button_11.whenPressed(AutoTargetY())
button_12 = JoystickButton(joystick, 12)
button_12.whenPressed(AutoTargetX())
button_9 = JoystickButton(joystick, 9)
button_9.whenPressed(AutoTargetAngle())
return joystick
def init():
global joystick
joystick = Joystick(0)
# JoystickButton(joystick, buttons.L_BUMPER).whenPressed(GearShift(Gearing.LOW))
# JoystickButton(joystick, buttons.R_BUMPER).whenPressed(GearShift(Gearing.HIGH))
# #JoystickButton(joystick, buttons.SQUARE).whenPressed(Grabber(True))
# JoystickButton(joystick, buttons.X).whenPressed(Grabber("toggle"))
gearup = JoystickButton(joystick, 1)
geardown = JoystickButton(joystick, 2)
grabberclose = JoystickButton(joystick, 4)
grabberopen = JoystickButton(joystick, 3)
shooterdown = JoystickButton(joystick, 5)
shooterup = JoystickButton(joystick, 6)
homebutton = JoystickButton(joystick, 13)
# 5 and 6 are L and R bumpers
gearup.whenPressed(GearShift(Gearing.HIGH))
geardown.whenPressed(GearShift(Gearing.LOW))
grabberclose.whenPressed(Grabber(True))
grabberopen.whenPressed(Grabber(False))
shooterup.whenPressed(Shooter(True))
shooterdown.whenPressed(Shooter(False))
def robotInit(self):
'''
Subsystem, Command, OperatorInterface Instantiation
IN THAT ORDER
'''
Command.getRobot = lambda x=0: self
#self.motor = SingleMotor.SingleMotor(2, self.logger)
self.drivetrain = DriveTrain(self.logger)
self.elevator = Elevator(self.logger)
self.arm = Arm(self.logger)
self.scooper = Scooper(self.logger)
self.startCommand = DeployArm()
self.joystick = Joystick(robotmap.STK_port)
self.halfPowerModeButton = JoystickButton(self.joystick,
robotmap.STK_halfPowerMode)
# self.automaticMode = JoystickButton(self.joystick, robotmap.STK_automode)
# self.automaticMode.whenPressed(DockRobot())
# self.automaticMode.whenReleased(CancelSubsystem(Cancel.DRIVETRAIN))
self.buttonBoard = Joystick(robotmap.BB_port)
self.armUpButton = JoystickButton(self.buttonBoard, robotmap.BB_ArmUp)
self.armDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ArmDown)
self.stowArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_StowArm)
self.elevatorUpButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorUp)
self.elevatorDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorDown)
self.ingestButton = JoystickButton(self.buttonBoard,
robotmap.BB_ingest)
self.expelButton = JoystickButton(self.buttonBoard, robotmap.BB_expel)
self.deployArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_DeployArm)
self.midHatchButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidHatch)
self.lowCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_LowCargo)
self.midCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidCargo)
self.armUpButton.whenPressed(MoveArmUp())
self.armDownButton.whenPressed(MoveArmDown())
self.armUpButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.armDownButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.stowArmButton.whenPressed(StowArm())
#self.deployArmButton.whenPressed(DeployArm())
self.elevatorUpButton.whenPressed(MoveElevatorUp())
self.elevatorDownButton.whenPressed(MoveElevatorDown())
self.elevatorUpButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.elevatorDownButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.ingestButton.whenPressed(Ingest())
self.expelButton.whenPressed(Expel())
# self.lowHatchButton.whenPressed(PositionLowHatch())
# self.midHatchButton.whenPressed(PositionMidHatch())
# self.lowCargoButton.whenPressed(PositionLowCargo())
# self.midCargoButton.whenPressed(PositionMidCargo())
self._smartDashboard = NetworkTables.getTable('SmartDashboard')
self._smartDashboard.putString("ArmLimit", "InGame")
class PyBot(CommandBasedRobot):
'''
The CommandBasedRobot base class implements almost everything you need for
a working robot program. All you need to do is set up the subsystems and
commands. You do not need to override the "periodic" functions, as they
will automatically call the scheduler. You may override the "init" functions
if you want to do anything special when the mode changes.
'''
def robotInit(self):
'''
Subsystem, Command, OperatorInterface Instantiation
IN THAT ORDER
'''
Command.getRobot = lambda x=0: self
#self.motor = SingleMotor.SingleMotor(2, self.logger)
self.drivetrain = DriveTrain(self.logger)
self.elevator = Elevator(self.logger)
self.arm = Arm(self.logger)
self.scooper = Scooper(self.logger)
self.startCommand = DeployArm()
self.joystick = Joystick(robotmap.STK_port)
self.halfPowerModeButton = JoystickButton(self.joystick,
robotmap.STK_halfPowerMode)
# self.automaticMode = JoystickButton(self.joystick, robotmap.STK_automode)
# self.automaticMode.whenPressed(DockRobot())
# self.automaticMode.whenReleased(CancelSubsystem(Cancel.DRIVETRAIN))
self.buttonBoard = Joystick(robotmap.BB_port)
self.armUpButton = JoystickButton(self.buttonBoard, robotmap.BB_ArmUp)
self.armDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ArmDown)
self.stowArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_StowArm)
self.elevatorUpButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorUp)
self.elevatorDownButton = JoystickButton(self.buttonBoard,
robotmap.BB_ElevatorDown)
self.ingestButton = JoystickButton(self.buttonBoard,
robotmap.BB_ingest)
self.expelButton = JoystickButton(self.buttonBoard, robotmap.BB_expel)
self.deployArmButton = JoystickButton(self.buttonBoard,
robotmap.BB_DeployArm)
self.midHatchButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidHatch)
self.lowCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_LowCargo)
self.midCargoButton = JoystickButton(self.buttonBoard,
robotmap.BB_MidCargo)
self.armUpButton.whenPressed(MoveArmUp())
self.armDownButton.whenPressed(MoveArmDown())
self.armUpButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.armDownButton.whenReleased(CancelSubsystem(Cancel.ARM))
self.stowArmButton.whenPressed(StowArm())
#self.deployArmButton.whenPressed(DeployArm())
self.elevatorUpButton.whenPressed(MoveElevatorUp())
self.elevatorDownButton.whenPressed(MoveElevatorDown())
self.elevatorUpButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.elevatorDownButton.whenReleased(CancelSubsystem(Cancel.ELEVATOR))
self.ingestButton.whenPressed(Ingest())
self.expelButton.whenPressed(Expel())
# self.lowHatchButton.whenPressed(PositionLowHatch())
# self.midHatchButton.whenPressed(PositionMidHatch())
# self.lowCargoButton.whenPressed(PositionLowCargo())
# self.midCargoButton.whenPressed(PositionMidCargo())
self._smartDashboard = NetworkTables.getTable('SmartDashboard')
self._smartDashboard.putString("ArmLimit", "InGame")
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)
'''
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button5 = JoystickButton(joystick, 5)
button6 = JoystickButton(joystick, 6)
button3 = JoystickButton(joystick, 3)
button4 = JoystickButton(joystick, 4)
button1 = JoystickButton(joystick, 1)
button2 = JoystickButton(joystick, 2)
button7 = JoystickButton(joystick, 7)
button5.whenPressed(BallIntake())
button6.whileHeld(BallOutake())
button3.whileHeld(LiftArm())
button4.whileHeld(LowerArm())
button1.whileHeld(HatchUp())
button2.whileHeld(HatchDown())
button7.whileHeld(FindTarget())
return joystick
class BeaverTronicsRobot(wpilib.IterativeRobot):
def robotInit(self):
#**************Camera Initialization********************
#Networktables.initialize('server=roborio.5970-frc.local')
#wpilib.CameraServer.launch()
#wpilib.CameraServer.launch('vision.py:main')
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#**************Robot-Side Initialization***************
# Inititalize the Drive motors
self.left_motors = []
self.left_motors.append(wpilib.VictorSP(0))
self.left_motors.append(wpilib.VictorSP(1))
self.right_motors = []
self.right_motors.append(wpilib.VictorSP(4))
self.right_motors.append(wpilib.VictorSP(3))
# too lazy to change the formal from a list even though its only 1 thing.deal with it.
# Initialize the winch Motor
self.winch_motor = []
self.winch_motor.append(wpilib.VictorSP(8))
# Initialize the triger Motor
self.Triger_motor = []
self.Trigger_motor.append(wpilib.VictorSP(7))
#***************Driverstation Initialization******************
#TANK DRIVE Xbox
# Initialize the Joysticks that will be used
self.xbox = wpilib.XboxController(1)
#got the pinouts off of google need to test
self.WinchUp = JoystickButton(self.xbox, 0) #A
self.WinchDown = JoystickButton(self.xbox, 1) #B
self.Trigger = JoystickButton(self.xbox, 3) #Y
#Initialize the Joysticks that will be used--idk what this does because im doing this @11:45 before comp, so im not deleting it
self.throttle = wpilib.Joystick(1)
self.steering = wpilib.Joystick(2)
def autonomousInit(self):
"""This function is run once each time the robot enters autonomous mode."""
self.auto_loop_counter = 0
def autonomousPeriodic(self):
#old auto code could be used to cross baseline if we wire shit up correctly
if self.auto_loop_counter < 10:
self.setDriveMotors(1, -1) # forward auto
"""else:
if self.auto_loop_counter < 20/2:
self.DoubleSolenoid.set(1)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 30/2:
self.DoubleSolenoid.set(2)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 50/2:
self.DoubleSolenoid.set(1)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 70/2:
self.DoubleSolenoid.set(2)
self.auto_loop_counter += 1
self.auto_loop_counter = 0"""
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
self.drivetrainMotorControl()
self.Winch()
self.Trigger()
def testPeriodic(self):
"""This function is called periodically during test mode."""
def drivetrainMotorControl(self):
left = self.steering.getY()
right = self.throttle.getY()
drive_powers = drive.tankdrive(right, left)
self.leftspeeds = drive_powers[0]
self.rightspeeds = drive_powers[1]
# set the motors to powers
self.setDriveMotors(self.leftspeeds, self.rightspeeds)
def setDriveMotors(self, leftspeed, rightspeed):
for motor in self.right_motors:
motor.set(leftspeed * -1)
for motor in self.left_motors:
motor.set(rightspeed * -1)
def winch(self):
if self.WinchUp.get():
for motor in self.Winch_motor:
motor.set(1)
elif setf.WinchDown.get():
for motor in self.Winch_motor:
motor.set(-1)
else:
for motor in self.Winch_motor:
motor.set(0)
def Trigger(self):
if self.Trigger.get():
for motor in self.Trigger_motor:
motor.set(1)
else:
for motor in self.Trigger_motor:
motor.set(0)
def getJoystick():
"""This function creates an instance of the joystick, and assigns commands
to the joystick buttons."""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(GrippersIntake())
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whileHeld(GrippersExhaust())
POV_up = POVButton(joystick, 0)
POV_down = POVButton(joystick, 180)
POV_up.whileActive(ElevatorUp())
POV_down.whileActive(ElevatorDown())
button_5 = JoystickButton(joystick, 5)
button_5.whenPressed(HandlesState(HandlesOpen(), HandlesClose()))
button_6 = JoystickButton(joystick, 6)
button_6.whenPressed(DrivetrainState(StrengthState(), SpeedState()))
return joystick
def init():
global joystick
joystick = Joystick(robotmap.portsList.stickID)
startFuelOutakeButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.startFuelOutakeID)
startFuelOutakeButton.whenPressed(
RunFuelOutake(robotmap.speedsList.fuelOutakeSpeed))
stopFuelOutakeButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.stopFuelOutakeID)
stopFuelOutakeButton.whenPressed(StopFuelOutake())
openGearDoorButton = JoystickButton(joystick,
robotmap.buttonsAndAxesList.openGearID)
openGearDoorButton.whenPressed(OpenGear())
closeGearDoorButton = JoystickButton(
joystick, robotmap.buttonsAndAxesList.closeGearID)
closeGearDoorButton.whenPressed(CloseGear())
