class OI():
__instances = None
DEADZONE = 1 / 128
def __init__(self):
self.driverController = XboxController(0)
self.manipulatorController = XboxController(1)
self.aButtonDriver = JoystickButton(self.driverController, 0)
self.aButtonDriver.whenPressed(DriveStraightCommand(10))
@staticmethod
def getInstance() -> OI:
if (OI.__instances == None):
OI.__instances = OI()
return OI.__instances
def __deadzone(self, input, deadzone=DEADZONE) -> Number:
absValue = math.fabs(input)
# no signum ;-;
return 0 if abs < deadzone else ((absValue - deadzone) /
(1.0 - deadzone) *
math.copysign(1, input))
def getLeftY(self):
return self.__deadzone(
self.driverController.getY(GenericHID.Hand.kLeft))
def getRightY(self):
return self.__deadzone(
self.driverController.getY(GenericHID.Hand.kRight))
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
"""liftleft = JoystickButton(robot.xbox1, XboxController.Button.kA)
lowerleft = JoystickButton(robot.xbox1, XboxController.Button.kB)
liftright = JoystickButton(robot.xbox1, XboxController.Button.kX)
lowerright = JoystickButton(robot.xbox1, XboxController.Button.kY)
liftfront = JoystickButton(robot.xbox1, XboxController.Button.kStickLeft)
lowerfront = JoystickButton(robot.xbox1, XboxController.Button.kStickRight)
liftrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperRight)
lowerrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperLeft)
lift = JoystickButton(robot.xbox1, XboxController.Button.kStart)
lower = JoystickButton(robot.xbox1, XboxController.Button.kBack)"""
#claw = JoystickButton(robot.xbox1, XboxController.Button.kY)
intake = JoystickButton(robot.xbox1, XboxController.Button.kA)
liftwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperRight)
lowerwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperLeft)
ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX)
triggerbutton = TriggerButton(robot.xbox0, .1)
punch = JoystickButton(robot.xbox0, XboxController.Button.kY)
punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY)
hatch = JoystickButton(robot.xbox0, XboxController.Button.kX)
#park = JoystickButton(robot.xbox0, XboxController.Button.kA)
"""liftleft.whileHeld(LiftLeft(robot))
lowerleft.whileHeld(LowerLeft(robot))
liftright.whileHeld(LiftRight(robot))
lowerright.whileHeld(LowerRight(robot))
liftfront.whileHeld(LiftFront(robot))#
lowerfront.whileHeld(LowerFront(robot#
liftrear.whileHeld(LiftRear(robot))
lowerrear.whileHeld(LowerRear(robot))#
lift.whileHeld(Lift(robot))
lower.whileHeld(Lower(robot))"""
triggerbutton.whenPressed(MoveArmWithTriggers(robot))
intake.toggleWhenPressed(IntakeCargo(robot))
ejectcargo.toggleWhenPressed(EjectCargo(robot))
#claw.toggleWhenPressed(OpenClaw(robot))
punch.whenPressed(Punch(robot))
punch.whenReleased(Pull(robot))
hatch.toggleWhenPressed(CoverHatch(robot))
liftwinch.whileHeld(LiftWinch(robot))
lowerwinch.whileHeld(LowerWinch(robot))
punchrear.whenPressed(PunchRear(robot))
punchrear.whenReleased(PullRear(robot))
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.kTriggerButton)
trigger.whenPressed(Crash())
return joystick
def init():
global driverOne
global driverTwo
driverOne = XboxController(robotmap.USB_PORT_DRIVER_ONE)
driverTwo = XboxController(robotmap.USB_PORT_DRIVER_TWO)
toggleLauncher = JoystickButton(driverTwo, robotmap.BUTTON_A)
toggleLauncher.whenPressed(LaunchHatchCommand())
toggleLauncher.whenReleased(RetractCommand())
toggleFront = JoystickButton(driverTwo, robotmap.BUTTON_RIGHT_BUMPER)
toggleFront.whenReleased(ToggleFrontCommand())
toggleRear = JoystickButton(driverTwo, robotmap.BUTTON_LEFT_BUMPER)
toggleRear.whenReleased(ToggleRearCommand())
class OI:
"""
Operator interface of the robot.
Manages commands to run based on driver input.
"""
def __init__(self, robot):
self.robot = robot
self.driver_joystick = wpilib.Joystick(0)
self.copilot_joystick = wpilib.Joystick(1)
self.driver_a_button = JoystickButton(self.driver_joystick, ctrlmap.BUTTON_A)
self.driver_b_button = JoystickButton(self.driver_joystick, ctrlmap.BUTTON_B)
self.driver_a_button.whenPressed(dcmds.SetDriveSpeedMult(robot, 1))
self.driver_b_button.whenPressed(dcmds.SetDriveSpeedMult(robot, 0.5))
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
hatch = JoystickButton(robot.xbox0, XboxController.Button.kX)
park = JoystickButton(robot.xbox0, XboxController.Button.kBack)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
triggerbutton = TriggerButton(robot.xbox0, .1)
stickbutton = StickButton(robot.xbox0, .1)
ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX)
intakecargo = JoystickButton(robot.xbox1, XboxController.Button.kA)
frontlift = JoystickButton(robot.xbox1, XboxController.Button.kStart)
rearlift = JoystickButton(robot.xbox1, XboxController.Button.kBack)
invertfront = JoystickButton(robot.xbox1,
XboxController.Button.kStickRight)
liftwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperRight)
lowerwinch = JoystickButton(robot.xbox1,
XboxController.Button.kBumperLeft)
punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY)
hatch.toggleWhenPressed(CoverHatch(robot))
park.whileHeld(Park(robot))
togglecamera.whenPressed(ToggleCamera(robot))
triggerbutton.whenPressed(MoveArmWithTriggers(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
ejectcargo.toggleWhenPressed(EjectCargo(robot))
intakecargo.toggleWhenPressed(IntakeCargo(robot))
frontlift.toggleWhenPressed(LiftFront(robot))
rearlift.toggleWhenPressed(LiftRear(robot))
invertfront.toggleWhenPressed(InvertFront(robot))
liftwinch.whileHeld(LiftWinch(robot))
lowerwinch.whileHeld(LowerWinch(robot))
punchrear.whenReleased(PullRear(robot))
punchrear.whenPressed(PunchRear(robot))
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
stickbutton = StickButton(robot.xbox0, .1)
shoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
block = JoystickButton(robot.xbox0, XboxController.Button.kY)
intake = JoystickButton(robot.xbox0, XboxController.Button.kX)
shiftup = JoystickButton(robot.xbox0,
XboxController.Button.kBumperRight)
shiftdown = JoystickButton(robot.xbox0,
XboxController.Button.kBumperLeft)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
class MyRobot(wpilib.IterativeRobot):
def robotInit(self):
Command.getRobot = lambda x=0: self
self.driveSubsystem = DriveSubsystem()
self.controller = Joystick(0)
self.forward = JoystickButton(self.controller, PS4Button["TRIANGLE"])
self.backward = JoystickButton(self.controller, PS4Button["CROSS"])
self.right = JoystickButton(self.controller, PS4Button["CIRCLE"])
self.left = JoystickButton(self.controller, PS4Button["SQUARE"])
self.forward.whenPressed(MoveForward())
self.forward.whenReleased(Stop())
self.backward.whenPressed(MoveBackward())
self.backward.whenReleased(Stop())
self.right.whenPressed(TurnRight())
self.right.whenReleased(Stop())
self.left.whenPressed(TurnLeft())
self.left.whenReleased(Stop())
def autonomousInit(self):
'''Called only at the beginning of autonomous mode'''
pass
def autonomousPeriodic(self):
'''Called every 20ms in autonomous mode'''
pass
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def disabledPeriodic(self):
'''Called every 20ms in disabled mode'''
pass
def teleopInit(self):
'''Called only at the beginning of teleoperated mode'''
pass
def teleopPeriodic(self):
'''Called every 20ms in teleoperated mode'''
Scheduler.getInstance().run()
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
stickbutton = StickButton(robot.xbox0, .1)
shoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
block = JoystickButton(robot.xbox0, XboxController.Button.kY)
intake = JoystickButton(robot.xbox0, XboxController.Button.kX)
shiftup = JoystickButton(robot.xbox0,
XboxController.Button.kBumperRight)
shiftdown = JoystickButton(robot.xbox0,
XboxController.Button.kBumperLeft)
triggerbutton = TriggerButton(robot.xbox1, .1)
extendclimber = JoystickButton(robot.xbox1, XboxController.Button.kA)
agitate = JoystickButton(robot.xbox0, XboxController.Button.kA)
#releaseshoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
eject = JoystickButton(robot.xbox0, XboxController.Button.kB)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
triggerbutton.whenPressed(Climbwithtriggers(robot))
extendclimber.toggleWhenPressed(Extendclimber(robot))
agitate.whileHeld(Agitate(robot))
#releaseshoot.whileHeld(ReleaseShoot(robot))
eject.whileHeld(Cuntake(robot))
def __init__ (self, robot): robot.joystick = wpilib.Joystick(0) robot.joystick1 = wpilib.Joystick(1) L3_button = JoystickButton(robot.joystick1, 9) LB_button = JoystickButton(robot.joystick1, 5) A_button = JoystickButton(robot.joystick1, 1) B_button = JoystickButton(robot.joystick1, 2) X_button = JoystickButton(robot.joystick1, 3) Y_button = JoystickButton(robot.joystick1, 4) L3_button.whenPressed(TurboDrive()) L3_button.whenReleased(FollowJoystick()) LB_button.whenPressed(Align()) LB_button.whenReleased(FollowJoystick()) X_button.whenPressed(MoveClawTo(power=-.5)) X_button.whenReleased(MoveClawTo(power=0)) B_button.whenPressed(MoveClawTo(power=.5)) B_button.whenReleased(MoveClawTo(power=0)) Y_button.whenPressed(MoveArmTo(power=-1)) Y_button.whenReleased(MoveArmTo(power=0)) A_button.whenPressed(MoveArmTo(power=1)) A_button.whenReleased(MoveArmTo(power=0))
class OI:
"""
OI defines the operator interface for Ares.
- two joysticks with many associated buttons
- smartdashboard widgets
"""
# Joysticks
k_driveStickPort = 0
k_launcherStickPort = 1
# DriveStick Commands - controls for driver:
# move, turn, throttle, intake, drive, intake ball
k_intakeBallButton = 3
k_aimIntakeButton = 4
k_driveStopIntakeWheelsButton = 5
k_aimNeutralButton = 6
k_turnThrottleButton = 8
k_driveStrightButton = 11 # experimental
# LauncherStick Commands - controls for mechanism operator:
# aim, shoot, portcullis
k_lightSwitchButton = 2
k_kickBallButton = 3
k_spinIntakeWheelsOutButton = 4
k_stopIntakeWheelsButton = 5
k_pcUpButton = 6 # Pc is portcullis
k_pcDownButton = 7
k_pcBarStopButton = 9
k_pcBarInButton = 10
k_pcBarOutButton = 11
# Auto positions are numbered (1-5), position 1 is special
k_LowBarPosition = 1
# Auto barrier
k_LowBarBarrier = 0
k_MoatBarrier = 1
k_RoughTerrainBarrier = 2
k_RockWallBarrier = 3
k_PortcullisBarrier = 4
k_RampartsBarrier = 5
# Auto strategy
k_NoMoveStrategy = 0
k_CrossStrategy = 1
k_CrossBlindShotStrategy = 2
k_CrossVisionShotStrategy = 3
def __init__(self, robot):
self.robot = robot
self.driveStick = wpilib.Joystick(OI.k_driveStickPort)
self.aimStick = wpilib.Joystick(OI.k_launcherStickPort)
self.initDriveTrain()
self.initLauncher()
self.initPortcullis()
self.initAutonomous()
self.initVision()
self.initSmartDashboard()
def initDriveTrain(self):
ds = self.driveStick
self.dtTurnThrottleButton = JoystickButton(ds, OI.k_turnThrottleButton)
# TODO: convert whileHeld/whenRealsed pair to a single command
self.dtTurnThrottleButton.whileHeld(DTCmds.TurnSpeedSlow(self.robot))
self.dtTurnThrottleButton.whenReleased(DTCmds.TurnSpeedFast(self.robot))
def initLauncher(self):
aS = self.aimStick
dS = self.driveStick
self.kickBallButton = JoystickButton(aS, OI.k_kickBallButton)
self.kickBallButton.whenPressed(ILCmds.LaunchBallCommandGroup(self.robot))
# TODO: Java code had two buttons for stop wheels
self.mechStopWheelsButton = JoystickButton(aS, OI.k_stopIntakeWheelsButton)
self.mechStopWheelsButton.whenPressed(ILCmds.StopWheelsCommand(self.robot))
self.grabBallButton = JoystickButton(dS, OI.k_intakeBallButton)
self.grabBallButton.whenPressed(ILCmds.IntakeBallCommandGroup(self.robot))
self.spinIntakeWheelsOutButton = JoystickButton(aS, OI.k_spinIntakeWheelsOutButton)
self.spinIntakeWheelsOutButton.whenPressed(ILCmds.SpinIntakeWheelsCommand(self.robot, "out"))
self.driveLauncherJumpToIntakeButton = JoystickButton(dS, OI.k_aimIntakeButton)
self.driveLauncherJumpToIntakeButton.whenPressed(ILCmds.LauncherGoToIntakeCommand(self.robot))
# TODO: Java code had two buttons for neutral
self.driveLauncherJumpToNeutralButton = JoystickButton(aS, OI.k_aimNeutralButton)
self.driveLauncherJumpToNeutralButton.whenPressed(ILCmds.LauncherGoToNeutralCommand(self.robot))
def initVision(self):
s = self.aimStick
self.lightSwitchButton = JoystickButton(s, OI.k_lightSwitchButton)
self.lightSwitchButton.whenPressed(VCmds.LightSwitchCmd(self.robot))
def initPortcullis(self):
s = self.aimStick
self.pcUpButton = JoystickButton(s, OI.k_pcUpButton)
self.pcUpButton.whenPressed(PCmds.MoveUp(self.robot))
self.pcDownButton = JoystickButton(s, OI.k_pcDownButton)
self.pcDownButton.whenPressed(PCmds.MoveDown(self.robot))
self.pcBarInButton = JoystickButton(s, OI.k_pcBarInButton)
self.pcBarInButton.whenPressed(PCmds.BarIn(self.robot))
self.pcBarOutButton = JoystickButton(s, OI.k_pcBarOutButton)
self.pcBarOutButton.whenPressed(PCmds.BarOut(self.robot))
self.pcBarStopButton = JoystickButton(s, OI.k_pcBarStopButton)
self.pcBarStopButton.whenPressed(PCmds.BarStop(self.robot))
def initAutonomous(self):
ch = SendableChooser()
ch.addDefault("1: Low Bar", self.k_LowBarPosition)
ch.addObject("2", 2)
ch.addObject("3", 3)
ch.addObject("4", 4)
ch.addObject("5", 5)
self.startingFieldPosition = ch
ch = SendableChooser()
ch.addDefault("Low Bar", self.k_LowBarBarrier)
ch.addObject("Moat", self.k_MoatBarrier)
ch.addObject("Rough Terrain", self.k_RoughTerrainBarrier)
ch.addObject("Rock Wall", self.k_RockWallBarrier)
ch.addObject("Portcullis", self.k_PortcullisBarrier)
ch.addObject("Ramparts", self.k_RampartsBarrier)
self.barrierType = ch
ch = SendableChooser()
ch.addDefault("None", self.k_NoMoveStrategy)
ch.addObject("Cross Only", self.k_CrossStrategy)
ch.addObject("Cross, Blind Shot", self.k_CrossBlindShotStrategy)
ch.addObject("Cross, Vision Shot",self.k_CrossVisionShotStrategy)
self.strategy = ch
def initSmartDashboard(self):
SmartDashboard.putData("AutoFieldPosition", self.startingFieldPosition)
SmartDashboard.putData("AutoBarrierType", self.barrierType)
SmartDashboard.putData("AutoStrategy", self.strategy)
def __init__(self, robot):
"""Warning: Metric tonnes of code here. May need to be tidied up a wee bit."""
self.stick_left = wpilib.Joystick(0)
self.pad = wpilib.Joystick(1)
self.smart_dashboard = NetworkTable.getTable("SmartDashboard")
#Buttons? Aw, man, I love buttons! *bleep bloop*
#-----------------------------------------------
# Create some buttons on the left stick (which is really not, but I don't wanna disturb the preexisting code).
left_trigger = JoystickButton(self.stick_left, 1)
left_thumb = JoystickButton(self.stick_left, 2)
left_three = JoystickButton(self.stick_left, 3)
left_four = JoystickButton(self.stick_left, 4)
left_five = JoystickButton(self.stick_left, 5)
left_six = JoystickButton(self.stick_left, 6)
left_seven = JoystickButton(self.stick_left, 7)
left_eight = JoystickButton(self.stick_left, 8)
left_nine = JoystickButton(self.stick_left, 9)
left_ten = JoystickButton(self.stick_left, 10)
left_eleven = JoystickButton(self.stick_left, 11)
left_twelve = JoystickButton(self.stick_left, 12)
#Create some POV stuff on the left stick, based on angles and the hat switch
left_north = POVButton(self.stick_left, 0)
left_northeast = POVButton(self.stick_left, 45)
left_east = POVButton(self.stick_left, 90)
left_southeast = POVButton(self.stick_left, 135)
left_south = POVButton(self.stick_left, 180)
left_southwest = POVButton(self.stick_left, 225)
left_west = POVButton(self.stick_left, 270)
left_northwest = POVButton(self.stick_left, 315)
#Keypad Buttons
g0 = JoystickButton(self.pad, 1)
g1 = KeyButton(self.smart_dashboard, 10)
g2 = KeyButton(self.smart_dashboard, 11)
g3 = KeyButton(self.smart_dashboard, 12)
g4 = KeyButton(self.smart_dashboard, 13)
g5 = KeyButton(self.smart_dashboard, 14)
g6 = KeyButton(self.smart_dashboard, 15)
g7 = KeyButton(self.smart_dashboard, 16)
g8 = KeyButton(self.smart_dashboard, 17)
g9 = KeyButton(self.smart_dashboard, 18)
g10 = KeyButton(self.smart_dashboard, 19)
g11 = KeyButton(self.smart_dashboard, 20)
g12 = KeyButton(self.smart_dashboard, 21)
g13 = KeyButton(self.smart_dashboard, 22)
g14 = KeyButton(self.smart_dashboard, 23)
g15 = KeyButton(self.smart_dashboard, 24)
g16 = KeyButton(self.smart_dashboard, 25)
g17 = KeyButton(self.smart_dashboard, 26)
g18 = KeyButton(self.smart_dashboard, 27)
g19 = KeyButton(self.smart_dashboard, 28)
g20 = KeyButton(self.smart_dashboard, 29)
g21 = KeyButton(self.smart_dashboard, 30)
g22 = KeyButton(self.smart_dashboard, 31)
topshift = KeyButton(self.smart_dashboard, 32)
bottomshift = KeyButton(self.smart_dashboard, 33)
# Connect buttons & commands
#---------------------------
#Bump commands
left_south.whenPressed(DriveStraight(robot, 0, .25, timeout=.25))
left_north.whenPressed(DriveStraight(robot, 0, -.25, timeout=.25))
left_east.whenPressed(DriveStraight(robot, .25, 0, timeout=.35))
left_west.whenPressed(DriveStraight(robot, -.25, 0, timeout=.35))
#Mast control
left_thumb.whileHeld(Shaker(robot))
left_five.whileHeld(MastButton(robot, .38))
left_six.whileHeld(MastButton(robot, -.38))
#SuperStrafe
left_seven.whenPressed(SuperStrafe64(robot, SuperStrafe64.kForward))
left_eight.whenPressed(SuperStrafe64(robot, SuperStrafe64.kBack))
left_nine.whenPressed(SuperStrafe64(robot, SuperStrafe64.kLeft))
left_ten.whenPressed(SuperStrafe64(robot, SuperStrafe64.kRight))
#Lift presets
g1.whileHeld(LiftGoToLevelShift(robot, 1, topshift, bottomshift))
g2.whileHeld(LiftGoToLevelShift(robot, 2, topshift, bottomshift))
g3.whileHeld(LiftGoToLevelShift(robot, 4, topshift, bottomshift))
g4.whileHeld(LiftGoToLevelShift(robot, 0, topshift, bottomshift))
g5.whenPressed(OpenClaw(robot))
g6.whenPressed(GrabTote(robot))
g7.whenPressed(GrabCan(robot))
#Never, under ANY circumstances, run these during a match.
#g9.whenPressed(RecordMacro(robot, "macro.csv"))
#g10.whenPressed(PlayMacro(robot, "macro.csv"))
#RecordMacro(robot, "macro.csv")
#PlayMacro(robot, "macro.csv")
g11.whenPressed(RecordMacro(robot, "macro_1.csv"))
g12.whenPressed(PlayMacro(robot, "macro_1.csv"))
#RecordMacro(robot, "macro_1.csv")
#PlayMacro(robot, "macro_1.csv")
#g13.whenPressed(RecordMacro(robot, "autonomous.csv"))
#g14.whenPressed(PlayMacro(robot, "autonomous.csv"))
#RecordMacro(robot, "autonomous.csv")
#PlayMacro(robot, "autonomous.csv")
#g15.whenPressed(RecordMacro(robot, "macro_3.csv"))
#g16.whenPressed(PlayMacro(robot, "macro_3.csv"))
#Winchy thing
g17.whileHeld(WinchButton(robot, .5))
g18.whileHeld(WinchButton(robot, -.5))
g19.whenPressed(GrabSpecialTote(robot))
#Mast
g20.whileHeld(MastBack(robot))
g21.whileHeld(MastLevel(robot))
g22.whileHeld(MastForward(robot))
def __init__(self, robot):
self.joy = wpilib.Joystick(0)
# Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", SetElevatorSetpoint(robot, 0));
SmartDashboard.putData("Elevator Platform", SetElevatorSetpoint(robot, 0.2));
SmartDashboard.putData("Elevator Top", SetElevatorSetpoint(robot, 0.3));
SmartDashboard.putData("Wrist Horizontal", SetWristSetpoint(robot, 0));
SmartDashboard.putData("Raise Wrist", SetWristSetpoint(robot, -45));
SmartDashboard.putData("Open Claw", OpenClaw(robot));
SmartDashboard.putData("Close Claw", CloseClaw(robot));
SmartDashboard.putData("Deliver Soda", Autonomous(robot));
# Create some buttons
d_up = JoystickButton(self.joy, 5)
d_right = JoystickButton(self.joy, 6)
d_down = JoystickButton(self.joy, 7)
d_left = JoystickButton(self.joy, 8)
l2 = JoystickButton(self.joy, 9)
r2 = JoystickButton(self.joy, 10)
l1 = JoystickButton(self.joy, 11)
r1 = JoystickButton(self.joy, 12)
# Connect the buttons to commands
d_up.whenPressed(SetElevatorSetpoint(robot, 0.2))
d_down.whenPressed(SetElevatorSetpoint(robot, -0.2))
d_right.whenPressed(CloseClaw(robot))
d_left.whenPressed(OpenClaw(robot))
r1.whenPressed(PrepareToPickup(robot))
r2.whenPressed(Pickup(robot))
l1.whenPressed(Place(robot))
l2.whenPressed(Autonomous(robot))
def __init__(self, robot):
"""Warning: Metric tonnes of code here. May need to be tidied up a wee bit."""
self.stick_left = wpilib.Joystick(0)
self.pad = wpilib.Joystick(1)
self.smart_dashboard = NetworkTable.getTable("SmartDashboard")
#Buttons? Aw, man, I love buttons! *bleep bloop*
#-----------------------------------------------
# Create some buttons on the left stick (which is really not, but I don't wanna disturb the preexisting code).
left_trigger = JoystickButton(self.stick_left, 1)
left_thumb = JoystickButton(self.stick_left, 2)
left_three = JoystickButton(self.stick_left, 3)
left_four = JoystickButton(self.stick_left, 4)
left_five = JoystickButton(self.stick_left, 5)
left_six = JoystickButton(self.stick_left, 6)
left_seven = JoystickButton(self.stick_left, 7)
left_eight = JoystickButton(self.stick_left, 8)
left_nine = JoystickButton(self.stick_left, 9)
left_ten = JoystickButton(self.stick_left, 10)
left_eleven = JoystickButton(self.stick_left, 11)
left_twelve = JoystickButton(self.stick_left, 12)
#Create some POV stuff on the left stick, based on angles and the hat switch
left_north = POVButton(self.stick_left, 0)
left_northeast = POVButton(self.stick_left, 45)
left_east = POVButton(self.stick_left, 90)
left_southeast = POVButton(self.stick_left, 135)
left_south = POVButton(self.stick_left, 180)
left_southwest = POVButton(self.stick_left, 225)
left_west = POVButton(self.stick_left, 270)
left_northwest = POVButton(self.stick_left, 315)
#Keypad Buttons
g0 = JoystickButton(self.pad, 1)
g1 = KeyButton(self.smart_dashboard, 10)
g2 = KeyButton(self.smart_dashboard, 11)
g3 = KeyButton(self.smart_dashboard, 12)
g4 = KeyButton(self.smart_dashboard, 13)
g5 = KeyButton(self.smart_dashboard, 14)
g6 = KeyButton(self.smart_dashboard, 15)
g7 = KeyButton(self.smart_dashboard, 16)
g8 = KeyButton(self.smart_dashboard, 17)
g9 = KeyButton(self.smart_dashboard, 18)
g10 = KeyButton(self.smart_dashboard, 19)
g11 = KeyButton(self.smart_dashboard, 20)
g12 = KeyButton(self.smart_dashboard, 21)
g13 = KeyButton(self.smart_dashboard, 22)
g14 = KeyButton(self.smart_dashboard, 23)
g15 = KeyButton(self.smart_dashboard, 24)
g16 = KeyButton(self.smart_dashboard, 25)
g17 = KeyButton(self.smart_dashboard, 26)
g18 = KeyButton(self.smart_dashboard, 27)
g19 = KeyButton(self.smart_dashboard, 28)
g20 = KeyButton(self.smart_dashboard, 29)
g21 = KeyButton(self.smart_dashboard, 30)
g22 = KeyButton(self.smart_dashboard, 31)
topshift = KeyButton(self.smart_dashboard, 32)
bottomshift = KeyButton(self.smart_dashboard, 33)
# Connect buttons & commands
#---------------------------
#Bump commands
left_south.whenPressed(DriveStraight(robot, 0, .25, timeout = .25))
left_north.whenPressed(DriveStraight(robot, 0, -.25, timeout = .25))
left_east.whenPressed(DriveStraight(robot, .25, 0, timeout = .35))
left_west.whenPressed(DriveStraight(robot, -.25, 0, timeout = .35))
#Mast control
left_thumb.whileHeld(Shaker(robot))
left_five.whileHeld(MastButton(robot, .38))
left_six.whileHeld(MastButton(robot, -.38))
#SuperStrafe
left_seven.whenPressed(SuperStrafe64(robot, SuperStrafe64.kForward))
left_eight.whenPressed(SuperStrafe64(robot, SuperStrafe64.kBack))
left_nine.whenPressed(SuperStrafe64(robot, SuperStrafe64.kLeft))
left_ten.whenPressed(SuperStrafe64(robot, SuperStrafe64.kRight))
#Lift presets
g1.whileHeld(LiftGoToLevelShift(robot, 1, topshift, bottomshift))
g2.whileHeld(LiftGoToLevelShift(robot, 2, topshift, bottomshift))
g3.whileHeld(LiftGoToLevelShift(robot, 4, topshift, bottomshift))
g4.whileHeld(LiftGoToLevelShift(robot, 0, topshift, bottomshift))
g5.whenPressed(OpenClaw(robot))
g6.whenPressed(GrabTote(robot))
g7.whenPressed(GrabCan(robot))
#Never, under ANY circumstances, run these during a match.
#g9.whenPressed(RecordMacro(robot, "macro.csv"))
#g10.whenPressed(PlayMacro(robot, "macro.csv"))
#RecordMacro(robot, "macro.csv")
#PlayMacro(robot, "macro.csv")
g11.whenPressed(RecordMacro(robot, "macro_1.csv"))
g12.whenPressed(PlayMacro(robot, "macro_1.csv"))
#RecordMacro(robot, "macro_1.csv")
#PlayMacro(robot, "macro_1.csv")
#g13.whenPressed(RecordMacro(robot, "autonomous.csv"))
#g14.whenPressed(PlayMacro(robot, "autonomous.csv"))
#RecordMacro(robot, "autonomous.csv")
#PlayMacro(robot, "autonomous.csv")
#g15.whenPressed(RecordMacro(robot, "macro_3.csv"))
#g16.whenPressed(PlayMacro(robot, "macro_3.csv"))
#Winchy thing
g17.whileHeld(WinchButton(robot, .5))
g18.whileHeld(WinchButton(robot, -.5))
g19.whenPressed(GrabSpecialTote(robot))
#Mast
g20.whileHeld(MastBack(robot))
g21.whileHeld(MastLevel(robot))
g22.whileHeld(MastForward(robot))
def __init__(self, robot):
self.joy = wpilib.Joystick(0)
# Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom",
SetElevatorSetpoint(robot, 0))
SmartDashboard.putData("Elevator Platform",
SetElevatorSetpoint(robot, 0.2))
SmartDashboard.putData("Elevator Top", SetElevatorSetpoint(robot, 0.3))
SmartDashboard.putData("Wrist Horizontal", SetWristSetpoint(robot, 0))
SmartDashboard.putData("Raise Wrist", SetWristSetpoint(robot, -45))
SmartDashboard.putData("Open Claw", OpenClaw(robot))
SmartDashboard.putData("Close Claw", CloseClaw(robot))
SmartDashboard.putData("Deliver Soda", Autonomous(robot))
# Create some buttons
d_up = JoystickButton(self.joy, 5)
d_right = JoystickButton(self.joy, 6)
d_down = JoystickButton(self.joy, 7)
d_left = JoystickButton(self.joy, 8)
l2 = JoystickButton(self.joy, 9)
r2 = JoystickButton(self.joy, 10)
l1 = JoystickButton(self.joy, 11)
r1 = JoystickButton(self.joy, 12)
# Connect the buttons to commands
d_up.whenPressed(SetElevatorSetpoint(robot, 0.2))
d_down.whenPressed(SetElevatorSetpoint(robot, -0.2))
d_right.whenPressed(CloseClaw(robot))
d_left.whenPressed(OpenClaw(robot))
r1.whenPressed(PrepareToPickup(robot))
r2.whenPressed(Pickup(robot))
l1.whenPressed(Place(robot))
l2.whenPressed(Autonomous(robot))
def __init__(self, robot):
self.robot = robot
self.left_joy = robot.left_joy
self.right_joy = robot.right_joy
self.xbox = robot.xbox
# First character indicates self.right or self.left,
# second indicates position,
# third indicates which button of the position specified
# Ex: ltop0 is self.left top 0
'''
JoystickButton and Xbox button assignments
'''
ltop1 = JoystickButton(self.left_joy, 1)
ltop2 = JoystickButton(self.left_joy, 2)
ltop3 = JoystickButton(self.left_joy, 3)
ltop4 = JoystickButton(self.left_joy, 4)
ltop5 = JoystickButton(self.left_joy, 5)
ltop6 = JoystickButton(self.left_joy, 6)
rtop1 = JoystickButton(self.right_joy, 1)
rtop2 = JoystickButton(self.right_joy, 2)
rtop3 = JoystickButton(self.right_joy, 3)
rtop4 = JoystickButton(self.right_joy, 4)
rtop5 = JoystickButton(self.right_joy, 5)
rtop6 = JoystickButton(self.right_joy, 6)
xboxX = JoystickButton(self.xbox, 3)
xboxY = JoystickButton(self.xbox, 4)
xboxB = JoystickButton(self.xbox, 2)
xboxA = JoystickButton(self.xbox, 1)
xboxLB = JoystickButton(self.xbox, 5)
xboxRB = JoystickButton(self.xbox, 6)
#xbox_left_XY = self.xbox.getY(9)
#self.xbox_XY = JoystickButton(self.xbox, 9)
self.xbox_left_XY = self.xbox.getX()
xboxBACK = JoystickButton(self.xbox, 7)
xboxSTART = JoystickButton(self.xbox, 8)
# whenActive and whenInactive allows toggle between 2 commands
'''
Joystick 0 / Left Joystick Commands
'''
# Button 1 causes cargo motor to spin outwards for 0.5s
#ltop1.whileHeld(Do_Cargo_Eject(robot))
# Button 2 shuts down arm
#ltop2.whileHeld(Do_Die_You_Gravy_Sucking_Pig(robot))
#XXX
#ltop4.whenPressed(Do_Encoder_Check(robot))
ltop5.whileHeld(Do_Beak_Open(robot))
'''
Joystick 1 / Right Joystick Commands
'''
# Button 2 toggles shifters
rtop2.toggleWhenPressed(Do_Shifters_Toggle(robot))
# All the way back, 0 deg
# for testing in sim
#rtop5.whenPressed(Do_Axis_Button_5(robot))
'''
Joystick 2 / Xbox Controller Commands
'''
#xboxSTART.whenPressed(Command_Ramp(robot))
# Y = Defence Position (straight up)
#xboxY.whenPressed(Command_Defense(robot))
# B = Hatch Panel Intake (front of robot)
# B for BEAK
xboxB.whileHeld(Do_Beak_Open(robot))
# Out of Frame
xboxX.whenPressed(Do_Four_Bar(robot))
# In frame
xboxA.whenPressed(Do_Undo_Four_Bar(robot))
class OI(object):
"""
The operator interface of the robot. Note we use competition_mode to determine if we will
initialize a second joystick
"""
def __init__(self, robot):
self.robot = robot
if not robot.debug:
self.initialize_joysitics()
else:
self.stick = wpilib.Joystick(0)
# SmartDashboard Buttons - test some autonomous commands here
SmartDashboard.putNumber("Auto Distance", 10)
SmartDashboard.putNumber("Auto Rotation", 10)
SmartDashboard.putData("Drive Forward", AutonomousDrive(robot, setpoint=None, control_type='position', timeout=6))
SmartDashboard.putData("Rotate X", AutonomousRotate(robot, setpoint=None, timeout=6))
SmartDashboard.putData("Update Pos PIDs", (UpdatePIDs(robot, factor=1, from_dashboard='position')))
SmartDashboard.putData("Update Vel PIDs", (UpdatePIDs(robot, factor=1, from_dashboard='velocity')))
def initialize_joysitics(self):
robot = self.robot
self.stick = wpilib.Joystick(0)
self.buttonA = JoystickButton(self.stick, 1)
self.buttonB = JoystickButton(self.stick, 2)
self.buttonX = JoystickButton(self.stick, 3)
self.buttonY = JoystickButton(self.stick, 4)
self.buttonLB = JoystickButton(self.stick, 5)
self.buttonRB = JoystickButton(self.stick, 6)
self.buttonBack = JoystickButton(self.stick, 7)
self.buttonStart = JoystickButton(self.stick, 8)
self.povButtonUp = POVButton(self.stick, 0)
self.povButtonDown = POVButton(self.stick, 180)
self.povButtonRight = POVButton(self.stick, 90)
self.povButtonLeft = POVButton(self.stick, 270)
self.axisButtonLT = AxisButton(self.stick, 2)
self.axisButtonRT = AxisButton(self.stick, 3)
# binding button to commands
self.axisButtonRT.whenPressed(Intake(robot, power=0, button=self.axisButtonRT))
self.axisButtonLT.whenPressed(Intake(robot, power=0, button=self.axisButtonLT))
self.buttonRB.whenPressed(ActuateGate(robot, direction="open"))
self.buttonLB.whenPressed(ActuateGate(robot, direction="close"))
self.buttonA.whenPressed(UpdatePIDs(robot,1.5, from_dashboard=False))
self.buttonB.whenPressed(UpdatePIDs(robot,0.66, from_dashboard=False))
self.buttonX.whenPressed(PneumaticPiston(robot, 'open'))
self.buttonY.whenPressed(PneumaticPiston(robot, 'close'))
#self.buttonLB.whenPressed(AutonomousDrive(robot, setpoint=250, control_type='velocity', button=self.buttonLB, from_dashboard=False))
#self.buttonRB.whenPressed(AutonomousDrive(robot, setpoint=500, control_type='velocity', button=self.buttonRB, from_dashboard=False))
# self.buttonBack.whenPressed
# self.buttonStart.whenPressed
# self.axisButtonLT.whenPressed
# self.axisButtonRT.whenPressed
self.povButtonUp.whenPressed(DpadDrive(robot,"up",self.povButtonUp))
self.povButtonDown.whenPressed(DpadDrive(robot, "down", self.povButtonDown))
self.povButtonRight.whenPressed(DpadDrive(robot, "right", self.povButtonRight))
self.povButtonLeft.whenPressed(DpadDrive(robot, "left", self.povButtonLeft))
# add/change bindings if we are using more than one joystick
self.competition_mode = True
if self.competition_mode:
self.co_stick = wpilib.Joystick(1)
self.co_buttonA = JoystickButton(self.co_stick, 1)
self.co_buttonB = JoystickButton(self.co_stick, 2)
self.co_buttonX = JoystickButton(self.co_stick, 3)
self.co_buttonY = JoystickButton(self.co_stick, 4)
self.co_buttonLB = JoystickButton(self.co_stick, 5)
self.co_buttonRB = JoystickButton(self.co_stick, 6)
self.co_buttonBack = JoystickButton(self.co_stick, 7)
self.co_buttonStart = JoystickButton(self.co_stick, 8)
self.co_povButtonUp = POVButton(self.co_stick, 0)
self.co_povButtonDown = POVButton(self.co_stick, 180)
self.co_povButtonRight = POVButton(self.co_stick, 90)
self.co_povButtonLeft = POVButton(self.co_stick, 270)
self.co_axisButtonLT = AxisButton(self.co_stick, 2)
self.co_axisButtonRT = AxisButton(self.co_stick, 3)
# co-pilot joystick to commands
self.co_axisButtonRT.whenPressed(Intake(robot, power=0, button=self.co_axisButtonRT))
self.co_axisButtonLT.whenPressed(Intake(robot, power=0, button=self.co_axisButtonLT))
self.co_buttonRB.whenPressed(ActuateGate(robot, direction="open"))
self.co_buttonLB.whenPressed(ActuateGate(robot, direction="close"))
self.co_buttonA.whenPressed(PanelSpinner(robot, button=self.co_buttonA, power=0))
self.co_povButtonUp.whenPressed(DpadDrive(robot, "up", self.co_povButtonUp))
self.co_povButtonDown.whenPressed(DpadDrive(robot, "down", self.co_povButtonDown))
self.co_povButtonRight.whenPressed(DpadDrive(robot, "right", self.co_povButtonRight))
self.co_povButtonLeft.whenPressed(DpadDrive(robot, "left", self.co_povButtonLeft))
def getJoystick(self):
return self.stick
