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, port=0): super().__init__("Get Controller Values") self.setRunWhenDisabled(True) self.joystick = Joystick(port) self.numOfAxes = self.joystick.ds.joystickAxes[port].count self.numOfButtons = self.joystick.ds.joystickButtons[port].count
def getJoystick(num): joystick0 = Joystick(0) joystick1 = Joystick(1) xbox = Xbox(2) if num == 0: return joystick0 elif num == 1: return joystick1 elif num == 2: return xbox
def createObjects(self): self.chassis_left_motor_master = WPI_TalonSRX(1) self.chassis_left_motor_slave = WPI_TalonSRX(2) self.chassis_right_motor_master = WPI_TalonSRX(3) self.chassis_right_motor_slave = WPI_TalonSRX(4) self.chassis_navx = AHRS.create_spi() self.joystick = Joystick(0)
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
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 init(): global joystick joystick = Joystick(0) crossbow_open = JoystickButton(joystick, 1) crossbow_open.whenPressed(CrossBow())
def __init__(self): # Create Joysticks self._driveJoy = XboxController(0) self._cyController = Joystick(1) # Create Buttons self._blastenTheHatches = JoystickButton(self._driveJoy, 2) self._servoOpen = JoystickButton(self._driveJoy, 4) self._servoHalf = JoystickButton(self._driveJoy, 3) self._servoClose = JoystickButton(self._driveJoy, 1) self._suplexButton = JoystickButton(self._driveJoy, 8) self._backButton = JoystickButton(self._driveJoy, 7) # Testing self._moveMastUpButton = JoystickButton(self._cyController, 8) self._moveMastDownButton = JoystickButton(self._cyController, 9) # Connect Buttons to Commands hatchEffector = Command.getRobot().hatchEffector self._blastenTheHatches.whileHeld(hatchEffector.ParallelShoot(hatchEffector)) self._servoOpen.whileHeld(hatchEffector.ServoOpen(hatchEffector)) self._servoHalf.whileHeld(hatchEffector.ServoHalf(hatchEffector)) self._servoClose.whileHeld(hatchEffector.ServoClose(hatchEffector)) suplex = Command.getRobot().suplex self._suplexButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.UP)) self._backButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.DOWN)) mastyBoi = Command.getRobot().mastyBoi self._moveMastUpButton.whileHeld(mastyBoi.HoistTheColors(mastyBoi)) self._moveMastDownButton.whileHeld(mastyBoi.RetrieveTheColors(mastyBoi))
def getJoystick(): joystick = Joystick(0) trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger) return joystick
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(): ''' Assign commands to button actions, and publish your joysticks so you can read values from them later. ''' global joystick joystick = Joystick(0)
class Robot(MagicRobot): pid_controller: PIDControl chassis: Chassis joystick: Joystick pid_drive: piddrive def createObjects(self): self.chassis_left_motor_master = WPI_TalonSRX(1) self.chassis_left_motor_slave = WPI_TalonSRX(2) self.chassis_right_motor_master = WPI_TalonSRX(3) self.chassis_right_motor_slave = WPI_TalonSRX(4) self.chassis_navx = AHRS.create_spi() self.joystick = Joystick(0) def teleopPeriodic(self): self.chassis.set_speed(-self.joystick.getY(), -self.joystick.getThrottle())
class ControllerDebugCommand(Command): def __init__(self, port=0): super().__init__("Get Controller Values") self.setRunWhenDisabled(True) self.joystick = Joystick(port) self.numOfAxes = self.joystick.ds.joystickAxes[port].count self.numOfButtons = self.joystick.ds.joystickButtons[port].count def execute(self): for i in range(0, self.numOfAxes): value = self.joystick.getRawAxis(i) if abs(value) >= 0.5: print("Axis %d: %f" % (i, value)) for i in range(1, self.numOfButtons): if self.joystick.getRawButtonPressed(i): print("Button %d Pressed" % i)
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(): ''' 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 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 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
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 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 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())
def init(): ''' Assign commands to button actions, and publish your joysticks so you can read values from them later. ''' global joystick joystick = Joystick(0) brakeButton = JoystickButton(joystick, RobotMap.buttons.brake) brakeButton.whileHeld(Brake()) # resetRevolutionsButton = JoystickButton(joystick, RobotMap.buttons.resetRevolutions) # resetRevolutionsButton.whenPressed(ResetRevolutions()) preciseDriveButton = JoystickButton(joystick, RobotMap.buttons.preciseDrive) preciseDriveButton.whileHeld(PreciseDriveWithJoystick()) # climbButton = JoystickButton(joystick, RobotMap.buttons.climb) # climbButton.whileHeld(Climb()) # dropButton = JoystickButton(joystick, RobotMap.buttons.drop) # dropButton.whileHeld(Drop()) # stopClimbButton = JoystickButton(joystick, RobotMap.buttons.stopClimb) # stopClimbButton.whileHeld(StopClimb()) # suckCubeButton = JoystickButton(joystick, RobotMap.buttons.suckCube) # suckCubeButton.whileHeld(SuckCube()) retractCubeButton = JoystickButton(joystick, RobotMap.buttons.retractCube) retractCubeButton.whileHeld(RetractCube()) retractCubeButton2 = JoystickButton(joystick, RobotMap.buttons.retractCube2) retractCubeButton2.whileHeld(RetractCube()) winchUpButton = JoystickButton(joystick, RobotMap.buttons.winchUp) winchUpButton.whileHeld(WinchUp()) winchDownButton = JoystickButton(joystick, RobotMap.buttons.winchDown) winchDownButton.whileHeld(WinchDown())
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 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 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 getJoystick(): global joystick if (joystick is None): joystick = Joystick(0) trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger) return joystick
def getRightStick(): rightStick = Joystick(1).getY() return rightStick
def getLeftStick(): leftStick = Joystick(0).getY() return leftStick
def getTurn(): leftTurn = Joystick(0).getX() return leftTurn
def flipButton(): flip = Joystick(1).getButton(1) # right trigger return flip
def halfSpeedButton(): halfSpeed = Joystick(0).getButton(1) # left trigger return halfSpeed