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 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())