def __init__(self, pin):
self._value = 0
# setup gpiozero to call increment on each when_activated
encoder = DigitalInput(5)
encoder.when_activated = self._increment
encoder.when_deactivated = self._increment
def __init__(self, robot):
super().__init__("Arm")
self.robot = robot
self.peakCurrentLimit = 30
self.PeaKDuration = 50
self.continuousLimit = 15
motor = {}
for name in self.robot.RobotMap.motorMap.motors:
motor[name] = self.robot.Creator.createMotor(self.robot.RobotMap.motorMap.motors[name])
self.motors = motor
for name in self.motors:
self.motors[name].setInverted(self.robot.RobotMap.motorMap.motors[name]['inverted'])
# drive current limit
self.motors[name].configPeakCurrentLimit(self.peakCurrentLimit, 10)
self.motors[name].configPeakCurrentDuration(self.PeaKDuration, 10)
self.motors[name].configContinuousCurrentLimit(self.continuousLimit, 10)
self.motors[name].enableCurrentLimit(True)
self.AEnc = Encoder(4, 5, False, Encoder.EncodingType.k4X)
self.Zero = DigitalInput(6)
self.kp = 0.00035
self.ki = 0.00000000001
self.kd = 0.0000001
self.ArmPID = PID(self.kp, self.ki, self.kd)
def __init__(self):
self.left_fly = CANTalon(motor_map.left_fly_motor)
self.right_fly = CANTalon(motor_map.right_fly_motor)
self.intake_main = CANTalon(motor_map.intake_main_motor)
self.intake_mecanum = Talon(motor_map.intake_mecanum_motor)
self.ball_limit = DigitalInput(sensor_map.ball_limit)
self.intake_mecanum.setInverted(True)
self.left_fly.reverseOutput(True)
self.left_fly.enableBrakeMode(False)
self.right_fly.enableBrakeMode(False)
self.left_fly.setControlMode(CANTalon.ControlMode.Speed)
self.right_fly.setControlMode(CANTalon.ControlMode.Speed)
self.left_fly.setPID(sensor_map.shoot_P, sensor_map.shoot_I,
sensor_map.shoot_D, sensor_map.shoot_F,
sensor_map.shoot_Izone, sensor_map.shoot_RR,
sensor_map.shoot_Profile)
self.right_fly.setPID(sensor_map.shoot_P, sensor_map.shoot_I,
sensor_map.shoot_D, sensor_map.shoot_F,
sensor_map.shoot_Izone, sensor_map.shoot_RR,
sensor_map.shoot_Profile)
self.left_fly.setFeedbackDevice(CANTalon.FeedbackDevice.EncRising)
self.right_fly.setFeedbackDevice(CANTalon.FeedbackDevice.EncRising)
self.left_fly.configEncoderCodesPerRev(sensor_map.shoot_codes_per_rev)
self.right_fly.configEncoderCodesPerRev(sensor_map.shoot_codes_per_rev)
def __init__(self, robot):
super().__init__("shooter")
self.robot = robot
self.counter = 0 # used for updating the log
self.feed_forward = 3.5 # default volts to give the flywheel to get close to setpoint, optional
# motor controllers
self.sparkmax_flywheel = rev.CANSparkMax(5, rev.MotorType.kBrushless)
self.spark_hood = Talon(5)
self.spark_feed = Talon(7)
# encoders and PID controllers
self.hood_encoder = Encoder(
4,
5) # generic encoder - we'll have to install one on the 775 motor
self.hood_encoder.setDistancePerPulse(1 / 1024)
self.hood_controller = wpilib.controller.PIDController(Kp=0.005,
Ki=0,
Kd=0.0)
self.hood_setpoint = 5
self.hood_controller.setSetpoint(self.hood_setpoint)
self.flywheel_encoder = self.sparkmax_flywheel.getEncoder(
) # built-in to the sparkmax/neo
self.flywheel_controller = self.sparkmax_flywheel.getPIDController(
) # built-in PID controller in the sparkmax
# limit switches, use is TBD
self.limit_low = DigitalInput(6)
self.limit_high = DigitalInput(7)
def __init__(self, channel, module=1, reverse=False):
"""
Initializes the switch on some digital channel and module.
Normally assumes switches are active low.
"""
super().__init__()
self.s = DigitalInput(module, channel)
self.reverse = reverse
def __init__(self, robot):
super().__init__("Climb")
self.robot = robot
self.winchMotor = Spark(robotmap.CLIMBWINCH)
self.armUpSolenoid = Solenoid(robotmap.CLIMBARM_UP)
self.armDownSolenoid = Solenoid(robotmap.CLIMBARM_DOWN)
self.lockCloseSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_CLOSE)
self.lockOpenSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_OPEN)
self.hookLimit = DigitalInput(robotmap.LIMIT_SWITCH_HOOK)
def __init__(self):
super().__init__()
self._l_motor = Talon(constants.motor_intake_l)
self._r_motor = Talon(constants.motor_intake_r)
self._intake_piston = Solenoid(constants.solenoid_intake)
self._photosensor = DigitalInput(constants.far_photosensor)
self._left_pwm = 0
self._right_pwm = 0
self._open = False
def compute_speed(
self,
speed: float,
upper_switch: wpilib.DigitalInput,
lower_switch: wpilib.DigitalInput,
) -> float:
if not upper_switch.get() and speed > 0:
return speed
elif not lower_switch.get() and speed < 0:
return speed
else:
return 0
def __init__(self):
self.clockwise_limit_switch = DigitalInput(
TURRET_CLOCKWISE_LIMIT_SWITCH)
self.counterclockwise_limit_switch = DigitalInput(
TURRET_COUNTERCLOCKWISE_LIMIT_SWITCH)
self.turn_motor = SparkMax(TURRET_TURN_MOTOR)
self.turn_pid = PIDController(0.4, 0.001, 0.02)
self.shoot_motor_1 = Falcon(TURRET_SHOOT_MOTORS[0])
self.shoot_motor_2 = Falcon(TURRET_SHOOT_MOTORS[1])
self.timer = Timer()
self.limelight = Limelight()
def initialize(self):
timeout = 15
self.wristPowerSet = 0
SmartDashboard.putNumber("Wrist Power Set", self.wristPowerSet)
self.maxVolts = 10
self.wristUpVolts = 4
self.wristDownVolts = -4
self.xbox = oi.getJoystick(2)
self.out = 0
#below is the talon on the intake
self.intake = Talon(map.intake)
self.intake.setNeutralMode(2)
self.intake.configVoltageCompSaturation(self.maxVolts)
self.intake.configContinuousCurrentLimit(20,
timeout) #20 Amps per motor
self.intake.configPeakCurrentLimit(
30, timeout) #30 Amps during Peak Duration
self.intake.configPeakCurrentDuration(
100, timeout) #Peak Current for max 100 ms
self.intake.enableCurrentLimit(True)
#Talon motor object created
self.wrist = Talon(map.wrist)
if not wpilib.RobotBase.isSimulation():
self.wrist.configFactoryDefault()
self.wrist.setInverted(True)
self.wrist.configVoltageCompSaturation(self.maxVolts)
self.wrist.setNeutralMode(2)
self.wrist.configClearPositionOnLimitF(True)
self.wrist.configContinuousCurrentLimit(20,
timeout) #20 Amps per motor
self.wrist.configPeakCurrentLimit(
30, timeout) #30 Amps during Peak Duration
self.wrist.configPeakCurrentDuration(
100, timeout) #Peak Current for max 100 ms
self.wrist.enableCurrentLimit(True)
self.bottomSwitch = DI(map.bottomSwitch)
self.topSwitch = DI(map.topSwitch)
class ClimbSubsystem(Subsystem):
def __init__(self, robot):
super().__init__("Climb")
self.robot = robot
self.winchMotor = Spark(robotmap.CLIMBWINCH)
self.armUpSolenoid = Solenoid(robotmap.CLIMBARM_UP)
self.armDownSolenoid = Solenoid(robotmap.CLIMBARM_DOWN)
self.lockCloseSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_CLOSE)
self.lockOpenSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_OPEN)
self.hookLimit = DigitalInput(robotmap.LIMIT_SWITCH_HOOK)
def pullyclimb(self, speed):
self.winchMotor.set(speed)
def armExtend(self):
self.armUpSolenoid.set(True)
self.armDownSolenoid.set(False)
def armRetract(self):
self.armUpSolenoid.set(False)
self.armDownSolenoid.set(True)
def clampLock(self):
self.lockCloseSolenoid.set(True)
self.lockOpenSolenoid.set(False)
def clampOpen(self):
self.lockCloseSolenoid.set(False)
self.lockOpenSolenoid.set(True)
def isHookPressed(self):
return self.hookLimit.get() == False
def __init__(self, robot):
super().__init__()
# Capslock because its a constant?
# Added to current angle to account for max angle recalibration
# Motors
self.arm_motors = Arm_Motors()
#limit = Back_Switch()
#self.back_switch = limit.back_switch
# Encoders
#self.l_arm_encoder = My_Arm_Encoder(0,1)
self.l_arm_encoder = My_Arm_Encoder(9, 10)
self.limit_switch = DigitalInput(8)
#self.l_arm_encoder = wpilib.Encoder(0, 1)
# By empirical test
self.max_click_rate = 318.0
# For getting encoder and accounting for limits and error
# Arm starts in downward position
self.arm_min_or_max = 0
#XXX experimentally tested
self.max_ticks = 434
self.last_encoder = 0
# For creating the profile (arm profile)
self.x_axis_ticks = []
# XXX angle max may be wrong
self.angle_max = 150
# Slope of profile
self.max_accel = 0.536
self.min_decel = 0.536
self.time = 10
def init():
"""
Initialize switch objects.
"""
global gear_mech_switch
gear_mech_switch = DigitalInput(robotmap.switches.gear_switch_channel)
def __init__(self, robot, name=None):
super().__init__(name=name)
self.robot = robot
self.launchMin = self.k_launchMin
self.launchMax = self.k_launchMax
self.launchRange = self.launchMax - self.launchMin
self.controlMode = None
self.visionState = robot.visionState
self.intakeLeftMotor = CANTalon(robot.map.k_IlLeftMotorId)
self.intakeLeftMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
self.intakeLeftMotor.reverseSensor(True)
self.intakeLeftMotor.setSafetyEnabled(False)
self.intakeRightMotor = CANTalon(robot.map.k_IlRightMotorId)
self.intakeRightMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
self.intakeRightMotor.setSafetyEnabled(False)
self.aimMotor = CANTalon(robot.map.k_IlAimMotorId)
# LiveWindow.addActuator("IntakeLauncher", "AimMotor", self.aimMotor)
if self.aimMotor.isSensorPresent(CANTalon.FeedbackDevice.AnalogPot):
self.aimMotor.setSafetyEnabled(False)
self.aimMotor.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot)
self.aimMotor.enableLimitSwitch(True, True)
self.aimMotor.enableBrakeMode(True)
self.aimMotor.setAllowableClosedLoopErr(5)
self.aimMotor.configPeakOutpuVoltage(12.0, -12.0)
self.aimMotor.setVoltageRampRate(150)
# TODO: setPID if needed
self.boulderSwitch = DigitalInput(robot.map.k_IlBoulderSwitchPort)
self.launcherServoLeft = Servo(robot.map.k_IlServoLeftPort)
self.launcherServoRight = Servo(robot.map.k_IlServoRightPort)
def init():
global drive_left_encoder, drive_right_encoder, elevator_encoder, gyro, back_photosensor, side_photosensor, pdp
drive_left_encoder = Encoder(6, 7)
drive_left_encoder.setDistancePerPulse(_drive_encoder_scale())
drive_right_encoder = Encoder(4, 5)
drive_right_encoder.setDistancePerPulse(_drive_encoder_scale())
elevator_encoder = Encoder(0, 1, True)
elevator_encoder.setDistancePerPulse(_elevator_encoder_scale())
gyro = Gyro(0)
back_photosensor = DigitalInput(8)
side_photosensor = DigitalInput(3)
pdp = PowerDistributionPanel()
def __init__(self, Robot):
self._intake = Robot.intake
self._drive = Robot.drive
self._ramp = 0
self._rampSpeed = 6
self._LiftMotorLeft = SyncGroup(LIFT_MOTOR_LEFT_IDS, WPI_VictorSPX)
self._LiftMotorRight = SyncGroup(LIFT_MOTOR_RIGHT_IDS, WPI_VictorSPX)
self._LiftMotorLeft.setInverted(True)
self._liftEncoder = Encoder(LIFT_ENCODER_A, LIFT_ENCODER_B, False,
Encoder.EncodingType.k4X)
self._liftEncoder.setDistancePerPulse(1)
self._liftHallaffect = DigitalInput(HALL_DIO)
self.zeroEncoder()
self._liftPID = MiniPID(*LIFT_PID)
self._liftPID.setOutputLimits(-0.45, 1)
self.disableSpeedLimit = False
def __init__(self, robot):
super().__init__()
self.robot = robot
self.armMotor = CANTalon(4)
self.wheelMotor = CANTalon(5)
self.frontSwitch = DigitalInput(8)
self.backSwitch = DigitalInput(9)
self.comp = Compressor()
self.comp.enabled()
self.armMotor.enableBrakeMode(True)
self.wheelMotor.enableBrakeMode(True)
self.potentiometer = AnalogPotentiometer(3, 270, -193)
#self.pidArm = PIDController(0.0, 0.0, 0.0, 0.0, self.potentiometer, self.armMotor, 0.02)
self.position = 0
def __init__(self, channel, module=1, reverse=False):
"""
Initializes the switch on some digital channel and module.
Normally assumes switches are active low.
"""
super().__init__()
self.s = DigitalInput(channel)
self.reverse = reverse
def __init__(self, robot):
Subsystem.__init__(self, 'Conveyor')
self.robot = robot
self.blaser = DigitalInput(3)
motors = {}
self.map = self.robot.botMap
for name in self.map.motorMap.motors:
motors[name] = self.robot.Creator.createMotor(
self.map.motorMap.motors[name])
self.cMotors = motors
for name in self.cMotors:
self.cMotors[name].setInverted(
self.map.motorMap.motors[name]['inverted'])
self.cMotors[name].setNeutralMode(ctre.NeutralMode.Coast)
class Intake(Component):
def __init__(self):
super().__init__()
self._l_motor = Talon(constants.motor_intake_l)
self._r_motor = Talon(constants.motor_intake_r)
self._intake_piston = Solenoid(constants.solenoid_intake)
self._photosensor = DigitalInput(constants.far_photosensor)
self._left_pwm = 0
self._right_pwm = 0
self._open = False
def update(self):
self._l_motor.set(self._left_pwm)
self._r_motor.set(self._right_pwm)
self._intake_piston.set(not self._open)
def spin(self, power, same_direction=False):
self._left_pwm = power
self._right_pwm = power * (1 if same_direction else -1)
def intake_tote(self):
power = .3 if not self._photosensor.get() else .75
self.spin(power)
def intake_bin(self):
power = .3 if not self._photosensor.get() else .65
self.spin(power)
def open(self):
self._open = True
def close(self):
self._open = False
def stop(self):
"""Disables EVERYTHING. Only use in case of critical failure"""
self._l_motor.set(0)
self._r_motor.set(0)
def __init__(self):
self.encoderUnit = 4096
self.gearRatio = 93.33
self.armSpeedMultiplier = 1
self.armBottomLimit = 5
self.armUpperLimit = 200
self.resetValue = 0
self.bottomLimitSwitch = DigitalInput(ArmLimitSwitch)
self.armMotor1 = CANSparkMax(armBaseMotor1,MotorType.kBrushless)
self.armMotor2 = CANSparkMax(armBaseMotor2,MotorType.kBrushless)
self.armEncoder1 = self.armMotor1.getEncoder()
self.armEncoder2 = self.armMotor2.getEncoder()
self.currentArmPower = 0
self.isOverride = False
def __init__(self):
super().__init__()
self._motor = SyncGroup(Talon, constants.motor_elevator)
self._position_encoder = Encoder(*constants.encoder_elevator)
self._photosensor = DigitalInput(constants.photosensor)
self._stabilizer_piston = Solenoid(constants.solenoid_dropper)
self._position_encoder.setDistancePerPulse(
(PITCH_DIAMETER * math.pi) / TICKS_PER_REVOLUTION)
# Trajectory controlling stuff
self._follower = TrajectoryFollower()
self.assure_tote = CircularBuffer(5)
self.auto_stacking = True # Do the dew
self._tote_count = 0 # Keep track of totes!
self._has_bin = False # Do we have a bin on top?
self._new_stack = True # starting a new stack?
self._tote_first = False # Override bin first to grab totes before anything else
self._should_drop = False # Are we currently trying to get a bin ?
self._close_stabilizer = True # Opens the stabilizer manually
self.force_stack = False # manually actuates the elevator down and up
self._follower.set_goal(Setpoints.BIN) # Base state
self._follower_thread = Thread(target=self.update_follower)
self._follower_thread.start()
self._auton = False
quickdebug.add_tunables(Setpoints,
["DROP", "STACK", "BIN", "TOTE", "FIRST_TOTE"])
quickdebug.add_printables(
self,
[('position', self._position_encoder.getDistance),
('photosensor', self._photosensor.get), "has_bin", "tote_count",
"tote_first", "at_goal", "has_game_piece", "auto_stacking"])
class Conveyor(Subsystem):
def __init__(self, robot):
Subsystem.__init__(self, 'Conveyor')
self.robot = robot
self.blaser = DigitalInput(3)
motors = {}
self.map = self.robot.botMap
for name in self.map.motorMap.motors:
motors[name] = self.robot.Creator.createMotor(
self.map.motorMap.motors[name])
self.cMotors = motors
for name in self.cMotors:
self.cMotors[name].setInverted(
self.map.motorMap.motors[name]['inverted'])
self.cMotors[name].setNeutralMode(ctre.NeutralMode.Coast)
def log(self):
wpilib.SmartDashboard.putNumber('Infared Value', self.blaser.get())
def set(self, pw):
self.cMotors['conveyor1'].set(ctre.ControlMode.PercentOutput, pw)
self.cMotors['conveyor2'].set(ctre.ControlMode.PercentOutput, pw)
def stay(self, pw):
self.cMotors['conveyor1'].set(ctre.ControlMode.PercentOutput, pw)
self.cMotors['conveyor2'].set(ctre.ControlMode.PercentOutput, -pw)
def getblaser(self):
y = self.blaser.get()
return y
def __init__(self, operator: OperatorControl):
self.operator = operator
self.motor = WPI_VictorSPX(7)
self.encoder = Encoder(0, 1, False, Encoder.EncodingType.k4X)
self.encoder.setIndexSource(2)
self.limit = DigitalInput(4)
self.dashboard = NetworkTables.getTable("SmartDashboard")
self.totalValues = 2048 # * self.encoder.getEncodingScale() - 1
self.targetValue = 10
self.realValue = 0
self.allowedError = 10
self.hole = 4
self.holeOffset = 36 - 15
self.maxspeed = .25
self.minspeed = .1
self.speedmult = 1/300
self.speed = .1
class Switch(Sensor):
"""
Sensor wrapper for a switch.
Has boolean attribute pressed.
"""
pressed = False
def __init__(self, channel, module=1, reverse=False):
"""
Initializes the switch on some digital channel and module.
Normally assumes switches are active low.
"""
super().__init__()
self.s = DigitalInput(channel)
self.reverse = reverse
def poll(self):
self.pressed = not self.s.get() ^ self.reverse
class Switch(Sensor):
"""
Sensor wrapper for a switch.
Has boolean attribute pressed.
"""
pressed = False
def __init__(self, channel, module=1, reverse=False):
"""
Initializes the switch on some digital channel and module.
Normally assumes switches are active low.
"""
super().__init__()
self.s = DigitalInput(module, channel)
self.reverse = reverse
def poll(self):
self.pressed = not self.s.Get() ^ self.reverse
def initialize(self, robot):
self.state = -1
self.robot = robot
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
self.usingNeo = True
self.frontRetractStart = 0
self.wheelsStart = 0
self.wheelsStart2 = 0
if self.usingNeo:
# NOTE: If using Spark Max in PWM mode to control Neo brushless
# motors you MUST configure the speed controllers manually
# using a USB cable and the Spark Max client software!
self.frontLift: Spark = Spark(map.frontLiftPwm)
self.backLift: Spark = Spark(map.backLiftPwm)
self.frontLift.setInverted(False)
self.backLift.setInverted(False)
if map.robotId == map.astroV1:
if not self.usingNeo:
'''IDS AND DIRECTIONS FOR V1'''
self.backLift = Talon(map.backLift)
self.frontLift = Talon(map.frontLift)
self.frontLift.setInverted(True)
self.backLift.setInverted(True)
self.wheelLeft = Victor(map.wheelLeft)
self.wheelRight = Victor(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(True)
else:
if not self.usingNeo:
'''IDS AND DIRECTIONS FOR V2'''
self.backLift = Talon(map.frontLift)
self.frontLift = Talon(map.backLift)
self.frontLift.setInverted(False)
self.backLift.setInverted(False)
self.backLift.setNeutralMode(2)
self.frontLift.setNeutralMode(2)
self.wheelLeft = Talon(map.wheelLeft)
self.wheelRight = Talon(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(False)
if not self.usingNeo:
for motor in [self.backLift, self.frontLift]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.configContinuousCurrentLimit(30, 0) #Amps per motor
motor.enableCurrentLimit(True)
motor.configVoltageCompSaturation(10,
0) #Sets saturation value
motor.enableVoltageCompensation(
True) #Compensates for lower voltages
for motor in [self.wheelLeft, self.wheelRight]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.setNeutralMode(2)
self.backSwitch = DigitalInput(map.backFloor)
self.frontSwitch = DigitalInput(map.frontFloor)
self.switchTopBack = DigitalInput(map.backTopSensor)
self.switchTopFront = DigitalInput(map.frontTopSensor)
self.switchBottomBack = DigitalInput(map.backBottomSensor)
self.switchBottomFront = DigitalInput(map.frontBottomSensor)
self.MAX_ANGLE = 2 #degrees
self.TARGET_ANGLE = -1 #degrees
self.climbSpeed = 0.9
self.wheelSpeed = 0.9
self.backHold = -0.10 #holds back stationary if extended ADJUST**
self.frontHold = -0.10 #holds front stationary if extended
self.kP = 0.35 #proportional gain for angle to power
self.autoClimbIndicator = False
'''
NEGATIVE POWER TO ELEVATOR LIFTS ROBOT, LOWERS LEGS
POSITIVE POWER TO ELEVATOR LOWERS ROBOT, LIFTS LEGS
NEGATIVE POWER TO WHEELS MOVES ROBOT BACKWARDS
POSITIVE POWER TO WHEELS MOVES ROBOT FORWARD
'''
self.started = False
class Lift:
def __init__(self, Robot):
self._intake = Robot.intake
self._drive = Robot.drive
self._ramp = 0
self._rampSpeed = 6
self._LiftMotorLeft = SyncGroup(LIFT_MOTOR_LEFT_IDS, WPI_VictorSPX)
self._LiftMotorRight = SyncGroup(LIFT_MOTOR_RIGHT_IDS, WPI_VictorSPX)
self._LiftMotorLeft.setInverted(True)
self._liftEncoder = Encoder(LIFT_ENCODER_A, LIFT_ENCODER_B, False,
Encoder.EncodingType.k4X)
self._liftEncoder.setDistancePerPulse(1)
self._liftHallaffect = DigitalInput(HALL_DIO)
self.zeroEncoder()
self._liftPID = MiniPID(*LIFT_PID)
self._liftPID.setOutputLimits(-0.45, 1)
self.disableSpeedLimit = False
def setSpeed(self, speed):
self._LiftMotorLeft.set(speed)
self._LiftMotorRight.set(speed)
def rampSpeed(self, speed):
self._ramp += (speed - self._ramp) / self._rampSpeed
if False and speed > 0: #is max limit hit
self._ramp = 0
self._LiftMotorLeft.set(self._ramp)
self._LiftMotorRight.set(self._ramp)
def setLoc(self, target):
target = abs(target)
if target > 1:
target = 1
elif target <= 0.1:
target = 0
SmartDashboard.putNumber("loc dfliusafusd", target)
self._liftPID.setSetpoint(target)
def periodic(self):
if self.isBottom(): #zero switch is active zero encoder
self.zeroEncoder()
else:
if self._intake.getSpeed() >= 0:
self._intake.rampSpeed(0.3)
scaledLift = self.getEncoderVal() / LIFT_HEIGHT
speed = self._liftPID.getOutput(scaledLift)
if not self.disableSpeedLimit:
speedLimit = pow(0.25, scaledLift)
self._drive.setSpeedLimit(speedLimit)
else:
self._drive.setSpeedLimit(1)
self.rampSpeed(speed)
def getEncoderVal(self):
return abs(self._liftEncoder.getDistance())
def zeroEncoder(self):
self._liftEncoder.reset()
def isBottom(self):
return not self._liftHallaffect.get()
class Shooter(Subsystem):
# ----------------- INITIALIZATION -----------------------
def __init__(self, robot):
super().__init__("shooter")
self.robot = robot
self.counter = 0 # used for updating the log
self.feed_forward = 3.5 # default volts to give the flywheel to get close to setpoint, optional
# motor controllers
self.sparkmax_flywheel = rev.CANSparkMax(5, rev.MotorType.kBrushless)
self.spark_hood = Talon(5)
self.spark_feed = Talon(7)
# encoders and PID controllers
self.hood_encoder = Encoder(
4,
5) # generic encoder - we'll have to install one on the 775 motor
self.hood_encoder.setDistancePerPulse(1 / 1024)
self.hood_controller = wpilib.controller.PIDController(Kp=0.005,
Ki=0,
Kd=0.0)
self.hood_setpoint = 5
self.hood_controller.setSetpoint(self.hood_setpoint)
self.flywheel_encoder = self.sparkmax_flywheel.getEncoder(
) # built-in to the sparkmax/neo
self.flywheel_controller = self.sparkmax_flywheel.getPIDController(
) # built-in PID controller in the sparkmax
# limit switches, use is TBD
self.limit_low = DigitalInput(6)
self.limit_high = DigitalInput(7)
def initDefaultCommand(self):
""" When other commands aren't using the drivetrain, allow arcade drive with the joystick. """
#self.setDefaultCommand(ShooterHoodAxis(self.robot))
def set_flywheel(self, velocity):
#self.flywheel_controller.setReference(velocity, rev.ControlType.kVelocity, 0, self.feed_forward)
self.flywheel_controller.setReference(velocity,
rev.ControlType.kSmartVelocity,
0)
#self.flywheel_controller.setReference(velocity, rev.ControlType.kVelocity, 0)
def stop_flywheel(self):
self.flywheel_controller.setReference(0, rev.ControlType.kVoltage)
def set_feed_motor(self, speed):
self.spark_feed.set(speed)
def stop_feed_motor(self):
self.spark_feed.set(0)
def set_hood_motor(self, power):
power_limit = 0.2
if power > power_limit:
new_power = power_limit
elif power < -power_limit:
new_power = -power_limit
else:
new_power = power
self.spark_hood.set(new_power)
def change_elevation(
self, power
): # open loop approach - note they were wired to be false when contacted
if power > 0 and self.limit_high.get():
self.set_hood_motor(power)
elif power < 0 and self.limit_low.get():
self.set_hood_motor(power)
else:
self.set_hood_motor(0)
def set_hood_setpoint(self, setpoint):
self.hood_controller.setSetpoint(setpoint)
def get_angle(self):
elevation_minimum = 30 # degrees
conversion_factor = 1 # encoder units to degrees
# return elevation_minimum + conversion_factor * self.hood_encoder.getDistance()
return self.hood_encoder.getDistance()
def periodic(self) -> None:
"""Perform necessary periodic updates"""
self.counter += 1
if self.counter % 5 == 0:
# pass
# ten per second updates
SmartDashboard.putNumber('elevation',
self.hood_encoder.getDistance())
SmartDashboard.putNumber('rpm',
self.flywheel_encoder.getVelocity())
watch_axis = False
if watch_axis:
self.hood_scale = 0.2
self.hood_offset = 0.0
power = self.hood_scale * (self.robot.oi.stick.getRawAxis(2) -
0.5) + self.hood_offset
self.robot.shooter.change_elevation(power)
maintain_elevation = True
if maintain_elevation:
self.error = self.get_angle() - self.hood_setpoint
pid_out = self.hood_controller.calculate(self.error)
output = 0.03 + pid_out
SmartDashboard.putNumber('El PID', pid_out)
self.change_elevation(output)
if self.counter % 50 == 0:
SmartDashboard.putBoolean("hood_low", self.limit_low.get())
SmartDashboard.putBoolean("hood_high", self.limit_high.get())
class Arm(Subsystem):
def __init__(self, robot):
super().__init__("Arm")
self.robot = robot
self.peakCurrentLimit = 30
self.PeaKDuration = 50
self.continuousLimit = 15
motor = {}
for name in self.robot.RobotMap.motorMap.motors:
motor[name] = self.robot.Creator.createMotor(self.robot.RobotMap.motorMap.motors[name])
self.motors = motor
for name in self.motors:
self.motors[name].setInverted(self.robot.RobotMap.motorMap.motors[name]['inverted'])
# drive current limit
self.motors[name].configPeakCurrentLimit(self.peakCurrentLimit, 10)
self.motors[name].configPeakCurrentDuration(self.PeaKDuration, 10)
self.motors[name].configContinuousCurrentLimit(self.continuousLimit, 10)
self.motors[name].enableCurrentLimit(True)
self.AEnc = Encoder(4, 5, False, Encoder.EncodingType.k4X)
self.Zero = DigitalInput(6)
self.kp = 0.00035
self.ki = 0.00000000001
self.kd = 0.0000001
self.ArmPID = PID(self.kp, self.ki, self.kd)
def log(self):
wpilib.SmartDashboard.putNumber('armEnc', self.getHeight())
wpilib.SmartDashboard.putNumber('Zero', self.getZeroPos())
"""
Get Functions
"""
def getHeight(self):
# get encoder values
return self.AEnc.get()
def getZeroPos(self):
# get zero position of arm
return self.Zero.get()
"""
set functions
"""
def set(self, power):
self.motors['RTArm'].set(ctre.ControlMode.PercentOutput, power)
self.motors['LTArm'].set(ctre.ControlMode.PercentOutput, power)
def stop(self):
self.set(0)
def resetHeight(self):
self.AEnc.reset()
class IntakeLauncher(Subsystem):
"""A class to manage/control all aspects of shooting boulders.
IntakeLauncher is comprised of:
aimer: to raise & lower the mechanism for ball intake and shooting
wheels: to suck or push the boulder
launcher: to push boulder into the wheels during shooting
limit switches: to detect if aimer is at an extreme position
potentiometer: to measure our current aim position
boulderSwitch: to detect if boulder is present
Aiming is controlled via two modes
1: driver/interactive: aimMotor runs in VBUS mode to change angle
2: auto/vision control: aimMotor runs in closed-loop position mode
to arrive at a designated position
"""
k_launchMin = 684.0 # manual calibration value
k_launchMinDegrees = -11 # ditto (vestigial)
k_launchMax = 1024.0 # manual calibration value
k_launchMaxDegrees = 45 # ditto (vestigial)
k_launchRange = k_launchMax - k_launchMin
k_launchRangeDegrees = k_launchMaxDegrees - k_launchMinDegrees
k_aimDegreesSlop = 2 # TODO: tune this
k_intakeSpeed = -0.60 # pct vbux
k_launchSpeedHigh = 1.0 # pct vbus
k_launchSpeedLow = 0.7
k_launchSpeedZero = 0
k_servoLeftLaunchPosition = 0.45 # servo units
k_servoRightLaunchPosition = 0.65
k_servoLeftNeutralPosition = 0.75
k_servoRightNeutralPosition = 0.4
k_aimMultiplier = 0.5
k_maxPotentiometerError = 5 # potentiometer units
# launcher positions are measured as a percent of the range
# of the potentiometer..
# intake: an angle approriate for intaking the boulder
# neutral: an angle appropriate for traversing the lowbar
# travel: an angle appropriate for traversing the rockwall, enableLimitSwitch
# highgoal threshold: above which we shoot harder
k_launchIntakeRatio = 0.0
k_launchTravelRatio = 0.51
k_launchNeutralRatio = 0.51
k_launchHighGoalThreshold = 0.69
def __init__(self, robot, name=None):
super().__init__(name=name)
self.robot = robot
self.launchMin = self.k_launchMin
self.launchMax = self.k_launchMax
self.launchRange = self.launchMax - self.launchMin
self.controlMode = None
self.visionState = robot.visionState
self.intakeLeftMotor = CANTalon(robot.map.k_IlLeftMotorId)
self.intakeLeftMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
self.intakeLeftMotor.reverseSensor(True)
self.intakeLeftMotor.setSafetyEnabled(False)
self.intakeRightMotor = CANTalon(robot.map.k_IlRightMotorId)
self.intakeRightMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
self.intakeRightMotor.setSafetyEnabled(False)
self.aimMotor = CANTalon(robot.map.k_IlAimMotorId)
# LiveWindow.addActuator("IntakeLauncher", "AimMotor", self.aimMotor)
if self.aimMotor.isSensorPresent(CANTalon.FeedbackDevice.AnalogPot):
self.aimMotor.setSafetyEnabled(False)
self.aimMotor.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot)
self.aimMotor.enableLimitSwitch(True, True)
self.aimMotor.enableBrakeMode(True)
self.aimMotor.setAllowableClosedLoopErr(5)
self.aimMotor.configPeakOutpuVoltage(12.0, -12.0)
self.aimMotor.setVoltageRampRate(150)
# TODO: setPID if needed
self.boulderSwitch = DigitalInput(robot.map.k_IlBoulderSwitchPort)
self.launcherServoLeft = Servo(robot.map.k_IlServoLeftPort)
self.launcherServoRight = Servo(robot.map.k_IlServoRightPort)
def initDefaultCommand(self):
self.setDefaultCommand(ILCmds.DriverControlCommand(self.robot))
def updateDashboard(self):
pass
def beginDriverControl(self):
self.setControlMode("vbus")
def driverControl(self, deltaX, deltaY):
if self.robot.visionState.wantsControl():
self.trackVision()
else:
self.setControlMode("vbus")
self.aimMotor.set(deltaY * self.k_aimMultiplier)
def endDriverControl(self):
self.aimMotor.disableControl()
# ----------------------------------------------------------------------
def trackVision(self):
if not self.visionState.TargetAcquired:
return # hopefully someone is guiding the drivetrain to help acquire
if not self.visionState.LauncherLockedOnTarget:
if math.fabs(self.visionState.TargetY - self.getAngle()) < self.k_aimDegreesSlop:
self.visionState.LauncherLockedOnTarget = True
else:
self.setPosition(self.degreesToTicks(self.TargetY))
elif self.visionState.DriveLockedOnTarget:
# here we shoot and then leave AutoAimMode
pass
else:
# do nothing... waiting form driveTrain to reach orientation
pass
def setControlMode(self, mode):
if mode != self.controlMode:
self.controlMode = mode
if mode == "vbus":
self.aimMotor.disableControl()
self.aimMotor.changeControlMode(CANTalon.ControlMode.PercentVbus)
self.aimMotor.enableControl()
elif mode == "position":
self.aimMotor.disableControl()
self.aimMotor.changeControlMode(CANTalon.ControlMode.Position)
self.aimMotor.enableControl()
elif mode == "disabled":
self.aimMotor.disableControl()
else:
self.robot.error("ignoring controlmode " + mode)
self.controlMode = None
self.aimMotor.disableControl()
# launcher aim -------------------------------------------------------------
def getPosition(self):
return self.aimMotor.getPosition()
def getAngle(self):
pos = self.getPosition()
return self.ticksToDegress(pos)
def setPosition(self, pos):
self.setControlMode("position")
self.aimMotor.set(pos)
def isLauncherAtTop(self):
return self.aimMotor.isFwdLimitSwitchClosed()
def isLauncherAtBottom(self):
return self.aimMotor.isRevLimitSwitchClosed()
def isLauncherAtIntake(self):
if self.k_intakeRatio == 0.0:
return self.isLauncherAtBottom()
else:
return self.isLauncherNear(self.getIntakePosition())
def isLauncherAtNeutral(self):
return self.isLauncherNear(self.getNeutralPosition())
def isLauncherAtTravel(self):
return self.isLauncherNear(self.getTravelPosition())
def isLauncherNear(self, pos):
return math.fabs(self.getPosition() - pos) < self.k_maxPotentiometerError
def getIntakePosition(self):
return self.getLauncherPositionFromRatio(self.k_launchIntakeRatio)
def getNeutralPosition(self):
return self.getLauncherPositionFromRatio(self.k_launchNeutralRatio)
def getTravelPosition(self):
return self.getLauncherPositionFromRatio(self.k_launchTravelRatio)
def getLauncherPositionFromRatio(self, ratio):
return self.launchMin + ratio * self.launchRange
def degressToTicks(self, deg):
ratio = (deg - self.k_launchMinDegrees) / self.k_launchRangeDegrees
return self.k_launchMin + ratio * self.k_launchRange
def ticksToDegrees(self, t):
ratio = (t - self.k_launchMin) / self.k_launchRange
return self.k_launchMinDegrees + ratio * self.k_launchRangeDegrees
def calibratePotentiometer(self):
if self.isLauncherAtBottom():
self.launchMin = self.getPosition()
elif self.isLauncherAtTop():
self.launchMax = self.getPosition()
self.launchRange = self.launchMax - self.launchMin
# intake wheels controls ---------------------------------------------------
def setWheelSpeedForLaunch(self):
if self.isLauncherAtTop():
speed = self.k_launchSpeedHigh
else:
speed = self.k_launchSpeedLow
self.setSpeed(speed)
def setWheelSpeedForIntake(self):
self.setSpeed(self.k_intakeSpeed)
def stopWheels(self):
self.setSpeed(k_launchSpeedZero)
def setWheelSpeed(self, speed):
self.intakeLeftMotor.set(speed)
self.intakeRightMotor.set(-speed)
# boulder and launcher servo controls --------------------------------------------------
def hasBoulder(self):
return self.boulderSwitch.get()
def activateLauncherServos(self):
self.robot.info("activateLauncherServos at:" + self.getAimPosition())
self.launcherServoLeft.set(self.k_servoLeftLaunchPosition)
self.launcherServoRight.set(self.k_servoRightLaunchPosition)
def retractLauncherServos(self):
self.launcherServoLeft.set(self.k_servoLeftNeutralPosition)
self.launcherServoRight.set(self.k_servoRightNeutralPosition)
class Turret:
'''
The object thats responsible for managing the shooter
'''
def __init__(self):
self.clockwise_limit_switch = DigitalInput(
TURRET_CLOCKWISE_LIMIT_SWITCH)
self.counterclockwise_limit_switch = DigitalInput(
TURRET_COUNTERCLOCKWISE_LIMIT_SWITCH)
self.turn_motor = SparkMax(TURRET_TURN_MOTOR)
self.turn_pid = PIDController(0.4, 0.001, 0.02)
self.shoot_motor_1 = Falcon(TURRET_SHOOT_MOTORS[0])
self.shoot_motor_2 = Falcon(TURRET_SHOOT_MOTORS[1])
self.timer = Timer()
self.limelight = Limelight()
def set_target_angle(self, angle):
'''
Sets the target angle of the turret. This will use a PID to turn the
turret to the target angle.
'''
target_encoder = angle_to_encoder(angle)
self.turn_pid.setSetpoint(target_encoder)
def update(self):
'''
This is used to continuously update the turret's event loop.
All this manages as of now is the turrets PID controller.
The shoot motor is constantly running at a low percentage until we need it.
'''
motor_speed = self.turn_pid.calculate(
self.limelight.get_target_screen_x())
if self.clockwise_limit_switch.get() and motor_speed < 0:
self.turn_motor.set_percent_output(motor_speed)
elif self.counterclockwise_limit_switch.get() and motor_speed > 0:
self.turn_motor.set_percent_output(motor_speed)
def shoot(self):
'''
The wheel to shoot will rev up completely before balls start feeding
in from the singulator.
'''
# One of the motors will be reversed, so make sure the shoot motor has the correct ID!
speed = self.shoot_motor_1.get_percent_output()
if speed < 1:
speed += 0.02
elif speed > 1:
speed -= 0.02
self.shoot_motor_1.set_percent_output(speed)
self.shoot_motor_2.set_percent_output(-speed)
def idle(self):
'''
Resets the motors back to their default state.
'''
speed = self.shoot_motor_1.get_percent_output()
if speed < 0.5:
speed += 0.02
elif speed > 0.5:
speed -= 0.02
self.shoot_motor_1.set_percent_output(speed)
self.shoot_motor_2.set_percent_output(-speed)
def is_full_speed(self):
'''
Returns if the motor is at full speed or not.
'''
self.timer.get() > 0.4
class arm(Component):
#set up variables
def __init__(self, robot):
super().__init__()
self.robot = robot
self.armMotor = CANTalon(4)
self.wheelMotor = CANTalon(5)
self.frontSwitch = DigitalInput(8)
self.backSwitch = DigitalInput(9)
self.comp = Compressor()
self.comp.enabled()
self.armMotor.enableBrakeMode(True)
self.wheelMotor.enableBrakeMode(True)
self.potentiometer = AnalogPotentiometer(3, 270, -193)
#self.pidArm = PIDController(0.0, 0.0, 0.0, 0.0, self.potentiometer, self.armMotor, 0.02)
self.position = 0
def armAuto(self, upValue, downValue, target, rate=0.3):
'''
if self.getPOT() <= target:
self.armMotor.set(0)
'''
if upValue == 1:
self.armMotor.set(rate * -1)
elif downValue == 1:
self.armMotor.set(rate)
else:
self.armMotor.set(0)
def armUpDown(self, left, right, controllerA, rate=0.3):
rate2 = rate*1.75
if(self.backSwitch.get() == False or self.frontSwitch.get() == False): #Checking limit switches
self.armMotor.set(0)
if(left >= 0.75):#if tripped, disallow further movement
# if(controllerA == True):
# self.armMotor.set(rate2)
# else:
self.armMotor.set(rate)
elif(right >= 0.75):#if tripped, disallow further movement
# if(controllerA == True):
# self.armMotor.set(-rate2)
# else:
self.armMotor.set(rate * -1)
elif(left < 0.75 and right < 0.75):
self.armMotor.set(0)
def wheelSpin(self, speed):
currentSpeed = 0
if (speed > 0.75):
currentSpeed = -1
elif(speed < -0.75):
currentSpeed = 1
self.wheelMotor.set(currentSpeed)
def getPOT(self):
return (self.potentiometer.get()*-1)
def getBackSwitch(self):
return self.backSwitch.get()
def getFrontSwitch(self):
return self.frontSwitch.get()
def initialize(self, robot):
self.robot = robot
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
if map.robotId == map.astroV1:
'''IDS AND DIRECTIONS FOR V1'''
self.backLift = Talon(map.backLift)
self.frontLift = Talon(map.frontLift)
self.frontLift.setInverted(True)
self.backLift.setInverted(True)
self.wheelLeft = Victor(map.wheelLeft)
self.wheelRight = Victor(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(True)
else:
'''IDS AND DIRECTIONS FOR V2'''
self.backLift = Talon(map.frontLift)
self.frontLift = Talon(map.backLift)
self.frontLift.setInverted(False)
self.backLift.setInverted(False)
self.wheelLeft = Talon(map.wheelLeft)
self.wheelRight = Talon(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(False)
for motor in [self.backLift, self.frontLift]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.configContinuousCurrentLimit(30, 0) #Amps per motor
motor.enableCurrentLimit(True)
motor.configVoltageCompSaturation(10, 0) #Sets saturation value
motor.enableVoltageCompensation(
True) #Compensates for lower voltages
for motor in [self.wheelLeft, self.wheelRight]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.setNeutralMode(2)
self.backSwitch = DigitalInput(map.backBottomSensor)
self.frontSwitch = DigitalInput(map.frontBottomSensor)
self.upSwitch = DigitalInput(map.upSensor)
self.MAX_ANGLE = 2 #degrees
self.TARGET_ANGLE = 0 #degrees
self.climbSpeed = 0.5
self.wheelSpeed = 0.5
self.backHold = -0.15 #holds back stationary if extended ADJUST**
self.frontHold = -0.1 #holds front stationary if extended
self.kP = 0.4 #proportional gain for angle to power
'''
NEGATIVE POWER TO ELEVATOR LIFTS ROBOT, LOWERS LEGS
POSITIVE POWER TO ELEVATOR LOWERS ROBOT, LIFTS LEGS
NEGATIVE POWER TO WHEELS MOVES ROBOT BACKWARDS
POSITIVE POWER TO WHEELS MOVES ROBOT FORWARD
'''
self.started = False
class Climber():
def initialize(self, robot):
self.robot = robot
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
if map.robotId == map.astroV1:
'''IDS AND DIRECTIONS FOR V1'''
self.backLift = Talon(map.backLift)
self.frontLift = Talon(map.frontLift)
self.frontLift.setInverted(True)
self.backLift.setInverted(True)
self.wheelLeft = Victor(map.wheelLeft)
self.wheelRight = Victor(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(True)
else:
'''IDS AND DIRECTIONS FOR V2'''
self.backLift = Talon(map.frontLift)
self.frontLift = Talon(map.backLift)
self.frontLift.setInverted(False)
self.backLift.setInverted(False)
self.wheelLeft = Talon(map.wheelLeft)
self.wheelRight = Talon(map.wheelRight)
self.wheelRight.setInverted(True)
self.wheelLeft.setInverted(False)
for motor in [self.backLift, self.frontLift]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.configContinuousCurrentLimit(30, 0) #Amps per motor
motor.enableCurrentLimit(True)
motor.configVoltageCompSaturation(10, 0) #Sets saturation value
motor.enableVoltageCompensation(
True) #Compensates for lower voltages
for motor in [self.wheelLeft, self.wheelRight]:
motor.clearStickyFaults(0)
motor.setSafetyEnabled(False)
motor.setNeutralMode(2)
self.backSwitch = DigitalInput(map.backBottomSensor)
self.frontSwitch = DigitalInput(map.frontBottomSensor)
self.upSwitch = DigitalInput(map.upSensor)
self.MAX_ANGLE = 2 #degrees
self.TARGET_ANGLE = 0 #degrees
self.climbSpeed = 0.5
self.wheelSpeed = 0.5
self.backHold = -0.15 #holds back stationary if extended ADJUST**
self.frontHold = -0.1 #holds front stationary if extended
self.kP = 0.4 #proportional gain for angle to power
'''
NEGATIVE POWER TO ELEVATOR LIFTS ROBOT, LOWERS LEGS
POSITIVE POWER TO ELEVATOR LOWERS ROBOT, LIFTS LEGS
NEGATIVE POWER TO WHEELS MOVES ROBOT BACKWARDS
POSITIVE POWER TO WHEELS MOVES ROBOT FORWARD
'''
self.started = False
def periodic(self):
if self.xbox.getRawButton(map.liftClimber): self.started = True
deadband = 0.50
frontAxis = self.xbox.getRawAxis(map.liftFrontClimber)
backAxis = self.xbox.getRawAxis(map.liftBackClimber)
if abs(frontAxis) > deadband or abs(backAxis) > deadband:
if frontAxis > deadband: self.extend("front")
elif frontAxis < -deadband: self.retract("front")
if backAxis > deadband: self.extend("back")
elif backAxis < -deadband: self.retract("back")
else:
if self.xbox.getRawButton(map.lowerClimber) == True:
self.retract("both")
elif self.xbox.getRawButton(map.liftClimber) == True:
self.extend("both")
else:
if self.xbox.getRawButton(map.driveForwardClimber):
self.wheel("forward")
elif self.xbox.getRawButton(map.driveBackwardClimber):
self.wheel("backward")
else:
self.disable()
def up(self):
return not self.upSwitch.get()
def getLean(self):
if map.robotId == map.astroV1: return -1 * self.robot.drive.getRoll()
else: return self.robot.drive.getPitch()
def getCorrection(self):
return (self.kP * -self.getLean())
def setSpeeds(self, back, front):
self.backLift.set(back * self.climbSpeed)
self.frontLift.set(front * self.climbSpeed)
def retract(self, mode):
correction = self.getCorrection()
if mode == "front": self.setSpeeds(self.backHold, 1)
elif mode == "back": self.setSpeeds(1, 0)
elif mode == "both": self.setSpeeds(1 + correction, 1)
else: self.setSpeeds(0, 0)
def extend(self, mode):
correction = self.getCorrection()
if mode == "front": self.setSpeeds(correction, -1)
elif mode == "back": self.setSpeeds(-1, 0)
elif mode == "both": self.setSpeeds(-1 + correction, -1)
elif self.up() == True: self.setSpeeds(self.backHold, self.frontHold)
else: self.setSpeeds(0, 0)
def wheel(self, direction):
'''FORWARD MOVES ROBOT FORWARD, BACKWARD MOVES ROBOT BACKWARD'''
if direction == "forward":
self.wheelLeft.set(self.wheelSpeed)
self.wheelRight.set(self.wheelSpeed)
elif direction == "backward":
self.wheelLeft.set(-1 * self.wheelSpeed)
self.wheelRight.set(-1 * self.wheelSpeed)
correction = self.getCorrection()
self.setSpeeds(self.backHold + correction, 0)
def stopClimb(self):
self.setSpeeds(0, 0)
def stopDrive(self):
self.wheelLeft.set(0)
self.wheelRight.set(0)
def disable(self):
self.stopClimb()
self.stopDrive()
def dashboardInit(self):
SmartDashboard.putNumber("Climber kP", self.kP)
SmartDashboard.putNumber("ClimbSpeed", self.climbSpeed)
SmartDashboard.putNumber("BackHold", self.backHold)
SmartDashboard.putNumber("FrontHold", self.frontHold)
def dashboardPeriodic(self):
self.climbSpeed = SmartDashboard.getNumber("ClimbSpeed",
self.climbSpeed)
self.kP = SmartDashboard.getNumber("Climber kP", self.kP)
self.backHold = SmartDashboard.getNumber("BackHold", self.backHold)
self.frontHold = SmartDashboard.getNumber("FrontHold", self.frontHold)
SmartDashboard.putNumber("Lean", self.getLean())
class ArmSubsystem(Subsystem):
def __init__(self):
self.encoderUnit = 4096
self.gearRatio = 93.33
self.armSpeedMultiplier = 1
self.armBottomLimit = 5
self.armUpperLimit = 200
self.resetValue = 0
self.bottomLimitSwitch = DigitalInput(ArmLimitSwitch)
self.armMotor1 = CANSparkMax(armBaseMotor1,MotorType.kBrushless)
self.armMotor2 = CANSparkMax(armBaseMotor2,MotorType.kBrushless)
self.armEncoder1 = self.armMotor1.getEncoder()
self.armEncoder2 = self.armMotor2.getEncoder()
self.currentArmPower = 0
self.isOverride = False
#def initDefaultCommand(self):
# self.setDefaultCommand(AnalogArmCommand())
def getDistanceTicks(self):
return ((self.armEncoder1.getPosition() + self.armEncoder2.getPosition()) / 2) - resetValue
def getArmMotor1Pos(self):
return self.armEncoder1.getPosition
def getArmMotor2Pos(self):
return self.armEncoder2.getPosition
def getRotationAngle(self):
return (getDistanceTicks()/108) * -360
def updateBottomLimit(self):
if not self.bottomLimitSwitch.get():
self.armBottomLimit = getRotationAngle()
def isArmAtBottom(self):
updateBottomLimit()
if (getRotationAngle() >= (armBottomLimit - 2)) and (getRotationAngle() <= (armBottomLimit + 2)):
return True
else:
return False
#def isArmAtTop(self):
#def getLimitSwitch(self):
def setArmPower(self,power):
if isArmAtBottom() and power > 0:
self.currentArmPower = 0
else:
self.currentArmPower = power
def setArmPowerOverride(self,power):
if isOverride:
self.currentArmPower = power
def updateOutputs(self):
self.armMotor1.set(currentArmPower * armSpeedMultiplier)
self.armMotor2.set(currentArmPower * armSpeedMultiplier)
def getGravityCompensation(self):
if getRotationAngle() <= 3: return 0
else: return math.sin(getRotationAngle() + 25)
