class DriverComponent(Events):
def __init__(self):
self.left_front = Talon(2)
self.left_rear = Talon(3)
self.right_front = Talon(0)
self.right_rear = Talon(1)
self.gear_solenoid = DoubleSolenoid(6, 7)
self.high_gear_enabled = False
#self.driver_gyro = ADXRS450_Gyro()
self.left_front.setInverted(True)
self.left_rear.setInverted(True)
self.set_low_gear()
#self._create_event(DriverComponent.EVENTS.driving)
def filter_deadband(self, value: float):
if -0.1 < value < 0.1:
return 0
else:
return value
def set_curve_raw(self, linear, angular):
pass
def set_curve(self, linear, angular):
l = self.filter_deadband(linear)
a = self.filter_deadband(angular)
sf = max(1, abs(l) + abs(a))
self.left_front.set((l + a) / sf)
self.right_front.set((l - a) / sf)
self.right_rear.set((l - a) / sf)
self.left_rear.set((l + a) / sf)
def toggle_gear(self):
self.high_gear_enabled = not self.high_gear_enabled
if self.high_gear_enabled:
self.set_high_gear()
else:
self.set_low_gear()
def set_low_gear(self):
print("shift low")
self.gear_solenoid.set(DoubleSolenoid.Value.kReverse)
def set_high_gear(self):
print("shift high")
self.gear_solenoid.set(DoubleSolenoid.Value.kForward)
class Shooter:
left_fly = CANTalon
right_fly = CANTalon
intake_main = CANTalon
intake_mecanum = Talon
ball_limit = DigitalInput
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 warm_up(self):
self.set_rpm(2500) # Warm up flywheels to get ready to shoot
def low_goal(self):
self.set_rpm(500)
def set_rpm(self, rpm_l_set, rpm_r_set=None):
if rpm_r_set is None:
rpm_r_set = rpm_l_set
self.left_fly.set(rpm_l_set)
self.right_fly.set(rpm_r_set)
def get_rpms(self):
return self.left_fly.get(), self.right_fly.get()
def set_fly_off(self):
self.set_rpm(0)
def set_intake(self, power):
self.intake_mecanum.set(-power)
self.intake_main.set(power)
def get_intake(self):
return self.intake_main.get()
def set_intake_off(self):
self.set_intake(0)
def get_ball_limit(self):
return not bool(self.ball_limit.get())
def execute(self):
if int(self.left_fly.getOutputCurrent()) > 20 \
or int(self.left_fly.getOutputCurrent()) > 20:
self.set_rpm(0, 0)
