def main():
"""
Main function for running robot code, should never exit.
Currently this ONLY works with an xbox 360 controller.
"""
controller = XboxController()
while True:
arcade_drive(controller, debug=True)
shooter(controller, debug=True)
dart(controller)
def robotInit(self):
self.drive = driveTrain(self)
self.interpret = interpret()
self.controllerOne = XboxController(0)
self.controllerTwo = XboxController(1)
self.speedLimiter = 1 #1 = standard speed, greater than 1 to slow down, less than 1 to speed up
self.dashTimer = wpilib.Timer() # Timer for SmartDashboard updating
self.dashTimer.start()
self.dash = SmartDashboard()
self.positionChooser = wpilib.SendableChooser()
self.positionChooser.addDefault('Position Chooser', '1')
self.positionChooser.addObject('left', 'left')
self.positionChooser.addObject('right', 'right')
self.positionChooser.addObject('center', 'center')
self.switchLscaleL = wpilib.SendableChooser()
self.switchLscaleL.addDefault('Switch and Scale LEFT', '1')
self.switchLscaleL.addObject('Scale', 'scale')
self.switchLscaleL.addObject('Switch', 'switch')
#switchLscaleL.addObject('PrepScaleScore', '4')
self.switchLscaleL.addDefault(
'Drive', 'drive') ##Default for all sendable Choosers
self.switchLscaleL.addObject('Two Cube Scale', 'Two Cube Scale')
self.switchRscaleR = wpilib.SendableChooser()
self.switchRscaleR.addDefault('Switch and Scale RIGHT', '1')
self.switchRscaleR.addObject('Scale', 'scale')
self.switchRscaleR.addObject('Switch', 'switch')
#switchRscaleR.addObject('PrepScaleScore', '4')
self.switchRscaleR.addDefault('Drive', 'drive')
self.switchRscaleR.addObject('Two Cube Scale', 'Two Cube Scale')
self.switchRscaleL = wpilib.SendableChooser()
self.switchRscaleL.addDefault('Switch RIGHT, Scale LEFT', '1')
self.switchRscaleL.addObject('Scale', 'scale')
self.switchRscaleL.addObject('Switch', 'switch')
#switchRscaleL.addObject('PrepScaleScore', '4')
self.switchRscaleL.addDefault('Drive', 'drive')
self.switchRscaleL.addObject('Two Cube Scale', 'Two Cube Scale')
self.switchLscaleR = wpilib.SendableChooser()
self.switchLscaleR.addDefault('Switch LEFT, Scale RIGHT', '1')
self.switchLscaleR.addObject('Scale', 'scale')
self.switchLscaleR.addObject('Switch', 'switch')
#switchLscaleR.addObject('PrepScaleScore', '4')
self.switchLscaleR.addDefault('Drive', 'drive')
self.switchLscaleR.addObject('Two Cube Scale', 'Two Cube Scale')
#print('Dashboard Test')
wpilib.SmartDashboard.putData('Starting Position',
self.positionChooser)
wpilib.SmartDashboard.putData('Switch and Scale Left',
self.switchLscaleL)
wpilib.SmartDashboard.putData('Switch Right, Scale Left',
self.switchRscaleL)
wpilib.SmartDashboard.putData('Switch and Scale Right',
self.switchRscaleR)
wpilib.SmartDashboard.putData('Switch Left, Scale Right',
self.switchLscaleR)
#self.dash.putData('Switch Left, Scale Right', switchLscaleR)
self.dash.putString('SanityCheck', '1')
self.dashTimer = wpilib.Timer() # Timer for SmartDashboard updating
self.dashTimer.start()
