class MyRobot(CommandBasedRobot):
def robotInit(self):
Command.getRobot = lambda x=0: self
self.drivetrain = Drive.Drive()
self.autonomous = Autonomous()
def autonomousInit(self):
self.autonomous.start()
class MyRobot(CommandBasedRobot):
def robotInit(self):
Command.getRobot = lambda x=0: self
MyRobot.drivetrain = Drive.Drive()
MyRobot.leftStick = oi.getLeftStick()
MyRobot.rightStick = oi.getRightStick()
self.Autonomous = Autonomous()
def autonomousInit(self):
self.Autonomous.start()
class MyRobot(wpilib.TimedRobot):
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
wpilib.LiveWindow.getInstance().setEnabled(True)
def autonomousInit(self):
# schedule the autonomous command (example)
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
# This makes sure that the autonomous stops running when
# teleop starts running. If you want the autonomous to
# continue until interrupted by another command, remove
# this line or comment it out.
self.autonomousCommand.cancel()
def teleopPeriodic(self):
"""This function is called periodically during operator control"""
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
"""This function is called periodically during test mode"""
wpilib.LiveWindow.getInstance().updateValues()
def log(self):
"""The log method puts interesting information to the SmartDashboard."""
self.wrist.log()
self.elevator.log()
self.drivetrain.log()
self.claw.log()
class MyRobot(wpilib.IterativeRobot):
def robotInit(self):
'''This function is run when the robot is first started up and should be
used for any initialization code.'''
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def autonomousInit(self):
# schedule the autonomous command (example)
self.autonomousCommand.start()
def autonomousPeriodic(self):
'''This function is called periodically during autonomous'''
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
# This makes sure that the autonomous stops running when
# teleop starts running. If you want the autonomous to
# continue until interrupted by another command, remove
# this line or comment it out.
self.autonomousCommand.cancel()
def teleopPeriodic(self):
'''This function is called periodically during operator control'''
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
'''This function is called periodically during test mode'''
wpilib.LiveWindow.run()
def log(self):
'''The log method puts interesting information to the SmartDashboard.'''
self.wrist.log()
self.elevator.log()
self.drivetrain.log()
self.claw.log()
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def __init__(self, robot):
self.joy = wpilib.Joystick(0)
# Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom",
SetElevatorSetpoint(robot, 0))
SmartDashboard.putData("Elevator Platform",
SetElevatorSetpoint(robot, 0.2))
SmartDashboard.putData("Elevator Top", SetElevatorSetpoint(robot, 0.3))
SmartDashboard.putData("Wrist Horizontal", SetWristSetpoint(robot, 0))
SmartDashboard.putData("Raise Wrist", SetWristSetpoint(robot, -45))
SmartDashboard.putData("Open Claw", OpenClaw(robot))
SmartDashboard.putData("Close Claw", CloseClaw(robot))
SmartDashboard.putData("Deliver Soda", Autonomous(robot))
# Create some buttons
d_up = JoystickButton(self.joy, 5)
d_right = JoystickButton(self.joy, 6)
d_down = JoystickButton(self.joy, 7)
d_left = JoystickButton(self.joy, 8)
l2 = JoystickButton(self.joy, 9)
r2 = JoystickButton(self.joy, 10)
l1 = JoystickButton(self.joy, 11)
r1 = JoystickButton(self.joy, 12)
# Connect the buttons to commands
d_up.whenPressed(SetElevatorSetpoint(robot, 0.2))
d_down.whenPressed(SetElevatorSetpoint(robot, -0.2))
d_right.whenPressed(CloseClaw(robot))
d_left.whenPressed(OpenClaw(robot))
r1.whenPressed(PrepareToPickup(robot))
r2.whenPressed(Pickup(robot))
l1.whenPressed(Place(robot))
l2.whenPressed(Autonomous(robot))
def robotInit(self):
'''This function is run when the robot is first started up and should be
used for any initialization code.'''
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
class Robot(CommandBasedRobot):
def getModuleName(self):
return "VexBot"
def getVersion(self):
return "0.0.0-py"
def robotInit(self):
subsystems.init()
self.teleopCommand = TankDrive()
#self.teleopCommand = MecDrive()
self.autonomousCommand = Autonomous()
def autonomousInit(self):
self.autonomousCommand.cancel()
self.autonomousCommand.start()
def teleopInit(self):
self.autonomousCommand.cancel()
self.teleopCommand.start()
def robotInit(self):
Command.getRobot = lambda x=0: self
MyRobot.drivetrain = Drive.Drive()
MyRobot.leftStick = oi.getLeftStick()
MyRobot.rightStick = oi.getRightStick()
self.Autonomous = Autonomous()
def robotInit(self):
Command.getRobot = lambda x=0: self
self.drivetrain = Drive.Drive()
self.autonomous = Autonomous()
def robotInit(self):
subsystems.init()
self.teleopCommand = TankDrive()
#self.teleopCommand = MecDrive()
self.autonomousCommand = Autonomous()