def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
stickbutton = StickButton(robot.xbox0, .1)
shoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
block = JoystickButton(robot.xbox0, XboxController.Button.kY)
intake = JoystickButton(robot.xbox0, XboxController.Button.kX)
shiftup = JoystickButton(robot.xbox0,
XboxController.Button.kBumperRight)
shiftdown = JoystickButton(robot.xbox0,
XboxController.Button.kBumperLeft)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
def __init(self, robot):
self.addSequential(Shoot(robot))
self.addSequential(WaitCommand(timeout=0.3))
self.addSequential(Unblock(robot))
self.addSequential(WaitCommand(timeout=5))
#TODO: figure out how long the shooter needs to run in order to empty
self.addSequential(StopShooting(robot))
self.addParallel(Block(robot))
def __init__(self, robot):
super().__init__()
self.addSequential(CloseClaw(robot))
self.addSequential(WaitForPressure(robot), 2)
if robot.isReal():
# NOTE: Simulation doesn't currently have the concept of hot.
self.addSequential(CheckForHotGoal(robot, 2))
self.addSequential(SetPivotSetpoint(robot, 45))
self.addSequential(DriveForward(robot, 8, 0.3))
self.addSequential(Shoot(robot))
def __init__(self, robot):
'''The Constructor - assign Xbox controller buttons to specific Commands.
'''
print("In OI:__init__")
robot.xbox0 = wpilib.XboxController(0)
robot.xbox1 = wpilib.XboxController(1)
stickbutton = StickButton(robot.xbox0, .1)
shoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
block = JoystickButton(robot.xbox0, XboxController.Button.kY)
intake = JoystickButton(robot.xbox0, XboxController.Button.kX)
shiftup = JoystickButton(robot.xbox0,
XboxController.Button.kBumperRight)
shiftdown = JoystickButton(robot.xbox0,
XboxController.Button.kBumperLeft)
triggerbutton = TriggerButton(robot.xbox1, .1)
extendclimber = JoystickButton(robot.xbox1, XboxController.Button.kA)
agitate = JoystickButton(robot.xbox0, XboxController.Button.kA)
#releaseshoot = JoystickButton(robot.xbox0, XboxController.Button.kA)
eject = JoystickButton(robot.xbox0, XboxController.Button.kB)
togglecamera = JoystickButton(robot.xbox0,
XboxController.Button.kStart)
togglecamera.whenPressed(ToggleCamera(robot))
stickbutton.whenPressed(DifferentialDriveWithXbox(robot))
shoot.whileHeld(Shoot(robot))
block.toggleWhenPressed(Block(robot))
intake.whileHeld(Intake_Com(robot))
shiftup.whenPressed(ShiftUp(robot))
shiftdown.whenPressed(ShiftDown(robot))
triggerbutton.whenPressed(Climbwithtriggers(robot))
extendclimber.toggleWhenPressed(Extendclimber(robot))
agitate.whileHeld(Agitate(robot))
#releaseshoot.whileHeld(ReleaseShoot(robot))
eject.whileHeld(Cuntake(robot))
def __init__(self, robot):
self.joystick = wpilib.Joystick(0)
JoystickButton(self.joystick, 12).whenPressed(LowGoal(robot))
JoystickButton(self.joystick, 10).whenPressed(Collect(robot))
JoystickButton(self.joystick,
11).whenPressed(SetPivotSetpoint(robot, Pivot.SHOOT))
JoystickButton(self.joystick,
9).whenPressed(SetPivotSetpoint(robot,
Pivot.SHOOT_NEAR))
DoubleButton(self.joystick, 2, 3).whenActive(Shoot(robot))
# SmartDashboard Buttons
SmartDashboard.putData("Drive Forward", DriveForward(robot, 2.25))
SmartDashboard.putData("Drive Backward", DriveForward(robot, -2.25))
SmartDashboard.putData("Start Rollers",
SetCollectionSpeed(robot, Collector.FORWARD))
SmartDashboard.putData("Stop Rollers",
SetCollectionSpeed(robot, Collector.STOP))
SmartDashboard.putData("Reverse Rollers",
SetCollectionSpeed(robot, Collector.REVERSE))