def createObjects(self):
# Define Driving Motors
self.rightDrive = wpilib.VictorSP(0)
self.leftDrive = wpilib.VictorSP(1)
# Create Robot Drive
self.robotDrive = wpilib.drive.DifferentialDrive(
self.rightDrive, self.leftDrive)
# Create Shifter Pneumatics
self.shifterSolenoid = wpilib.DoubleSolenoid(0, 0, 1)
# Joysticks and Controllers
self.driveJoystick = wpilib.Joystick(0)
self.driveController = XboxController(0)
self.subsystemJoystick = wpilib.Joystick(1)
self.subsystemController = XboxController(1)
# Create NavX and Accel
self.navX = navx.AHRS.create_spi()
self.accel = wpilib.BuiltInAccelerometer()
# Set Drivespeed
self.driveSpeed = 0
# Intake Motors
self.intakeMotor = wpilib.VictorSP(2)
# Intake Lifter
self.intakeLifter = wpilib.Spark(6)
# Create Cube Intake Pneumatics
self.intakeSolenoid = wpilib.Solenoid(0, 2)
# Create Ramp Motors
self.rightRamp = wpilib.Spark(5)
self.leftRamp = wpilib.Spark(4)
# Create Ramp Deploy Pneumatics
self.rampSolenoid = wpilib.Solenoid(0, 3)
# Create Timer (For Making Timed Events)
self.timer = wpilib.Timer()
# Initialize Compressor
self.compressor = wpilib.Compressor()
# Create CameraServer
wpilib.CameraServer.launch("common/multipleCameras.py:main")
# Set Gear in Dashboard
wpilib.SmartDashboard.putString("Shift State", "Low Gear")
wpilib.SmartDashboard.putString("Cube State", "Unclamped")
def robotInit(self):
self.chandler = XboxController(0)
self.meet = XboxController(1)
self.drive = drive.Drive() # So redundant omg
self.pneumatics = pneumatics.Pneumatics()
self.intake = intake.Intake()
self.elevator = elevator.Elevator()
self.components = {
'drive': self.drive,
'pneumatics': self.pneumatics,
'intake': self.intake,
'elevator': self.elevator,
}
self.nt_timer = Timer() # timer for SmartDashboard update so we don't use all our bandwidth
self.nt_timer.start()
self.autonomous_modes = AutonomousModeSelector('autonomous', self.components)
quickdebug.add_printables(self, ('match_time', Timer.getMatchTime))
quickdebug.init()
# Ports for motors & stuff
drive_left = 3, 4
drive_right = 5, 6
intake_left = 0
intake_right = 7
intake_left_pdp_channel = 11
intake_right_pdp_channel = 4
elevator = 1, 2, 8
intake_solenoid = 0
stabilizer_solenoid = 1
driver = XboxController(0)
operator = XboxController(1)
# Useful stuff
def game_piece_in_intake():
return not side_photosensor.get() # photosensor should be inverted
def left_intake_current():
return pdp.getCurrent(intake_left_pdp_channel)
def right_intake_current():
return pdp.getCurrent(intake_right_pdp_channel)
class Tachyon(SampleRobot):
# noinspection PyAttributeOutsideInit
# because robotInit is called straight from __init__
def robotInit(self):
self.chandler = XboxController(0)
self.meet = XboxController(1)
self.drive = drive.Drive() # So redundant omg
self.pneumatics = pneumatics.Pneumatics()
self.intake = intake.Intake()
self.elevator = elevator.Elevator()
self.components = {
'drive': self.drive,
'pneumatics': self.pneumatics,
'intake': self.intake,
'elevator': self.elevator,
}
self.nt_timer = Timer() # timer for SmartDashboard update so we don't use all our bandwidth
self.nt_timer.start()
self.autonomous_modes = AutonomousModeSelector('autonomous', self.components)
quickdebug.add_printables(self, ('match_time', Timer.getMatchTime))
quickdebug.init()
def autonomous(self):
self.autonomous_modes.run(CONTROL_LOOP_WAIT_TIME, iter_fn=self.update_all)
Timer.delay(CONTROL_LOOP_WAIT_TIME)
def update_all(self):
self.update()
self.update_networktables()
def disabled(self):
while self.isDisabled():
self.update_networktables()
Timer.delay(0.01)
def operatorControl(self):
precise_delay = delay.PreciseDelay(CONTROL_LOOP_WAIT_TIME)
while self.isOperatorControl() and self.isEnabled():
if self.meet.left_bumper() or self.elevator.has_bin:
self.elevator.stack_tote_first()
if self.elevator.full():
self.intake.spin(0)
else:
self.intake.intake_tote()
else:
self.intake.intake_bin()
self.elevator.force_stack = self.chandler.a()
if self.chandler.right_bumper():
self.intake.open()
else:
self.intake.close()
if self.chandler.left_trigger(): # If we're trying to drop the stack
self.intake.spin(0)
self.intake.open()
self.elevator.drop_stack()
wheel = deadband(self.chandler.right_x(), .2)
throttle = -deadband(self.chandler.left_y(), .2) * .8
if self.chandler.right_trigger():
wheel *= 0.3
throttle *= 0.3
self.drive.cheesy_drive(wheel, throttle, self.chandler.left_bumper())
self.drive.auto_drive() # encoders n shit
ticks = self.chandler.dpad()
if ticks == 180: # dowdn on the dpad
self.drive.set_distance_goal(-2)
elif ticks == 0:
self.drive.set_distance_goal(2)
elif ticks == 90:
self.drive.set_distance_goal(-18)
dpad = self.meet.dpad() # You can only call it once per loop, bcus dbouncing
if dpad == 0 and self.elevator.tote_count < 6:
self.elevator.add_tote()
elif dpad == 180 and self.elevator.tote_count > 0:
self.elevator.remove_tote()
elif dpad == 90:
self.elevator.set_bin(not self.elevator.has_bin)
if self.meet.start():
self.elevator._new_stack = True
if self.meet.b():
self.intake.spin(0)
if self.meet.a() or self.chandler.b():
self.intake.spin(-1)
self.elevator.auto_stacking = not self.meet.right_bumper() # Disable automatic stacking if bumper pressed
# Deadman's switch! very important for safety.
if not self.ds.isFMSAttached() and not self.meet.left_trigger():
for component in self.components.values():
component.stop()
else:
self.update()
self.update_networktables()
precise_delay.wait()
def test(self):
for component in self.components.values():
component.stop()
while self.isTest() and self.isEnabled():
LiveWindow.run()
self.update_networktables()
def update(self):
""" Calls the update functions for every component """
for component in self.components.values():
try:
component.update()
except Exception as e:
if self.ds.isFMSAttached():
log.error("In subsystem %s: %s" % (component, e))
else:
raise e
def update_networktables(self):
if not self.nt_timer.hasPeriodPassed(0.2): # we don't need to update every cycle
return
quickdebug.sync()
class Kylo(MagicRobot):
# Initialize Robot Components
drivetrain = DriveTrain
cubemech = CubeMech
rampmech = RampMech
def createObjects(self):
# Define Driving Motors
self.rightDrive = wpilib.VictorSP(0)
self.leftDrive = wpilib.VictorSP(1)
# Create Robot Drive
self.robotDrive = wpilib.drive.DifferentialDrive(
self.rightDrive, self.leftDrive)
# Create Shifter Pneumatics
self.shifterSolenoid = wpilib.DoubleSolenoid(0, 0, 1)
# Joysticks and Controllers
self.driveJoystick = wpilib.Joystick(0)
self.driveController = XboxController(0)
self.subsystemJoystick = wpilib.Joystick(1)
self.subsystemController = XboxController(1)
# Create NavX and Accel
self.navX = navx.AHRS.create_spi()
self.accel = wpilib.BuiltInAccelerometer()
# Set Drivespeed
self.driveSpeed = 0
# Intake Motors
self.intakeMotor = wpilib.VictorSP(2)
# Intake Lifter
self.intakeLifter = wpilib.Spark(6)
# Create Cube Intake Pneumatics
self.intakeSolenoid = wpilib.Solenoid(0, 2)
# Create Ramp Motors
self.rightRamp = wpilib.Spark(5)
self.leftRamp = wpilib.Spark(4)
# Create Ramp Deploy Pneumatics
self.rampSolenoid = wpilib.Solenoid(0, 3)
# Create Timer (For Making Timed Events)
self.timer = wpilib.Timer()
# Initialize Compressor
self.compressor = wpilib.Compressor()
# Create CameraServer
wpilib.CameraServer.launch("common/multipleCameras.py:main")
# Set Gear in Dashboard
wpilib.SmartDashboard.putString("Shift State", "Low Gear")
wpilib.SmartDashboard.putString("Cube State", "Unclamped")
def teleopInit(self):
# Init Drive Controls
DriverController = driveControls("DriveController",
self.driveController, self.drivetrain,
self.cubemech, self.rampmech,
self.driveJoystick, .05)
DriveAux = driveAux("DriveAux", self.driveController, self.drivetrain,
self.cubemech, self.rampmech, self.driveJoystick,
.05)
# Init Subsystem Controls
ArmMech = armMech("ArmMech", self.subsystemController,
self.driveJoystick, self.cubemech, self.rampmech, .1)
ShootMech = shootMech("ShootMech", self.subsystemController,
self.driveJoystick, self.cubemech, self.rampmech,
.1)
SubsystemAux = subsystemAux("SubsystemAux", self.subsystemController,
self.driveJoystick, self.cubemech,
self.rampmech, .1)
# Start Drive Controls
DriveAux.start()
DriverController.start()
# Start Subsystem Controls
ArmMech.start()
ShootMech.start()
SubsystemAux.start()
# Start and Reset Timer
self.timer.reset()
self.timer.start()
def teleopPeriodic(self):
# Pressurize Throughout Teleop
self.compressor.start()
# Rumble Controller
if (self.timer.get() > 75 and self.timer.get() < 105):
self.driveController.rumble(1, 1)
else:
self.driveController.rumble(0, 0)