def __init__(self, distance, speed):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.odemetry = odemetry.Odemetry()
self.speed = speed
self.distance = distance
def __init__(self):
super().__init__()
self.drive = drive.Drive()
self.distance = distance.DistanceSensor()
self.distance.init()
self.requires(self.drive)
self.requires(self.distance)
class Robot(CommandBasedRobot):
drive = drive.Drive()
def robotInit(self):
pass
def disabledInit(self):
pass
def disabledPeriodic(self):
pass
def autonomousInit(self):
autoCommand = driveTime.DriveTime(-1, 5)
autoCommand.start()
def autonomousPeriodic(self):
Scheduler.getInstance().run()
def teleopInit(self):
pass
def teleopPeriodic(self):
Scheduler.getInstance().run()
def testInit(self):
pass
def testPeriodic(self):
pass
def __init__(self, allocentric=False):
super().__init__()
self.allocentric = allocentric
self.drive = drive.Drive()
self.requires(self.drive)
self.drive.zeroSensors()
self.odemetry = odemetry.Odemetry()
def robotInit(self):
"""Run when the robot turns on."""
field_styles = coloredlogs.DEFAULT_FIELD_STYLES
field_styles['filename'] = {'color': 'cyan'}
coloredlogs.install(
fmt=
"%(asctime)s[%(msecs)d] %(filename)s:%(lineno)d %(name)s %(levelname)s %(message)s",
datefmt="%m-%d %H:%M:%S",
field_styles=field_styles) # install to created handler
Command.getRobot = lambda x=0: self
# Update constants from json file on robot
# if self.isReal():
# Constants.updateConstants()
# Update constants for dashboard editing
Constants.initSmartDashboard()
# Initialize drive objects
drive.Drive().init()
# The PDP
# self.pdp = PDP(7)
# Set command group member variables
self.autonomous = autogroup.AutonomousCommandGroup()
self.disabled = disabledgroup.DisabledCommandGroup()
self.disabled.setRunWhenDisabled(True)
self.teleop = teleopgroup.TeleopCommandGroup()
self.test = testgroup.TestCommandGroup()
self.global_ = globalgroup.GlobalCommandGroup()
self.global_.setRunWhenDisabled(True)
# Start the camera sever
CameraServer.launch()
self.watchdog = watchdog.Watchdog(0.05, self._watchdogTimeout)
self.globalInit()
def __init__(self, filename):
super().__init__()
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.spline = hs.HermiteSpline(filename=filename)
self.follower = purepursuit.PurePursuit(self.spline)
self.follower.computeVelocities()
def execute(self):
power = -math.pow(oi.OI().getJoystick().getY(),
Constants.TANK_DRIVE_EXPONENT)
rotation = -oi.OI().getJoystick().getZ()
rotation = (rotation, 0)[abs(rotation) < 0.05]
left = power - rotation
right = power + rotation
drive.Drive().setPercentOutput(left, right)
def __init__(self):
super().__init__()
self.drive = drive.Drive()
self.longarm = longarm.LongArm()
self.shortarm = shortarm.ShortArm()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.requires(self.longarm)
self.requires(self.shortarm)
def __init__(self, left_velocity, right_velocity, timeout=1000):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.timer = wpilib.Timer()
self.timeout = timeout
self.left_velocity = left_velocity
self.right_velocity = right_velocity
def __init__(self, radius, velocity, timeout):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.radius = radius
self.velocity = velocity
self.timeout = timeout
self.timer = wpilib.Timer()
def __init__(self, controller):
self.controller = controller
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.drivetrain = drivetrains.MecanumDrivetrain(x_wheelbase=units.inchesToFeet(Constants.X_WHEEL_BASE), y_wheelbase=units.inchesToFeet(
Constants.Y_WHEEL_BASE), speed=units.inchesToFeet(Constants.THEORETICAL_MAX_VELOCITY))
self.starting_x = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_x'])
self.starting_y = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_y'])
def __init__(self, allocentric=False):
super().__init__()
self.allocentric = allocentric
self.drive = drive.Drive()
self.requires(self.drive)
self.drive.zeroSensors()
self.odemetry = odemetry.Odemetry()
self.multiplier = 1000
self.last_snap = 0
self.setInterruptible(True)
def __init__(self, setpoint, relative=False):
super().__init__()
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.setpoint = units.degreesToRadians(setpoint)
self.relative = relative
self.timer = wpilib.Timer()
self.timestamp = 0
self.last_timestamp = 0
self.cur_error = 0
def __init__(self, x_speed, y_speed, rotation, timeout=1):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.timer = wpilib.Timer()
self.timeout = timeout
self.x_speed = x_speed
self.y_speed = y_speed
self.rotation = rotation
def __init__(self, fl_signal, fr_signal, bl_signal, br_signal, timeout=1000):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.timer = wpilib.Timer()
self.timeout = timeout
self.fl_signal = fl_signal
self.fr_signal = fr_signal
self.bl_signal = bl_signal
self.br_signal = br_signal
def __init__(self, controller):
self.controller = controller
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.drivetrain = drivetrains.TwoMotorDrivetrain(
x_wheelbase=units.inchesToFeet(Constants.WHEEL_BASE),
speed=units.inchesToFeet(Constants.THEORETICAL_MAX_VELOCITY))
self.starting_x = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_x'])
self.starting_y = units.feetToInches(
config.config_obj['pyfrc']['robot']['starting_y'])
self.kl_encoder = Constants.DRIVE_ENCODER_TICKS_PER_REVOLUTION_LEFT / \
Constants.WHEEL_CIRCUMFERENCE
self.kr_encoder = Constants.DRIVE_ENCODER_TICKS_PER_REVOLUTION_RIGHT / \
Constants.WHEEL_CIRCUMFERENCE
def __init__(self, setpoint):
"""Turn to setpoint (degrees)."""
super().__init__()
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.setpoint = setpoint
src = self.odemetry.pidgyro
self.PID = PIDController(Constants.TURN_TO_ANGLE_KP,
Constants.TURN_TO_ANGLE_KI,
Constants.TURN_TO_ANGLE_KD, src,
self._setMotors)
self.PID.setInputRange(-180.0, 180.0)
self.PID.setOutputRange(-0.7, 0.7)
self.PID.setContinuous(True)
self.PID.setAbsoluteTolerance(Constants.TURN_TO_ANGLE_TOLERANCE)
self.PID.setPIDSourceType(PIDController.PIDSourceType.kDisplacement)
def __init__(self):
"""Initilize the Odemetry class"""
super().__init__()
self.drive = drive.Drive()
self.timestamp = 0
self.last_timestamp = 0
# Gyroscope
self.gyro = adxrs450_gyro.ADXRS450_Gyro()
self.gyro.calibrate()
self.pose = pose.Pose()
self.last_left_encoder_distance = 0
self.last_right_encoder_distance = 0
self.last_angle = 0
def __init__(self, setpoint, relative=False):
super().__init__()
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.setpoint = units.degreesToRadians(setpoint)
self.kp = Constants.TURN_TO_ANGLE_KP
self.ki = Constants.TURN_TO_ANGLE_KI
self.kd = Constants.TURN_TO_ANGLE_KD
self.error_tolerance = Constants.TURN_TO_ANGLE_TOLERANCE
self.timeout = Constants.TURN_TO_ANGLE_TIMEOUT
self.controller = pid.PID(
self.setpoint, self.kp, self.ki, self.kd, True, -180, 180)
self.timestamp = 0
self.last_timestamp = 0
self.cur_error = 0
self.relative = relative
self.timer = wpilib.Timer()
self.timeout = 1000
def __init__(self, setpoint):
"""Turn to setpoint (degrees)."""
super().__init__()
self.drive = drive.Drive()
self.odemetry = odemetry.Odemetry()
self.requires(self.drive)
self.setpoint = setpoint
src = self.odemetry.pidgyro
self.PID = PIDController(Constants.TURN_TO_ANGLE_KP,
Constants.TURN_TO_ANGLE_KI,
Constants.TURN_TO_ANGLE_KD, src,
self._setMotors)
logging.debug(
"Turn to angle constructed with angle {}".format(setpoint))
self.PID.setInputRange(-180.0, 180.0)
self.PID.setOutputRange(-Constants.TURN_TO_ANGLE_MAX_OUTPUT,
Constants.TURN_TO_ANGLE_MAX_OUTPUT)
self.PID.setContinuous(True)
self.PID.setAbsoluteTolerance(Constants.TURN_TO_ANGLE_TOLERANCE)
self.PID.setPIDSourceType(PIDController.PIDSourceType.kDisplacement)
def robotInit(self):
Command.getRobot = lambda x=0: self
"""Run when the robot turns on."""
# Update constants from json file on robot
if self.isReal():
Constants.updateConstants()
# Initialize drive objects
drive.Drive().init()
# The PDP
self.pdp = PDP(Constants.PDP_ID)
# Robot odemetry command
self.updateodemetry = updateodemetry.UpdateOdemetry()
# Set command group member variables
self.autonomous = autogroup.AutonomousCommandGroup()
self.disabled = disabledgroup.DisabledCommandGroup()
self.disabled.setRunWhenDisabled(True)
self.teleop = teleopgroup.TeleopCommandGroup()
self.test = testgroup.TestCommandGroup()
# Start the camera sever
CameraServer.launch()
def __init__(self):
"""Initilize the Odemetry class."""
super().__init__()
self.drive = drive.Drive()
self.timestamp = 0
self.last_timestamp = 0
self.dt = 0
# Gyroscope
if hal.isSimulation():
self.gyro = analoggyro.AnalogGyro(0)
self.pidgyro = pidanaloggyro.PIDAnalogGyro(self.gyro)
else:
self.gyro = PigeonIMU(intake.Intake().l_motor)
self.pidgyro = pidpigeon.PIDPigeon(self.gyro)
self.pose = pose.Pose()
self.last_left_encoder_distance = 0
self.last_right_encoder_distance = 0
self.last_angle = 0
def __init__(self):
"""Initilize the Odemetry class."""
super().__init__()
self.drive = drive.Drive()
self.timestamp = 0
self.last_timestamp = 0
self.dt = 0
self.ir_motor = ctre.WPI_TalonSRX(Constants.IR_MOTOR_ID)
# Gyroscope
if hal.isSimulation():
self.gyro = analoggyro.AnalogGyro(0)
else:
self.gyro = PigeonIMU(self.ir_motor)
self.calibrate()
self.pose = pose.Pose()
self.last_left_encoder_distance = 0
self.last_right_encoder_distance = 0
self.last_angle = 0
def robotInit(self):
"""Run when the robot turns on."""
field_styles = coloredlogs.DEFAULT_FIELD_STYLES
field_styles['filename'] = {'color': 'cyan'}
coloredlogs.install(
level='WARN',
fmt=
"%(asctime)s[%(msecs)d] %(filename)s:%(lineno)d %(name)s %(levelname)s %(message)s",
datefmt="%m-%d %H:%M:%S",
field_styles=field_styles) # install to created handler
Command.getRobot = lambda x=0: self
# Update constants from json file on robot
# if self.isReal():
# Constants.updateConstants()
# Update constants for dashboard editing
Constants.initSmartDashboard()
# Initialize motor objects
drive.Drive().init()
longarm.LongArm().init()
shortarm.ShortArm().init()
intake.Intake().init()
climbroller.ClimbRoller().init()
# The PDP
# self.pdp = PDP(7)
# Set command group member variables
self.autonomous = autogroup.AutonomousCommandGroup()
self.disabled = disabledgroup.DisabledCommandGroup()
self.disabled.setRunWhenDisabled(True)
self.teleop = teleopgroup.TeleopCommandGroup()
self.test = testgroup.TestCommandGroup()
self.global_ = globalgroup.GlobalCommandGroup()
self.global_.setRunWhenDisabled(True)
self.watchdog = watchdog.Watchdog(Constants.WATCHDOG_TIMEOUT,
self._watchdogTimeout)
self.globalInit()
LiveWindow.disableAllTelemetry()
def __init__(self):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
def __init__(self):
super().__init__()
self.drive = drive.Drive()
self.backarm = backarm.BackArm()
self.requires(self.drive)
self.requires(self.backarm)
def __init__(self, pov_port):
super().__init__()
self.drive = drive.Drive()
self.pov_port = 0
def __init__(self):
super().__init__()
self.requires(drive.Drive())
drive.Drive().zeroSensors()
def __init__(self):
super().__init__()
self.drive = drive.Drive()
self.requires(self.drive)
self.vision = vision.Vision()
