def robotInit(self):
subsystems.init()
oi.init()
self.teleopProgram = wpilib.command.CommandGroup()
self.teleopProgram.addParallel(FollowJoystick())
self.teleopProgram.addParallel(Intake())
def robotInit(self):
print('Robot Base - robotInit called')
# subsystems must be initialized before things that use them
# ensure order of operations is correct, just like importing to avoid issues with dependencies
subsystems.init()
oi.init()
def robotInit(self):
'''
This is a good place to set up your subsystems and anything else that
you will need to access later.
'''
subsystems.init()
self.autoChooser = wpilib.SendableChooser()
# self.autoChooser.addDefault('No Auto', NoAuto())
self.autoChooser.addDefault('Center Switch Auto', CenterSwitchAuto())
self.autoChooser.addObject('Left Switch Auto', LeftSwitchAuto())
# self.autoChooser.addObject('Center Switch Auto', CenterSwitchAuto())
self.autoChooser.addObject('Right Switch Auto', RightSwitchAuto())
self.autoChooser.addObject('Cross Line Auto', CrossLineAuto())
self.autoChooser.addObject('Left Switch Safe', LeftSwitchSafe())
self.autoChooser.addObject('Right Switch Safe', RightSwitchSafe())
wpilib.SmartDashboard.putData('Auto Mode', self.autoChooser)
self.autonomousCommand = None
'''
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
'''
OI.init()
# Initialize the camera server
wpilib.CameraServer.launch('vision.py:main')
def robotInit(self):
print('Robot Base - robotInit called')
# subsystems must be initialized before things that use them
# ensure order of operations is correct, just like importing to avoid issues with dependencies
subsystems.init()
oi.init()
#if robotmap.sensors.hasAHRS:
# try:
# robotmap.sensors.ahrs = navx.AHRS.create_spi()
# # use via robotmap.sensors.ahrs.getAngle() or getYaw()
# print('robotInit: NavX Setup')
# except:
# if not DriverStation.getInstance().isFmsAttached():
# raise
print('robotInit: Starting Camera Server')
try:
wpilib.CameraServer.launch()
print('robotInit: Camera Rolling')
except Exception as e:
print(
'robotInit: Error! Exception caught starting cameraServer: {}'.
format(e))
def robotInit(self):
"""
Set up everything.
"""
subsystems.init()
self.logger = logging.getLogger("robot")
self.sd = NetworkTables.getTable("SmartDashboard")
# set autonomous modes
self.sd.putStringArray("autonomous/options", [
"left", "center", "right", "boilerleft", "boilerright", "borkleft",
"borkright"
])
self.sd.putString("autonomous/selected", "left")
self.sd.putBoolean("isautonomous", False)
# Rotate PID values (for tuning)
self.sd.putNumber("rotate/kp", 0.007)
self.sd.putNumber("rotate/ki", 0.001)
self.sd.putNumber("rotate/kd", 0.05)
self.sd.putNumber("rotate/kf", 0.0)
# drive-to-rod PID values (for tuning)
self.sd.putNumber("rod/kp", 0.15)
self.sd.putNumber("rod/ki", 0)
self.sd.putNumber("rod/kd", 0)
self.sd.putNumber("rod/kf", 0.0)
self.sd.putNumber("rod/ktolerance", 0)
# RectifiedDrive PID values (for tuning)
self.sd.putNumber("drive/kp", 0.07)
self.sd.putNumber("drive/ki", 0.0)
self.sd.putNumber("drive/kd", 0)
self.sd.putNumber("drive/kf", 0.05)
self.sd.putNumber("drive/ktolerance", 0.1)
# Motor PID values (for tuning)
self.sd.putNumber("motors/kp", 0.3)
self.sd.putNumber("motors/ki", 0)
self.sd.putNumber("motors/kd", 0)
self.sd.putNumber("motors/kf", 0.7)
self.sd.putNumber("direction", 1)
self.sd.putBoolean("lockonRunning", False)
self.sd.putBoolean("climbDownCommand", False)
self.sd.putBoolean("slowmode", False)
navx.init()
sonar.init()
oi.init()
switches.init()
wpilib.CameraServer.launch('inputs/camera.py:start')
def robotInit(self):
'''Robot initialization function'''
self.map = RobotMap()
self.createMotors(self.map.CAN.driveMotors)
#inti the drive train
driveTrain.init(self.driveMotors)
subsystems.init()
self.autonomousProgram = autonomous.AutonomousProgram()
self.driveStick = wpilib.Joystick(
self.map.joystickMap.movementJoystick)
def robotInit(self):
"""Robot initiializer. Initializes things such as all of the subsystems
and operator input objects.
Runs once during startup.
"""
subsystems.init()
operatorinput.init()
self.autonomous = Autonomous()
print("Initialized robot")
def robotInit(self):
'''
This is a good place to set up your subsystems and anything else that
you will need to access later.
'''
subsystems.init()
self.autonomousProgram = AutonomousProgram()
'''
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
'''
oi.init()
def robotInit(self):
'''
This is a good place to set up your subsystems and anything else that
you will need to access later.
'''
# Command.getRobot = lambda x=0: self
# self.motor = singlemotor.SingleMotor()
subsystems.init()
# self.autonomousProgram = AutonomousProgram()
'''
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
'''
oi.init()
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
subsystems.init()
# Command.getRobot = lambda x=0: self
# self.motor = singlemotor.SingleMotor()
self.autonomousProgram = AutonomousProgram()
"""
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
"""
oi.init()
self.teleopProgram = FollowJoystick()
def robotInit(self):
"""Robot initiializer. Initializes things such as all of the subsystems
and operator input objects.
Runs once during startup.
"""
subsystems.init()
operatorinput.init()
self.autonomous = Autonomous()
"""Launch the child process for obtaining centroids of the
vision targets. See the documentation in camera.py and at
http://robotpy.readthedocs.io/en/stable/vision/roborio.html"""
wpilib.CameraServer.launch('camera.py:main')
print("Initialized robot")
def robotInit(self):
print('2018Mule - robotInit called')
if robotmap.sensors.hasAHRS:
try:
robotmap.sensors.ahrs = navx.AHRS.create_spi()
# use via robotmap.sensors.ahrs.getAngle()
print('robotInit: NavX Setup')
except:
if not DriverStation.getInstance().isFmsAttached():
raise
# subsystems must be initialized before things that use them
subsystems.init()
oi.init()
global autoManager
autoManager = FakeAutoManager()
autoManager.initialize()
def robotInit(self):
'''Robot initialization function'''
self.map = RobotMap()
self.driveMotors = self.createMotors(self.map.CAN.driveMotors)
driveTrain.init(self.driveMotors)
self.driveStick = wpilib.Joystick(
self.map.joystickMap.movementJoystick)
'''
This is a good place to set up your subsystems and anything else that
you will need to access later.
'''
subsystems.init()
self.autonomousProgram = autonomous.AutonomousProgram()
self.teleopMove = followjoystick.FollowJoystick(
self.driveStick.getX, self.driveStick.getY, self.driveStick.getZ)
def robotInit(self):
"""
We use this method to declare the various, high-level objects for the
robot.
For example, we can use the create a CommandGroup object to store the
various process for our robot to run when we enable it.
"""
subsystems.init()
oi.init()
self.teleopProgram = wpilib.command.CommandGroup()
self.teleopProgram.addParallel(FollowJoystick())
self.teleopProgram.addParallel(Shooter())
self.autoProgram = wpilib.command.CommandGroup()
self.autoProgram.addParallel(AutoJoystick())
self.autoProgram.addParallel(Shooter())
self.autoProgram.addSequential(Crossbow(0.55, 0.5))
self.autoProgram.addSequential(Crossbow(-0.75, 1))
def robotInit(self):
subsystems.init()
self.autonomousProgram = AutonomousProgram()
self.teleopProgram = TankDriveJoystick()
oi.init()
def robotInit(self):
subsystems.init()
self.followJoystick = FollowJoystick()
def robotInit(self):
"""
WPILIB method on initialization
"""
# instansiate a getter method so you can do 'import robot;
# robot.get_robot()'
global get_robot
try:
wpilib.CameraServer.launch('cameraservant.py:main')
except:
print("Could not find module cscore")
get_robot = self.get_self
self.num_loops = 0
subsystems.init()
self.autonomousProgram = PulseMotor()
self.chooser = wpilib.SendableChooser()
#self.chooser.addDefault("SEQUENCE", Sequence())
self.chooser.addObject("Go 1 meter forward", DriveToDistance(1, 1))
self.chooser.addObject("Turn 90 Degrees Clockwise", TurnDrive(90))
# self.chooser.addObject("Turn Arm Horizontal", LiftToProportion(robotmap.measures.ROBOT_ARM_HORIZONTAL))
self.chooser.addObject("Do Nothing Auto", DoNothing(15))
self.chooser.addObject("Grabber(True)", Grabber(True))
self.chooser.addObject("Grabber(False)", Grabber(False))
#self.chooser.addObject("ParametricLine", ParametricDrive(lambda t: .1 * t, lambda t: .4 * t, 5))
# The Auto Line is 10 ft (~3.048 meters) from the start point. May have to be tweaked a bit.
self.chooser.addObject("Drive Forward", DriveToDistance(3.048, 3.048))
self.chooser.addObject("Switch Back (inplace)", SwitchBack_inplace())
self.chooser.addObject("COMP: Left", "l")
self.chooser.addObject("COMP: Middle", "m")
self.chooser.addObject("COMP: Right", "r")
self.chooser.addDefault("COMP: Minimal Auto",
DriveToDistance(3.048, 3.048))
self.chooser.addObject("COMP: Do Nothing", DoNothing(15))
self.auto_data = None
#self.chooser.addObject('PulseMotor', PulseMotor())
wpilib.SmartDashboard.putData('Autonomous Program', self.chooser)
self.teleopProgram = wpilib.command.CommandGroup()
self.teleopProgram.addParallel(PIDTankDriveJoystick())
#self.teleopProgram.addParallel(TankDriveJoystick())
# self.teleopProgram.addParallel(ArmExtender())
self.teleopProgram.addParallel(ArmRotate())
#self.teleopProgram.addParallel(NavXCommand())
#self.teleopProgram.addParallel(CorrectTip())
oi.init()
def robotInit(self):
subsystems.init()
oi.init()
commands.init()
def robotInit(self):
subsystems.init()
self.teleopCommand = TankDrive()
#self.teleopCommand = MecDrive()
self.autonomousCommand = Autonomous()
def robotInit(self):
subsystems.init()
subsystems.oi.init()
self.teleopProgram = NomadDrive()
self.autonomousProgram = Auton()
def robotInit(self):
subsystems.init()
inputs.oi.init()
commands.init()
print(type(inputs.oi.A))
