def initialize(self):
Command.getRobot().drivetrain.set(ControlMode.PercentOutput,
self.power, self.power)
def end(self):
Command.getRobot().drivetrain.set(ControlMode.PercentOutput, 0.0, 0.0)
def initialize(self):
Command.getRobot().intakeOutput.panelPlace(
IntakeOutput.PanelPutOrTake.TAKE)
Command.getRobot().intakeOutput.mode = self.mode
def __init__(self, mode):
super().__init__(name="SetObjectMode",
subsystem=Command.getRobot().intakeOutput)
self.mode = mode
self.logger = logging.getLogger(self.getName())
def initialize(self):
Command.getRobot().intakeOutput.panelPlace(
IntakeOutput.PanelPutOrTake.PUT)
def initialize(self):
Command.getRobot().liftElevator.setElevatorReference(6.5)
def __init__(self, position):
super().__init__(name="ActivateArms {}".format(position),
subsystem=Command.getRobot().intakeOutput)
self.position = position
def initialize(self):
Command.getRobot().liftElevator.resetEncoders()
def __init__(self):
# Create Joysticks
self.stick = Joystick(0)
self.gamepad = Joystick(1)
# Create Buttons
self.trigger = JoystickButton(self.stick, 1)
self.button2 = JoystickButton(self.stick, 2)
self.button3 = JoystickButton(self.stick, 3)
self.button4 = JoystickButton(self.stick, 4)
self.button5 = JoystickButton(self.stick, 5)
self.button6 = JoystickButton(self.stick, 6)
self.button7 = JoystickButton(self.stick, 7)
self.button8 = JoystickButton(self.stick, 8)
self.button9 = JoystickButton(self.stick, 9)
self.button10 = JoystickButton(self.stick, 10)
self.button11 = JoystickButton(self.stick, 11)
self.pad1 = JoystickButton(self.gamepad, 1)
self.pad2 = JoystickButton(self.gamepad, 2)
self.pad3 = JoystickButton(self.gamepad, 3)
self.pad4 = JoystickButton(self.gamepad, 4)
self.pad5 = JoystickButton(self.gamepad, 5)
self.pad6 = JoystickButton(self.gamepad, 6)
self.pad7 = JoystickButton(self.gamepad, 7)
self.pad8 = JoystickButton(self.gamepad, 8)
self.pad9 = JoystickButton(self.gamepad, 9)
self.climb2 = ComboButton(self.pad6, self.button6)
self.climb3 = ComboButton(self.pad5, self.button6)
# Test buttons
self.test = ComboButton(self.pad2, self.button6)
# Command hookups
self.trigger.whenPressed(Intake())
self.trigger.whenReleased(NeutralIntake())
# self.button2.whileHeld(Align(3.0))
self.button8.whenPressed(
type(
'', (InstantCommand, ), {
'initialize':
lambda: Command.getRobot().liftElevator.resetEncoders()
}))
self.pad1.whenPressed(SetObjectMode(
IntakeOutput.BallOrHatchMode.HATCH))
self.pad1.whenReleased(SetObjectMode(
IntakeOutput.BallOrHatchMode.BALL))
Command.getRobot().intakeOutput.mode = IntakeOutput.BallOrHatchMode.HATCH if \
self.pad1.get() else IntakeOutput.BallOrHatchMode.HATCH
self.test.whenPressed(TopConditional())
self.pad3.whenPressed(MiddleConditional())
self.pad4.whenPressed(LowConditional())
self.climb2.whenPressed(TwoClimbG())
self.climb3.whenPressed(OneClimbG())
self.pad7.whenPressed(MoveElevator(1))
self.pad8.whenPressed(HighCenter())
def initialize(self):
Command.getRobot().intakeOutput.setPosition(self.position)
def __init__(self, key):
super().__init__(name="InhaleExhale {}".format(key),
subsystem=Command.getRobot().intakeOutput)
self.key = key
def initialize(self):
Command.getRobot().intakeOutput.giveOrTakeCargo(self.key)
def __init__(self):
super().__init__(subsystem=Command.getRobot().liftElevator)
def __init__(self, power):
super().__init__(name="Move {}".format(power),
subsystem=Command.getRobot().drivetrain)
self.power = power
def initialize(self):
Command.getRobot().liftElevator.liftDrive(self.power)
def condition(self):
return Command.getRobot(
).intakeOutput.mode == IntakeOutput.BallOrHatchMode.BALL
def end(self):
Command.getRobot().liftElevator.liftDrive(0.0)
def __init__(self):
super().__init__(name=self.__class__,
subsystem=Command.getRobot().liftElevator)
def __init__(self, power):
super().__init__(name="LiftDrive {}".format(power),
subsystem=Command.getRobot().liftElevator)
self.power = power
def __init__(self):
super().__init__(subsystem=Command.getRobot().intakeOutput)
def initialize(self):
if self.mode == IntakeOutput.IntakeInOutNeutral.NEUTRAL:
self.logger.info("NEUTRAL")
Command.getRobot().intakeOutput.setArmPower(0.0)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.UP)
elif self.mode == IntakeOutput.IntakeInOutNeutral.IN:
self.logger.info("IN")
Command.getRobot().intakeOutput.setArmPower(0.5)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.DOWN)
elif self.mode == IntakeOutput.IntakeInOutNeutral.OUT:
self.logger.info("OUT")
Command.getRobot().intakeOutput.setArmPower(-1.0)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.DOWN)
