def __init__(self, robot):
Subsystem.__init__(self, 'Turret')
self.robot = robot
self.tEncoder = Encoder(4, 5, False, Encoder.EncodingType.k4X)
motors = {}
self.map = self.robot.botMap
self.tmotors = motors
for name in self.map.motorMap.motors:
motors[name] = robot.Creator.createMotor(
self.map.motorMap.motors[name])
for name in self.tmotors:
self.tmotors[name].setInverted(
self.map.motorMap.motors[name]['inverted'])
self.tmotors[name].setNeutralMode(ctre.NeutralMode.Coast)
self.kP = 0.05
self.kI = 0.000
self.kD = 0.002
self.turretPID = PID(self.kP, self.kI, self.kD)
self.turretPID.limitVal(0.3)
self.setPow = 0
def __init__(self, robot):
Subsystem.__init__(self, 'Intake')
self.robot = robot
motors = {}
pistons = {}
self.map = self.robot.botMap
for name in self.map.motorMap.motors:
motors[name] = robot.Creator.createMotor(self.map.motorMap.motors[name])
for name in self.map.PneumaticMap.pistons:
pistons[name] = robot.Creator.createPistons(self.map.PneumaticMap.pistons[name])
self.imotors = motors
self.ipistons = pistons
for name in self.imotors:
self.imotors[name].setInverted(self.map.motorMap.motors[name]['inverted'])
self.imotors[name].setNeutralMode(ctre.NeutralMode.Coast)
self.iOut = wpilib.DoubleSolenoid.Value.kForward
self.iIn = wpilib.DoubleSolenoid.Value.kReverse
def __init__(self):
Subsystem.__init__(self)
APA102.__init__(self,
num_led=144,
global_brightness=5,
order='rgb',
max_speed_hz=1000000)
LEDSubsystem.instance = self
def __init__(self):
Subsystem.__init__(self, "GateShot")
self.gate_shot = WPI_TalonSRX(0)
# Close
self.switchClose = wpilib.DigitalInput(0)
# Open
self.switchOpen = wpilib.DigitalInput(1)
# Switch beneath sushi wheel
self.switchSushi = wpilib.DigitalInput(2)
def __init__(self):
Subsystem.__init__(self, "DriveTrain")
self.left1 = ctre.TalonSRX(robot_map.drivetrain_motors["left1"])
self.left2 = ctre.TalonSRX(robot_map.drivetrain_motors["left2"])
self.left3 = ctre.TalonSRX(robot_map.drivetrain_motors["left3"])
self.right1 = ctre.TalonSRX(robot_map.drivetrain_motors["right1"])
self.right2 = ctre.TalonSRX(robot_map.drivetrain_motors["right2"])
self.right3 = ctre.TalonSRX(robot_map.drivetrain_motors["right3"])
def __init__(self):
Subsystem.__init__(self, "Pneumatics")
self.compressor = wpilib.Compressor(0)
# self.compressor.setClosedLoopControl(True)
self.dsolenoid = wpilib.DoubleSolenoid(0, 1)
# self.offvalve = self.dsolenoid.Value.kOff
self.offvalve = wpilib.DoubleSolenoid.Value.kOff
self.dsolenoid.set(self.offvalve)
def __init__(self):
Subsystem.__init__(self, "TestSubsystem")
self.spinSpeed = 0
self.motor = ctre.WPI_TalonSRX(SubSystemPort.KMOTORPORT)
self.motor.setExpiration(2.5)
self.motor.setSafetyEnabled(False)
#Show Motor status in NT
self.addChild("Motor", self.motor)
self.endSwitch = True
def __init__(self, robot):
Subsystem.__init__(self, 'testElectronics')
self.robot = robot
self.map = self.robot.botMap.motorMap
tMotors = {}
for name in self.map.motors:
tMotors[name] = self.robot.Creator.createMotor(
self.map.motors[name])
self.tMotors = tMotors
def __init__(self):
Subsystem.__init__(self, "DropFeeder")
self.DropFeeder1 = wpilib.Solenoid(robot_map.pcm["Dropper1"])
self.DropFeeder2 = wpilib.Solenoid(robot_map.pcm["Dropper2"])
def get(self):
return self.DropFeeder1.get()
return self.DropFeeder2.get()
def set(self, input):
self.Dropper1.set(input)
self.Dropper2.set(input)
def initDefaultCommand(self):
pass
def __init__(self, robot):
Subsystem.__init__(self, 'Flywheel')
self.CurPos = 0
self.PasPos = 0
self.robot = robot
self.Fenc = Encoder(6, 7, False, Encoder.EncodingType.k4X)
self.map = self.robot.botMap
motor = {}
piston = {}
for name in self.robot.botMap.motorMap.motors:
motor[name] = self.robot.Creator.createMotor(
self.robot.botMap.motorMap.motors[name])
for name in self.robot.botMap.PneumaticMap.pistons:
piston[name] = self.robot.Creator.createPistons(
self.robot.botMap.PneumaticMap.pistons[name])
self.fmotor = motor
self.fpiston = piston
for name in self.fmotor:
self.fmotor[name].setInverted(
self.robot.botMap.motorMap.motors[name]['inverted'])
self.fmotor[name].setNeutralMode(ctre.NeutralMode.Coast)
if self.map.motorMap.motors[name]['CurLimit'] is True:
self.fmotor[name].configStatorCurrentLimit(
self.robot.Creator.createCurrentConfig(
self.robot.botMap.currentConfig['Fly']), 40)
self.kP = 0.008
self.kI = 0.00002
self.kD = 0.00018
self.kF = 0.0 # tune me when testing
self.flywheelPID = PID(self.kP, self.kI, self.kD, self.kF)
self.flywheelPID.MaxIn(680)
self.flywheelPID.MaxOut(1)
self.flywheelPID.limitVal(0.95) # Limit PID output power to 50%
self.feetToRPS = 51.111
def __init__(self, robot):
Subsystem.__init__(self, 'Conveyor')
self.robot = robot
self.blaser = DigitalInput(3)
motors = {}
self.map = self.robot.botMap
for name in self.map.motorMap.motors:
motors[name] = self.robot.Creator.createMotor(
self.map.motorMap.motors[name])
self.cMotors = motors
for name in self.cMotors:
self.cMotors[name].setInverted(
self.map.motorMap.motors[name]['inverted'])
self.cMotors[name].setNeutralMode(ctre.NeutralMode.Coast)
def __init__(self, robot):
Subsystem.__init__(self, 'Drive')
self.robot = robot
motors = {}
pistons = {}
self.map = self.robot.botMap
self.rEnc = Encoder(0, 1, False, Encoder.EncodingType.k4X)
self.lEnc = Encoder(2, 3, False, Encoder.EncodingType.k4X)
self.Gyro = ADXRS450_Gyro()
for name in self.map.motorMap.motors:
motors[name] = robot.Creator.createMotor(
self.map.motorMap.motors[name])
for name in self.robot.botMap.PneumaticMap.pistons:
if name == 'Shifter':
pistons[name] = self.robot.Creator.createPistons(
self.robot.botMap.PneumaticMap.pistons[name])
self.dMotors = motors
self.dPistons = pistons
for name in self.dMotors:
self.dMotors[name].setInverted(
self.robot.botMap.motorMap.motors[name]['inverted'])
self.dMotors[name].setNeutralMode(ctre.NeutralMode.Coast)
if self.map.motorMap.motors[name]['CurLimit'] is True:
self.dMotors[name].configStatorCurrentLimit(
self.robot.Creator.createCurrentConfig(
self.robot.botMap.currentConfig['Drive']), 40)
self.kP = 0.0
self.kI = 0.0
self.kD = 0.0
self.DrivePID = PID(self.kP, self.kI, self.kD)
def __init__(self):
# Ensures a single-time initialization
Subsystem.__init__(self, "DriveTrain")
# Front Motor Controllers
self.front_cont_right = ctre.WPI_TalonSRX(3)
self.rear_cont_right = ctre.WPI_TalonSRX(2)
self.right = wpilib.SpeedControllerGroup(self.front_cont_right,
self.rear_cont_right)
# Rear Motor Controllers
self.front_cont_left = ctre.WPI_TalonSRX(4)
self.rear_cont_left = ctre.WPI_TalonSRX(5)
self.left = wpilib.SpeedControllerGroup(self.front_cont_left,
self.rear_cont_left)
# Drive Type
self.drive = DifferentialDrive(self.left, self.right)
self.drive.setExpiration(0.1)
# enable safety
self.drive.setSafetyEnabled(False)
def __init__(self):
Subsystem.__init__(self, "SampSubsystem")
self.spinSpeed = 0
self.motor = wpilib.NidecBrushless(0, 0)
#self.motor = ctre.WPI_TalonSRX(0)
self.motor.setExpiration(2.5)
self.motor.setSafetyEnabled(False)
#Show Motor status in NT
self.addChild("Motor", self.motor)
self.endSwitch = True
self.limitSwitch = wpilib.DigitalInput(1)
self.limitSwitchLow = wpilib.DigitalInput(2)
#m_simDevice = hal.SimDevice("LimitSwitch", 1)
#RobotBase.isReal()
#if m_simDevice :
# self.limitSwitch.setSimDevice(1)
self.counter = wpilib.Counter(self.limitSwitch)
self.onLED = wpilib.DigitalOutput(3)
def __init__(self):
Subsystem.__init__(self, "ColorSpinner")
#def __init__(self, name = "ColorSpinner"):
self.spinSpeed = 0
self.motor = ctre.WPI_TalonSRX(6) # PMW and DIO pins
self.motor.setExpiration(0.1)
def __init__(self):
Subsystem.__init__(self, 'SushiRotator')
# Motor controller object
self.sushi_motor = WPI_TalonSRX(1)
def __init__(self):
Subsystem.__init__(self, "IntakeRoller")
self.roller_motor = ctre.TalonSRX(
robot_map.IntakeRoller_motors["Roller_Motor"])
def __init__(self):
Subsystem.__init__(self, "Feeder")
self.wheels = ctre.TalonSRX(robot_map.ds4["circle"])
def __init__(self):
Subsystem.__init__(self, "Shooter")
self.motor1 = rev.SparkMax(robot_map.shooter_motors["motor1"])
self.motor2 = rev.SparkMax(robot_map.shooter_motors["motor2"])
def __init__(self):
# Single Time Initialization
Subsystem.__init__(self, "Gyroscope")
# Default values
# self.gyro = ADIS16470_IMU()
self.gyro = ADXRS450_Gyro
self.accel = ADXL345_SPI
# self.m_yawSelected = kYaw_default
self.m_runCal = False
self.m_configCal = False
self.m_reset = False
# self.m_yawActiveAxis = self.gyro.IMUAxis.kz
# Adds Options. Very Helpful.
self.m_autoChooser = wpilib.SendableChooser()
self.m_autoChooser.addOption(kautoname_custom, kautoname_custom)
self.m_yawChooser = wpilib.SendableChooser()
self.m_yawChooser.setDefaultOption(self.kYaw_default,
self.kYaw_default)
# self.m_yawchooser.addOption(kYaw_xaxis, kYaw_xAxis)
self.m_yawchooser.addOption(kYaw_yAxis, kYaw_yAxis)
# SmartDashBoard Statistics
wpilib.SmartDashboard.putBoolean("Config Calibration", False)
wpilib.SmartDashboard.putBoolean("Run Calibration", False)
wpilib.SmartDashboard.putBoolean("Reset Gyro", False)
wpilib.SmartDashboard.putBoolean("Set Current Axis", False)
def gyroControls(self):
# wpilib.SmartDashboard.putNumber("Yaw/Z Angle", self.m_imu.getAngle())
# wpilib.SmartDashboard.putNumber("X Comp Angle", self.m_imu.getXComplimentaryAngle())
# wpilib.SmartDashboard.putNumber("Y Comp Angle", self.m_imu.getYComplimentaryAngle())
wpilib.SmartDashboard.putNumber("Angle", self.gyro.GetAngle())
# self.m_yawSelected = kYawDefault
wpilib.SmartDashboard.putNumber("Yaw/Z Angle",
self.m_imu.getAngle())
wpilib.SmartDashboard.putNumber(
"X Comp Angle", self.m_imu.getXComplimentaryAngle())
wpilib.SmartDashboard.putNumber(
"Y Comp Angle", self.m_imu.getYComplimentaryAngle())
self.m_yawSelected = kYaw_default
# Set IMU Settings
if (self.m_configCal):
# self.configCalTime(self.imu._8s)
self.m_configCal = wpilib.SmartDashboard.putBoolean(
"Config Calibration", False)
if (self.m_reset):
# self.m_imu.reset()
self.m_reset = wpilib.SmartDashboard.putBoolean(
"Reset Gyro", False)
if (self.m_runCal):
# self.m_imu.Calibrate()
self.m_runCal = wpilib.Smartdashboard.putBoolean(
"Run Calibration", False)
# Read the Axis you want to read
# Sendable Chooser allows you to change the value, hence changing what is displayed.
if (self.m_yawSelected == "X-Axis"):
self.m_yawActiveAxis = self.m_imu.IMUAxis.kX
elif (self.m_yawSelected == "Y-Axis"):
self.m_yawActiveAxis = self.m_imu.IMUAxis.kY
else:
# self.m_yawActiveAxis = self.m_imu.IMUAxis.kZ
pass
# Set the Axis you want to read
if (self.m_setYawAxis):
self.m_setYawAxis = wpilib.SmartDashboard.putBoolean(
"setYawAxis", False)
"""
