def __init__(self, robot):
super().__init__()
self.robot = robot
# Map the CIM motors to the TalonSRX's
self.frontLeft = WPI_TalonSRX(DRIVETRAIN_FRONT_LEFT_MOTOR)
self.leftTalon = WPI_TalonSRX(DRIVETRAIN_REAR_LEFT_MOTOR)
self.frontRight = WPI_TalonSRX(DRIVETRAIN_FRONT_RIGHT_MOTOR)
self.rightTalon = WPI_TalonSRX(DRIVETRAIN_REAR_RIGHT_MOTOR)
# Set the front motors to be the followers of the rear motors
self.frontLeft.set(WPI_TalonSRX.ControlMode.Follower,
DRIVETRAIN_REAR_LEFT_MOTOR)
self.frontRight.set(WPI_TalonSRX.ControlMode.Follower,
DRIVETRAIN_REAR_RIGHT_MOTOR)
# Add the motors to the speed controller groups and create the differential drivetrain
self.leftDrive = SpeedControllerGroup(self.frontLeft, self.leftTalon)
self.rightDrive = SpeedControllerGroup(self.frontRight,
self.rightTalon)
self.diffDrive = DifferentialDrive(self.leftDrive, self.rightDrive)
# Setup the default motor controller setup
self.initControllerSetup()
# Map the pigeon. This will be connected to an unused Talon.
self.talonPigeon = WPI_TalonSRX(DRIVETRAIN_PIGEON)
self.pigeonIMU = PigeonIMU(self.talonPigeon)
def __init__(self):
# Initialize all controllers
self.driveLeftMaster = Talon(kDriveTrain.lmId)
self.driveLeftSlave = Talon(kDriveTrain.lsId)
self.driveRightMaster = Talon(kDriveTrain.rmId)
self.driveRightSlave = Talon(kDriveTrain.rsId)
# Connect the slaves to the masters on each side
self.driveLeftSlave.follow(self.driveLeftMaster)
self.driveRightSlave.follow(self.driveRightMaster)
# Makes sure both sides' controllers show green and use positive
# values to move the bot forward.
# CURRENTLY DISABLED WHEN USING WITH DifferentialDrive
# self.driveLeftSlave.setInverted(False)
# self.driveLeftMaster.setInverted(False)
self.driveRightSlave.setInverted(True)
self.driveRightMaster.setInverted(True)
# Configures each master to use the attached Mag Encoders
self.driveLeftMaster.configSelectedFeedbackSensor(
ctre.FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0)
self.driveRightMaster.configSelectedFeedbackSensor(
ctre.FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0)
# Reverses the encoder direction so forward movement always
# results in a positive increase in the encoder ticks.
self.driveLeftMaster.setSensorPhase(True)
self.driveRightMaster.setSensorPhase(True)
# Throw data on the SmartDashboard so we can work with it.
SD.putNumber('Left Quad Pos.',
self.driveLeftMaster.getQuadraturePosition())
SD.putNumber('Right Quad Pos.',
self.driveRightMaster.getQuadraturePosition())
# these may give the derivitive an integral of the PID once
# they are set. For now, they just show 0
SD.putNumber('Left Derivative',
self.driveLeftMaster.getErrorDerivative(0))
SD.putNumber('Left Integral',
self.driveLeftMaster.getIntegralAccumulator(0))
self.leftVel = None
self.leftPos = None
self.rightVel = None
self.rightPos = None
# self.driveLeftMaster.config_kP(0, .3, 10)
# kP = self.driveLeftMaster.configGetParameter(
# self.driveLeftMaster.ParamEnum.eProfileParamSlot_P, 0, 10)
# SmartDashboard.putNumber('Left Proportional', kP)
self.driveControllerLeft = SpeedControllerGroup(self.driveLeftMaster)
self.driveControllerRight = SpeedControllerGroup(self.driveRightMaster)
self.driveControllerRight.setInverted(True)
self.drive = DifferentialDrive(self.driveControllerLeft,
self.driveControllerRight)
def __init__(self):
super().__init__('Drive')
self.debug = False
self.yawZero = 0
self.navx = navx.ahrs.AHRS.create_spi()
self.navx.setName("Drive", "NavX")
self.accel = wpilib.BuiltInAccelerometer()
self.accel.setName("Drive", "Accel")
self.left : Tread = Tread("Left", \
robotmap.kCanDriveLeft0, robotmap.kCanDriveLeft1, robotmap.kCanDriveLeft2, True, \
robotmap.kDioDriveLeftEncA, robotmap.kDioDriveLeftEncB, kLeftConv)
self.right : Tread = Tread("Right", \
robotmap.kCanDriveRight0, robotmap.kCanDriveRight1, robotmap.kCanDriveRight2, False, \
robotmap.kDioDriveRightEncA, robotmap.kDioDriveRightEncB, kRightConv)
self.left.debug = self.debug
self.right.debug = self.debug
self.drive: DifferentialDrive = DifferentialDrive(
self.left.motor, self.right.motor)
self.drive.setName("Drive", "Differential")
self.drive.setSafetyEnabled(False)
self.drive.setDeadband(0.025)
self.drive.setRightSideInverted(False)
self.periodic()
self.zero()
def __init__(self):
'''Instantiates the drivetrain object.'''
super().__init__('Drivetrain')
self.frontLeftMotor = ctre.wpi_talonsrx.WPI_TalonSRX(
RobotMap.drivetrain.frontLeftMotor)
self.frontRightMotor = ctre.wpi_talonsrx.WPI_TalonSRX(
RobotMap.drivetrain.frontRightMotor)
self.rearLeftMotor = ctre.wpi_talonsrx.WPI_TalonSRX(
RobotMap.drivetrain.rearLeftMotor)
self.rearRightMotor = ctre.wpi_talonsrx.WPI_TalonSRX(
RobotMap.drivetrain.rearRightMotor)
self.frontLeftMotor.setInverted(True)
self.rearLeftMotor.setInverted(True)
self.frontRightMotor.setInverted(True)
self.rearRightMotor.setInverted(True)
self.leftMotors = wpilib.SpeedControllerGroup(self.frontLeftMotor,
self.rearLeftMotor)
self.rightMotors = wpilib.SpeedControllerGroup(self.frontRightMotor,
self.rearRightMotor)
self.drivetrain = DifferentialDrive(self.leftMotors, self.rightMotors)
self.lastMoveValue = 0
self.lastRotateValue = 0
self.gyro = wpilib.ADXRS450_Gyro()
self.setpoint = 0
self.angleAcc = 0
self.anglePreviousTime = time.time()
self.rangeFinder = wpilib.AnalogInput(0)
self.didResetRevos = True
self.startTime = 0
self.revoVelos = []
self.gyro.calibrate()
def __init__(self, robot):
self.robot = robot
# Initialize all controllers
self.driveLeftMaster = Talon(self.robot.kDriveTrain['left_master'])
self.driveLeftSlave = Talon(self.robot.kDriveTrain['left_slave'])
self.driveRightMaster = Talon(self.robot.kDriveTrain['right_master'])
self.driveRightSlave = Talon(self.robot.kDriveTrain['right_slave'])
wpilib.LiveWindow.addActuator("DriveTrain", "LeftMaster",
self.driveLeftMaster)
wpilib.LiveWindow.addActuator("DriveTrain", "RightMaster",
self.driveRightMaster)
# Connect the slaves to the masters on each side
self.driveLeftSlave.follow(self.driveLeftMaster)
self.driveRightSlave.follow(self.driveRightMaster)
# Makes sure both sides' controllers show green and use positive
# values to move the bot forward.
self.driveLeftSlave.setInverted(False)
self.driveLeftMaster.setInverted(False)
self.driveRightSlave.setInverted(True)
self.driveRightMaster.setInverted(True)
"""
Initializes the count for toggling which side of the
robot will be considered the front when driving.
"""
self.robotFrontToggleCount = 2
# Configures each master to use the attached Mag Encoders
self.driveLeftMaster.configSelectedFeedbackSensor(
ctre.talonsrx.TalonSRX.FeedbackDevice.CTRE_MagEncoder_Relative, 0,
0)
self.driveRightMaster.configSelectedFeedbackSensor(
ctre.talonsrx.TalonSRX.FeedbackDevice.CTRE_MagEncoder_Relative, 0,
0)
# Reverses the encoder direction so forward movement always
# results in a positive increase in the encoder ticks.
self.driveLeftMaster.setSensorPhase(True)
self.driveRightMaster.setSensorPhase(True)
# these supposedly aren't part of the WPI_TalonSRX class
# self.driveLeftMaster.setSelectedSensorPostion(0, 0, 10)
# self.driveRightMaster.setSelectedSensorPosition(0, 0, 10)
# Throw data on the SmartDashboard so we can work with it.
# SD.putNumber(
# 'Left Quad Pos.',
# self.driveLeftMaster.getQuadraturePosition())
# SD.putNumber(
# 'Right Quad Pos.',
# self.driveRightMaster.getQuadraturePosition())
self.leftVel = None
self.leftPos = None
self.rightVel = None
self.rightPos = None
self.leftMaxVel = 0
self.rightMaxVel = 0
self.leftMinVel = 0
self.rightMinVel = 0
# self.driveLeftMaster.config_kP(0, .3, 10)
self.driveControllerLeft = SpeedControllerGroup(self.driveLeftMaster)
self.driveControllerRight = SpeedControllerGroup(self.driveRightMaster)
self.driveControllerRight.setInverted(True)
self.drive = DifferentialDrive(self.driveControllerLeft,
self.driveControllerRight)
super().__init__()