def __init__(self):
# Init I2C for communication with Arduino
if (hal.isSimulation()):
# import stub for simulation
from components.i2cstub import I2CStub
self.arduinoC = wpilib.I2C(wpilib.I2C.Port.kOnboard, 4, I2CStub())
else:
self.arduinoC = wpilib.I2C(wpilib.I2C.Port.kOnboard, 4)
self.allianceColor = 'red'
def __init__(self, port: wpilib.I2C.Port = None, address: int = None) -> None:
super().__init__()
if address is None:
address = self.ADDRESS_A
if port is None:
port = wpilib.I2C.Port.kMXP
sim_port = None
if hal.isSimulation():
from .bno055_sim import BNO055Sim
sim_port = BNO055Sim()
self.i2c = wpilib.I2C(port, address, sim_port)
# set the units that we want
self.offset = 0.0
current_units = self.i2c.read(self.Register.UNIT_SEL, 1)[0]
for wanted, index in self.UNIT_SEL_LIST:
if wanted == 1:
current_units = current_units | (1 << index)
elif wanted == 0:
current_units = current_units & ~(1 << index)
self.i2c.write(self.Register.UNIT_SEL, current_units)
self.setOperationMode(self.OperationMode.IMUPLUS) # accelerometer and gyro
self.reverse_axis(False, False, False)
self.cache_heading()
def __init__(self, addr=4):
self.i2c = wpilib.I2C(wpilib.I2C.Port.kOnboard, addr)
self.msg_length = 8
self.data = []
self.offset = 0
self.distance = 0
def __init__(self, port):
simPort = None
if hal.HALIsSimulation():
from ._impl.sim_io import NavXI2CSim
simPort = NavXI2CSim()
self.port = wpilib.I2C(port, 0x32, simPort=simPort)
def getBlocks(signature):
address=0x54
bus = wpilib.I2C(wpilib.I2C.Port.kOnboard,address)
data=[174,193,32,2,255,1]
bus.writeBulk(data)
time.sleep(0.05)
res=bus.read(address, 18)
if res[6]+255*res[7]==signature:
return {'s':signature,'x':res[8]+255*res[9],'y':res[10]+255*res[11],'w':res[12]+255*res[13],'h':res[14]+255*res[15]}
def __init__(self):
self.i2c = wpilib.I2C(wpilib.I2C.Port.kOnboard, 0x69)
self.x = 0
self.y = 0
self.z = 0
self.xbuf = [0] * 50
self.ybuf = [0] * 50
self.zbuf = [0] * 50
self.i = 0
def __init__(self, port: wpilib.I2C.Port = 0):
super().__init__()
if port is None:
port = wpilib.I2C.Port.kOnboard
simPort = None
if hal.HALIsSimulation():
simPort = REV_Color_Sim(self)
self.i2c = wpilib.I2C(port, self.ADDRESS, simPort=simPort)
self.clearChannel = 0
self.setName("REV_Robotics_Color_Sensor_V2", port)
def __init__(self, robot):
super().__init__('arduino')
self.table = networktables.NetworkTables.getTable("arduino")
self.i2c = wpilib.I2C(wpilib.I2C.Port.kOnboard,
const.ARDUINO_DEVICE_ADDRESS)
self.robot = robot
self.led_state = self.Led_State.DEFAULT
self.set_led_state(self.Led_State.DEFAULT)
# Used in log below, to print/log line sensor value only when it changes
self._last_line_value = -1
# Current line value
self.current_line_value = -1
def __init__(self,
integration_time=TCS34725_INTEGRATIONTIME_2_4MS,
gain=TCS34725_GAIN_4X,
address=TCS34725_ADDRESS,
**kwargs):
"""Initialize the TCS34725 sensor."""
# Setup I2C interface for the device.
self._device = wpilib.I2C(wpilib.I2C.Port.kOnboard, address)
# Make sure we're connected to the sensor.
chip_id = self._readU8(TCS34725_ID)
if chip_id != 0x44:
raise RuntimeError(
'Failed to read TCS34725 chip ID, check your wiring.')
# Set default integration time and gain.
self.set_integration_time(integration_time)
self.set_gain(gain)
# Enable the device (by default, the device is in power down mode on bootup).
self.enable()
def __init__(self, port, addr=DEFAULT_ADDR, integrate=True):
self.i2c = wpilib.I2C(port, addr)
self.addr = addr
self.resetAngle()
self.centerX = 0
self.centerY = 0
self.centerZ = 0
self.xGyro = self.Gyro(self.Axis.X, self)
self.yGyro = self.Gyro(self.Axis.Y, self)
self.zGyro = self.Gyro(self.Axis.Z, self)
self.intrTask = None
if integrate:
self.intrTask = TimerTask("ITG3200 Integrate", 0.05, self.update)
self.intrTask.start()
self.enabled = True
def setLamp(status):
bus =wpilib.I2C(wpilib.I2C.Port.kOnboard,4)
adddress=0x54
data=[174,193,22,2,status,0]
bus.writeBulk(adddress,data)
def __init__(self):
self.lidar = wpilib.I2C(wpilib.I2C.Port.kOnboard, 0x03)
self.liftMotor = WPI_TalonSRX(ELEVATOR_TALON)
self.elevatorPID = ProtoPID(1 / 18.0, 0.0, 0.0, 0.0, .02)
def __init__(self):
self.drivetrain = DriveTrain
self.cubemech = CubeMech
self.i2c = wpilib.I2C(wpilib.I2C.Port.kOnboard, 4)
def create_i2c(port, deviceAddress, simPort=None):
return wpilib.I2C(port, deviceAddress, simPort)
def __init__(self, port=wpilib.I2C.Port.kOnboard):
'''
Constructor
'''
self.i2c = wpilib.I2C(port, 0x4A)
