def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(0) self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.limit1 = wpilib.DigitalInput(1) self.limit2 = wpilib.DigitalInput(2) self.position = wpilib.AnalogInput(2) self.left_encoder = wpilib.Encoder(1, 2) self.right_encoder = wpilib.Encoder(3, 4) self.kinematics = DifferentialDriveKinematics(TRACK_WIDTH) self.chassis_speeds = ChassisSpeeds() self.chassis_speeds.vx = 0.0 self.chassis_speeds.omega = 0.0 if is_sim: self.physics = physics.PhysicsEngine() self.last_tm = time.time()
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1) self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.limit1 = wpilib.DigitalInput(1) self.limit2 = wpilib.DigitalInput(2) self.position = wpilib.AnalogInput(2) self.leftEncoder = wpilib.Encoder(0, 1) self.leftEncoder.setDistancePerPulse( (self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV) self.leftEncoder.setSimDevice(0) self.rightEncoder = wpilib.Encoder(3, 4) self.rightEncoder.setDistancePerPulse( (self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
def __init__(self): super().__init__() self.arm_motor = wpilib.Jaguar(4) self.claw = wpilib.Jaguar(5) self.max_sensor = wpilib.DigitalInput(6)
def __init__(self, robot, name=None): '''Initialize''' super().__init__(name=name) self.robot = robot self.gyro = wpilib.AnalogGyro(1) self.left_motor = wpilib.Jaguar(1) self.right_motor = wpilib.Jaguar(2) self.robot_drive = wpilib.RobotDrive(self.left_motor, self.right_motor)
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.robot_drive = wpilib.RobotDrive(0, 1, 2, 3) self.cannon1 = wpilib.Jaguar(4) self.cannon2 = wpilib.Jaguar(5) self.stick = wpilib.Joystick(1)
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.shootbot = wpilib.Jaguar(4) self.spiderbot = wpilib.Jaguar(5) self.spiderbot1 = wpilib.Jaguar(6) self.robot_drive = wpilib.RobotDrive(0, 3) self.stick = wpilib.Joystick(1) self.brazito = wpilib.Jaguar(7)
def createObjects(self): self.driveStick = xbox_controller.XboxController(0) # If the robot is a simulation if MyRobot.isSimulation(): # Change motors to default jaguars self.lf_motor = wpilib.Jaguar(1) self.lr_motor = wpilib.Jaguar(2) self.rf_motor = wpilib.Jaguar(3) self.rr_motor = wpilib.Jaguar(4) # Set up drive train self.drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
def robotInit(self): """Robot initialization function. The Low level is to use the brushless function on the controllers.""" self.sd = NetworkTables.getTable("SmartDashboard") self.timer = wpilib.Timer() # # Communicate w/navX MXP via the MXP SPI Bus. # - Alternatively, use the i2c bus. # See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details # self.navx = navx.AHRS.create_spi() # self.navx = navx.AHRS.create_i2c() if wpilib.RobotBase.isSimulation(): self.frontLeftMotor = wpilib.Jaguar(self.frontLeftChannel) self.rearLeftMotor = wpilib.Jaguar(self.rearLeftChannel) self.frontRightMotor = wpilib.Jaguar(self.frontRightChannel) self.rearRightMotor = wpilib.Jaguar(self.rearRightChannel) else: self.frontLeftMotor = rev.CANSparkMax( self.frontLeftChannel, rev.CANSparkMaxLowLevel.MotorType.kBrushless) self.rearLeftMotor = rev.CANSparkMax( self.rearLeftChannel, rev.CANSparkMaxLowLevel.MotorType.kBrushless) self.frontRightMotor = rev.CANSparkMax( self.frontRightChannel, rev.CANSparkMaxLowLevel.MotorType.kBrushless) self.rearRightMotor = rev.CANSparkMax( self.rearRightChannel, rev.CANSparkMaxLowLevel.MotorType.kBrushless) # invert the left side motors self.rearRightMotor.setInverted(False) # you may need to change or remove this to match your robot self.rearLeftMotor.setInverted(False) self.drive = MecanumDrive( self.frontLeftMotor, self.frontRightMotor, self.rearLeftMotor, self.rearRightMotor, ) self.drive.setExpiration(0.1) self.stick = wpilib.XboxController(self.joystickChannel)
def robotInit(self): """initialises robot as a mecanum drive bot w/ 2 joysticks and a camera""" #want to change this to Xbox 360 controller eventually... probably sooner rather #than later. # #This is for a USB camera. Uncomment it if we aren't using the Axis. self.camera = wpilib.USBCamera() self.camera.setExposureManual(50) self.camera.setBrightness(80) self.camera.updateSettings() self.camera.setFPS(10) self.camera.setSize(320, 240) self.camera.setWhiteBalanceAuto() #self.camera.setQuality(30) server = wpilib.CameraServer.getInstance() server.startAutomaticCapture(self.camera) self.drive = wpilib.RobotDrive(3, 1, 2, 0) self.drive.setExpiration(0.1) self.stick_left = wpilib.Joystick(0) self.stick_right = wpilib.Joystick(1) self.drive.setInvertedMotor(self.drive.MotorType.kFrontRight, True) self.drive.setInvertedMotor(self.drive.MotorType.kRearRight, True) #self.gyro = wpilib.Gyro(0) self.aux_left = wpilib.Jaguar(6) self.aux_right = wpilib.Jaguar(4) self.window_motor = wpilib.Jaguar(5) self.smart_dashboard = NetworkTable.getTable("SmartDashboard") self.mast_pot = wpilib.AnalogPotentiometer(0) self.grabba_pot = wpilib.AnalogPotentiometer(1) self.lift_pot = wpilib.AnalogPotentiometer(2) def aux_combined(output): """use for PID control""" self.aux_left.pidWrite(output) self.aux_right.pidWrite(output) self.grabba_pid = wpilib.PIDController(4, 0.07, 0, self.grabba_pot.pidGet, self.window_motor.pidWrite) self.grabba_pid.disable() self.lift_pid = wpilib.PIDController(4, 0.07, 0, self.lift_pot.pidGet, aux_combined) self.lift_pid.disable()
def robotInit(self): """Robot-wide initialization code should go here.""" self.lstick = wpilib.Joystick(1) self.motor = wpilib.Jaguar(3) self.timer = wpilib.Timer() self.loops = 0
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.lr_motor = wpilib.Jaguar(1) self.rr_motor = wpilib.Jaguar(2) self.lf_motor = wpilib.Jaguar(3) self.rf_motor = wpilib.Jaguar(4) self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1)
def __init__(self, port, jaguar, slot=4): print("speed_con obj on port " + str(port) + " active") if jaguar == True: self.vic = wpi.Jaguar(port) print("is jaguar\n") else: self.vic = wpi.Victor(port) print("is victor\n")
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.lf_motor = wpilib.Jaguar(1) self.lr_motor = wpilib.Jaguar(2) self.rf_motor = wpilib.Jaguar(3) self.rr_motor = wpilib.Jaguar(4) l_motor = wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor) r_motor = wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor) self.drive = wpilib.drive.DifferentialDrive(l_motor, r_motor) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1)
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.stick = wpilib.Joystick(1) self.drive = wpilib.RobotDrive(0, 1, 2, 3) self.gyro = wpilib.Gyro(0) self.lift1 = wpilib.Jaguar(4) self.lift2 = wpilib.Jaguar(5) #self.backclaw = wpilib.Jaguar(7) self.encoder = wpilib.Encoder(1, 2) self.encoder.setDistancePerPulse(0.333) self.compressor = wpilib.Compressor() self.squeeze = wpilib.DoubleSolenoid(0, 1) self.RobotDrive.setInvertedMotor(2, True) self.RobotDrive.setInvertedMotor(3, True)
def robotInit(self): '''Robot-wide initialization code should go here''' self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.ADXRS450_Gyro() self.robot_drive = wpilib.RobotDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.limit1 = wpilib.DigitalInput(1) self.limit2 = wpilib.DigitalInput(2) self.position = wpilib.AnalogInput(2)
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1) self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.limit1 = wpilib.DigitalInput(1) self.limit2 = wpilib.DigitalInput(2) self.position = wpilib.AnalogInput(2)
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.l_motor = wpilib.Jaguar(1) self.r_motor = wpilib.Jaguar(2) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1) self.robot_drive = wpilib.RobotDrive(self.l_motor, self.r_motor) self.motor = wpilib.Jaguar(4) self.light_sensor_left = wpilib.DigitalInput(1) self.light_sensor_middle = wpilib.DigitalInput(2) self.light_sensor_right = wpilib.DigitalInput(3) self.position = wpilib.AnalogInput(2)
def robotInit(self): '''Robot-wide initialization code should go here''' self.lstick = wpilib.Joystick(0) self.rstick = wpilib.Joystick(1) self.lr_motor = wpilib.Jaguar(1) self.rr_motor = wpilib.Jaguar(2) self.lf_motor = wpilib.Jaguar(3) self.rf_motor = wpilib.Jaguar(4) self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor) # The output function of a mecanum drive robot is always # +1 for all output wheels. However, traditionally wired # robots will be -1 on the left, 1 on the right. self.robot_drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontLeft, True) self.robot_drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft, True) # Position gets automatically updated as robot moves self.gyro = wpilib.AnalogGyro(1)
def robotInit(self): """ This function is called upon program startup and should be used for any initialization code. """ self.left_motor = wpilib.Spark(0) #pwm 0 self.right_motor = wpilib.Spark(1) #pwm 1 self.drive = wpilib.drive.DifferentialDrive(self.left_motor, self.right_motor) self.joystick = wpilib.Joystick(0) self.timer = wpilib.Timer() self.forwardLimitSwitch = wpilib.DigitalInput(3) #pwm 3 self.reverseLimitSwitch = wpilib.DigitalInput(4) #pwm 4 self.arm = wpilib.Spark(5, 6) #pwm 5 and 6 self.spinner1 = wpilib.Jaguar(2) #pwm 2 self.toggle = (self.joystick, 1)
class ShooterConfig(object): motors = wpilib.Jaguar(3) shoot_button = Button(rightJoy, 1) manual_reset_button = Button(rightJoy, 4) low_shot_preset_button = Button(rightJoy, 8) high_shot_preset_button = Button(rightJoy, 7) reset_hall_effect = HallEffect(wpilib.DigitalInput(6)) preset_hall_effect_counters = [] low_shot_hall_effect_counter = wpilib.Counter() low_shot_hall_effect_counter.SetUpSource(7) low_shot_hall_effect_counter.SetUpSourceEdge(False, True) low_shot_hall_effect_counter.Start() high_shot_hall_effect_counter = wpilib.Counter() high_shot_hall_effect_counter.SetUpSource(8) high_shot_hall_effect_counter.SetUpSourceEdge(False, True) high_shot_hall_effect_counter.Start()
def __init__(self): super().__init__() self.drive_stick = wpilib.Joystick(1) self.arm_stick = wpilib.Joystick(2) self.front_right_motor = wpilib.Jaguar(2) self.front_left_motor = wpilib.Jaguar(1) self.back_left_motor = wpilib.Jaguar(3) self.back_right_motor = wpilib.Jaguar(4) self.intake_wheels_motor = wpilib.Jaguar(10) self.intake_arm_motor = wpilib.Jaguar(6) self.shooter_servo = wpilib.Servo(7) self.shooter_motor = wpilib.Jaguar(5) self.encoder = wpilib.Encoder(1, 2, True) self.mecanum_drive = MecanumDrive(self.front_right_motor, self.front_left_motor, self.back_right_motor, self.back_left_motor, self.drive_stick) self.intake = Intake(self.intake_wheels_motor, self.intake_arm_motor, self.arm_stick) self.shooter_service = ShooterService(self.shooter_motor, self.shooter_servo, self.arm_stick) self.shooter = Shooter(self.shooter_motor, self.encoder, self.shooter_servo, self.arm_stick, self.shooter_service) self.autonomous = Autonomous(self.shooter_service, self.intake_arm_motor, self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
def robotInit(self): #Motor controllers, joysticks, and setting up the drive type self.motor1=wpilib.Jaguar(0) self.motor2=wpilib.Jaguar(1) self.slide_motor=wpilib.Jaguar(2) self.non_existant_motor=wpilib.Jaguar(4) self.tryit=wpilib.Jaguar(6) self.red=wpilib.Jaguar(9) self.blue=wpilib.Jaguar(8) self.green=wpilib.Jaguar(7) self.robot_drive = wpilib.RobotDrive(self.motor2,self.motor1) self.stick1 = wpilib.Joystick(0) self.joystick_button=wpilib.buttons.JoystickButton(self.stick1, 1) self.lights=wpilib.buttons.JoystickButton(self.stick1, 2) #All our clicky switches self.clicky1=wpilib.DigitalInput(9) self.clicky2=wpilib.DigitalInput(8) self.clicky3=wpilib.DigitalInput(7) wpilib.SmartDashboard.putBoolean("Clicky1",self.clicky1.get()) self.chooser=wpilib.SendableChooser() self.chooser.addObject("Auto 1","1") wpilib.SmartDashboard.putData('What Automous', self.chooser) self.counter=0
def __init__(self): super().__init__() print("Matt the fantastic ultimate wonderful humble person") wpilib.SmartDashboard.init() #self.digitalInput=wpilib.DigitalInput(4) self.CANJaguar = wpilib.CANJaguar(1) self.gyro = wpilib.Gyro(1) self.joystick = wpilib.Joystick(1) self.joystick2 = wpilib.Joystick(2) self.jaguar = wpilib.Jaguar(1) self.accelerometer = wpilib.ADXL345_I2C(1, wpilib.ADXL345_I2C.kRange_2G) self.solenoid = wpilib.Solenoid(7) self.solenoid2 = wpilib.Solenoid(8) self.p = 1 self.i = 0 self.d = 0 wpilib.SmartDashboard.PutBoolean('Soleinoid 1', False) wpilib.SmartDashboard.PutBoolean('Soleinoid 2', False) #self.pid = wpilib.PIDController(self.p, self.i, self.d, self.gyro, self.jaguar) self.sensor = wpilib.AnalogChannel(5) self.ballthere = False
import wpilib import math lstick = wpilib.Joystick(1) rstick = wpilib.Joystick(2) lmotor2 = wpilib.Jaguar(1, 4) lmotor = wpilib.Jaguar(1, 3) rmotor = wpilib.Jaguar(1, 2) rmotor2 = wpilib.Jaguar(1, 1) #roboDR = wpilib.RobotDrive(lmotor,rmotor) # victors 4 and 1 are burnt def CheckRestart(): if lstick.GetRawButton(10): raise RuntimeError("Restart") class MyRobot(wpilib.IterativeRobot): def DisabledContinuous(self): wpilib.Wait(0.01) def AutonomousContinuous(self): wpilib.Wait(0.01) def TeleopContinuous(self): wpilib.Wait(0.01) #lmotor.Set(lstick.GetY()) #rmotor.Set(-rstick.GetY()) #left=lstick.GetY()
def create_jaguar(channel): return wpilib.Jaguar(channel)
def __init__ (self): ''' Constructor. ''' super().__init__() print("Team 1418 robot code for 2014") ################################################################# # THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL # # TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! # ################################################################# wpilib.SmartDashboard.init() # Joysticks self.joystick1 = wpilib.Joystick(1) self.joystick2 = wpilib.Joystick(2) # Motors self.lf_motor = wpilib.Jaguar(1) self.lf_motor.label = 'lf_motor' self.lr_motor = wpilib.Jaguar(2) self.lr_motor.label = 'lr_motor' self.rr_motor = wpilib.Jaguar(3) self.rr_motor.label = 'rr_motor' self.rf_motor = wpilib.Jaguar(4) self.rf_motor.label = 'rf_motor' self.winch_motor = wpilib.CANJaguar(5) self.winch_motor.label = 'winch' self.intake_motor = wpilib.Jaguar(6) self.intake_motor.label = 'intake' # Catapult gearbox control self.gearbox_solenoid=wpilib.DoubleSolenoid(2, 1) self.gearbox_solenoid.label = 'gearbox' # Arm up/down control self.vent_bottom_solenoid = wpilib.Solenoid(3) self.vent_bottom_solenoid.label = 'vent bottom' self.fill_bottom_solenoid = wpilib.Solenoid(4) self.fill_bottom_solenoid.label = 'fill bottom' self.fill_top_solenoid = wpilib.Solenoid(5) self.fill_top_solenoid.label = 'fill top' self.vent_top_solenoid = wpilib.Solenoid(6) self.vent_top_solenoid.label = 'vent top' self.pass_solenoid = wpilib.Solenoid(7) self.pass_solenoid.label = 'pass' self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor, self.lf_motor, self.rf_motor) self.robot_drive.SetSafetyEnabled(False) self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor, True) self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor, True) # Sensors self.gyro = wpilib.Gyro(1) self.ultrasonic_sensor = wpilib.AnalogChannel(3) self.ultrasonic_sensor.label = 'Ultrasonic' self.arm_angle_sensor = wpilib.AnalogChannel(4) self.arm_angle_sensor.label = 'Arm angle' self.ball_sensor = wpilib.AnalogChannel(6) self.ball_sensor.label = 'Ball sensor' self.accelerometer = wpilib.ADXL345_I2C(1, wpilib.ADXL345_I2C.kRange_2G) self.compressor = wpilib.Compressor(1,1) ################################################################# # END SHARED CODE # ################################################################# # # Initialize robot components here # self.drive = drive.Drive(self.robot_drive, self.ultrasonic_sensor,self.gyro) self.initSmartDashboard() self.pushTimer=wpilib.Timer() self.catapultTimer=wpilib.Timer() self.catapult=catapult.Catapult(self.winch_motor,self.gearbox_solenoid,self.pass_solenoid,self.arm_angle_sensor,self.ball_sensor,self.catapultTimer) self.intakeTimer=wpilib.Timer() self.intake=intake.Intake(self.vent_top_solenoid,self.fill_top_solenoid,self.fill_bottom_solenoid,self.vent_bottom_solenoid,self.intake_motor,self.intakeTimer) self.pulldowntoggle=False self.components = { 'drive': self.drive, 'catapult': self.catapult, 'intake': self.intake } self.control_loop_wait_time = 0.025 self.autonomous = AutonomousModeManager(self.components)
def __init__(self): ''' initialize things''' super().__init__() print("Electrical test program -- don't use for competition!") ################################################################# # THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL # # TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! # ################################################################# wpilib.SmartDashboard.init() # Joysticks self.joystick1 = wpilib.Joystick(1) self.joystick2 = wpilib.Joystick(2) # Motors self.lf_motor = wpilib.Jaguar(1) self.lr_motor = wpilib.Jaguar(2) self.rr_motor = wpilib.Jaguar(3) self.rf_motor = wpilib.Jaguar(4) self.winch_motor = wpilib.CANJaguar(5) self.intake_motor = wpilib.Jaguar(6) # Catapult gearbox control self.gearbox_in_solenoid = wpilib.Solenoid(1) self.gearbox_out_solenoid = wpilib.Solenoid(2) # Arm up/down control self.vent_bottom_solenoid = wpilib.Solenoid(3) self.fill_bottom_solenoid = wpilib.Solenoid(4) self.fill_top_solenoid = wpilib.Solenoid(5) self.vent_top_solenoid = wpilib.Solenoid(6) self.solenoid6 = wpilib.Solenoid(7) self.ball_nudge_solenoid = wpilib.Solenoid(8) self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor, self.lf_motor, self.rf_motor) self.robot_drive.SetSafetyEnabled(False) self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor, True) self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor, True) # Sensors self.gyro = wpilib.Gyro(1) self.ultrasonic_sensor = wpilib.AnalogChannel(3) self.arm_angle_sensor = wpilib.AnalogChannel(4) self.ball_sensor = wpilib.AnalogChannel(6) self.accelerometer = wpilib.ADXL345_I2C(1, wpilib.ADXL345_I2C.kRange_2G) self.compressor = wpilib.Compressor(1, 1) self.compressor.Start()
def robotInit(self): """Robot-wide initialization code should go here""" self.lstick = wpilib.Joystick(1) self.motor = wpilib.Jaguar(8)