def robotInit(self):
"""Robot initialization function"""
self.motors = {
"left": [rev.CANSparkMax(3),
rev.CANSparkMax(4)],
"right": [rev.CANSparkMax(1),
rev.CANSparkMax(2)],
}
self.drive = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(*self.motors["left"]),
wpilib.SpeedControllerGroup(*self.motors["right"]),
)
# self.drive.setExpiration(0.5)
self.shifter = wpilib.DoubleSolenoid(0, 1)
self.compressor = wpilib.Compressor(0)
# wpilib.CameraServer.launch()
# camera_alpha = cameraserver.getInstance().startAutomaticCapture(0)
# camera_beta = cameraserver.getInstance().startAutomaticCapture(1)
# cameraserver.CameraServer.launch()
cameraserver.CameraServer.launch("camera.py:main")
def createObjects(self):
"""
Initialize testbench components.
"""
self.joystick = wpilib.Joystick(0)
self.brushless = wpilib.NidecBrushless(9, 9)
self.spark = wpilib.Spark(4)
self.lf_victor = wpilib.Victor(0)
self.lr_victor = wpilib.Victor(1)
self.rf_victor = wpilib.Victor(2)
self.rr_victor = wpilib.Victor(3)
self.lf_talon = WPI_TalonSRX(5)
self.lr_talon = WPI_TalonSRX(10)
self.rf_talon = WPI_TalonSRX(15)
self.rr_talon = WPI_TalonSRX(20)
self.drive = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(self.lf_victor, self.lr_victor,
self.lf_talon, self.lr_talon),
wpilib.SpeedControllerGroup(self.rf_victor, self.rr_victor,
self.rf_talon, self.rr_talon))
wpilib.CameraServer.launch()
def robotInit(self):
'''Robot initialization function'''
# object that handles basic drive operations
self.frontLeftMotor = wpilib.Talon(1)
self.rearLeftMotor = wpilib.Talon(2)
self.frontRightMotor = wpilib.Talon(3)
self.rearRightMotor = wpilib.Talon(4)
self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor,
self.rearLeftMotor)
self.right = wpilib.SpeedControllerGroup(self.frontRightMotor,
self.rearRightMotor)
self.drive = DifferentialDrive(self.left, self.right)
self.drive.setExpiration(0.1)
self.timer = wpilib.Timer()
# joystick 1 on the driver station
self.stick = wpilib.Joystick(1)
# Initialization of the pneumatic system
self.Compressor = wpilib.Compressor(0)
self.Compressor.setClosedLoopControl(True)
self.enabled = self.Compressor.enabled()
self.PSV = self.Compressor.getPressureSwitchValue()
self.DS = wpilib.DoubleSolenoid(0, 1)
self.Compressor.start()
# Initialization of the camera server
wpilib.CameraServer.launch()
def robotInit(self):
"""
Initializes all motors in the robot.
"""
self.leftTalon = ctre.WPI_TalonSRX(LEFT)
self.rightTalon = ctre.WPI_TalonSRX(RIGHT)
self.centerTalon1 = ctre.WPI_TalonSRX(CENTER1)
self.centerTalon2 = ctre.WPI_TalonSRX(CENTER2)
self.left = wpilib.SpeedControllerGroup(self.leftTalon)
self.right = wpilib.SpeedControllerGroup(self.rightTalon)
self.center1 = wpilib.SpeedControllerGroup(self.centerTalon1)
self.center2 = wpilib.SpeedControllerGroup(self.centerTalon2)
self.myRobot = DifferentialDrive(self.right, self.left)
self.myRobot.setExpiration(0.1)
# reasonable deadzone size
self.DEADZONE = 0.1
self.driver = wpilib.XboxController(0)
# Toggles whether or not robot can move
self.emergencyStop = False
def robotInit(self):
"""Robot initialization function"""
# object that handles basic drive operations
self.leftVictor = ctre.WPI_VictorSPX(LEFT)
self.rightVictor = ctre.WPI_VictorSPX(RIGHT)
self.centerVictor1 = ctre.WPI_VictorSPX(CENTER1)
self.centerVictor2 = ctre.WPI_VictorSPX(CENTER2)
self.left = wpilib.SpeedControllerGroup(self.leftVictor)
self.right = wpilib.SpeedControllerGroup(self.rightVictor)
self.center1 = wpilib.SpeedControllerGroup(self.centerVictor1)
self.center2 = wpilib.SpeedControllerGroup(self.centerVictor2)
self.myRobot = DifferentialDrive(self.left, self.right)
self.myRobot.setExpiration(0.1)
# joysticks 1 & 2 on the driver station
# self.leftStick = wpilib.Joystick(0)
# self.rightStick = wpilib.Joystick(1)
self.DEADZONE = 0.4
self.LEFT = GenericHID.Hand.kLeft
self.RIGHT = GenericHID.Hand.kRight
self.driver = wpilib.XboxController(0)
self.ballManipulator = BallManipulator(
ctre.WPI_VictorSPX(BALL_MANIP_ID))
def createObjects(self):
# Joysticks
self.joystick = wpilib.Joystick(0)
# Drive motor controllers
# Dig | 0/1
# 2^1 | Left/Right
# 2^0 | Front/Rear
#self.lf_motor = wpilib.Victor(0b00) # => 0
#self.lr_motor = wpilib.Victor(0b01) # => 1
#self.rf_motor = wpilib.Victor(0b10) # => 2
#self.rr_motor = wpilib.Victor(0b11) # => 3
# TODO: This is not in any way an ideal numbering system.
# The PWM ports should be redone to use the old layout above.
self.lf_motor = wpilib.Victor(9)
self.lr_motor = wpilib.Victor(8)
self.rf_motor = wpilib.Victor(7)
self.rr_motor = wpilib.Victor(6)
self.drivetrain = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor),
wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
self.btn_sarah = ButtonDebouncer(self.joystick, 2)
self.sarah = False
# Intake
self.intake_wheel_left = wpilib.Spark(5)
self.intake_wheel_right = wpilib.Spark(4)
self.intake_wheels = wpilib.SpeedControllerGroup(
self.intake_wheel_left, self.intake_wheel_right)
self.intake_wheels.setInverted(True)
self.btn_pull = JoystickButton(self.joystick, 3)
self.btn_push = JoystickButton(self.joystick, 1)
def robotInit(self):
#update channels
self.frontR = wpi.Talon(1)
self.frontL = wpi.Talon(2)
self.rearR = wpi.Talon(0)
self.rearL = wpi.Talon(3)
self.gyro = wpi.AnalogGyro(0)
self.joystick = wpi.Joystick(0)
self.right = wpi.SpeedControllerGroup(self.frontR, self.rearR)
self.left = wpi.SpeedControllerGroup(self.frontL, self.rearL)
self.dTrain = wpi.drive.DifferentialDrive(self.right, self.left)
self.xDeadZone = .05
self.yDeadZone = .05
self.xConstant = .55
self.yConstant = .85
logging.basicConfig(level=logging.DEBUG)
NetworkTables.initialize(server='10.28.75.2')
NetworkTables.addConnectionListener(connectionListener,
immediateNotify=True)
with cond:
print("Waiting")
if not notified[0]:
cond.wait()
print("Connected")
self.table = NetworkTables.getTable('SmartDashboard')
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.lt_motor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
self.lf_motor = rev.CANSparkMax(3, rev.MotorType.kBrushless)
self.lb_motor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
self.rt_motor = rev.CANSparkMax(5, rev.MotorType.kBrushless)
self.rf_motor = rev.CANSparkMax(4, rev.MotorType.kBrushless)
self.rb_motor = rev.CANSparkMax(6, rev.MotorType.kBrushless)
self.left = wpilib.SpeedControllerGroup(self.lt_motor, self.lf_motor,
self.lb_motor)
self.right = wpilib.SpeedControllerGroup(self.rt_motor, self.rf_motor,
self.rb_motor)
self.drive = DifferentialDrive(self.left, self.right)
self.lt_motor.setInverted(True)
self.rt_motor.setInverted(True)
self.joystick = wpilib.Joystick(0)
self.previous_button = False
self.gear_switcher = wpilib.DoubleSolenoid(0, 1)
def robotInit(self):
self.leftFront = wpilib.Talon(3)
self.leftRear = wpilib.Talon(1)
self.rightFront = wpilib.Talon(4)
self.rightRear = wpilib.Talon(2)
# Create motor groups for WPI-style differential driving
self.leftDrive = wpilib.SpeedControllerGroup(self.leftFront,
self.leftRear)
self.rightDrive = wpilib.SpeedControllerGroup(self.rightFront,
self.rightRear)
self.drive = wpilib.drive.DifferentialDrive(self.leftDrive,
self.rightDrive)
self.controller = wpilib.Joystick(0)
self.forward = wpilib.buttons.JoystickButton(self.controller,
PS4Button["TRIANGLE"])
self.backward = wpilib.buttons.JoystickButton(self.controller,
PS4Button["CROSS"])
self.right = wpilib.buttons.JoystickButton(self.controller,
PS4Button["CIRCLE"])
self.left = wpilib.buttons.JoystickButton(self.controller,
PS4Button["SQUARE"])
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
# Launches the camera server so that we can have video through any cameras on the robot.
wpilib.CameraServer.launch()
# Defines the motors that will actually be on the robot for use in the drive function.
self.FLMotor = wpilib.Spark(self.FLChannel)
self.FRMotor = wpilib.Spark(self.FRChannel)
self.RLMotor = wpilib.Spark(self.RLChannel)
self.RRMotor = wpilib.Spark(self.RRChannel)
# Puts the motors into groups so that they fit the parameters of the function.
self.LMG = wpilib.SpeedControllerGroup(self.FLMotor, self.RLMotor)
self.RMG = wpilib.SpeedControllerGroup(self.FRMotor, self.RRMotor)
# The drive function that tells the computer what kind of drive to use and where the motors are.
self.drive = DifferentialDrive(self.LMG, self.RMG)
# Tells the computer how long to wait without input to turn off the motors
self.drive.setExpiration(0.1)
# Defines the Joystick that we will be using for driving.
self.DriveStick = wpilib.Joystick(self.DriveStickChannel)
self.components = {"drive": self.drive}
self.automodes = robotpy_ext.autonomous.AutonomousModeSelector(
"autonomous", self.components)
def robotInit(self):
# assign motors to object
self.motorLeftFront = ctre.WPI_TalonSRX(Robot.frontLeftPort)
self.motorLeftBack = ctre.WPI_TalonSRX(Robot.backLeftPort)
self.motorRightFront = ctre.WPI_TalonSRX(Robot.frontRightPort)
self.motorRightBack = ctre.WPI_TalonSRX(Robot.backRightPort)
# invert motors
self.motorLeftFront.setInverted(True)
self.motorLeftBack.setInverted(True)
# make motor groups
self.leftMotors = wpilib.SpeedControllerGroup(self.motorLeftBack,
self.motorLeftFront)
self.rightMotors = wpilib.SpeedControllerGroup(self.motorRightBack,
self.motorRightFront)
# create a drivetrain ovject to access motors easier
self.drivetrain = wpilib.drive.DifferentialDrive(
self.leftMotors, self.rightMotors)
# set up a timer to allow for cheap drive by time auto
self.timer = wpilib.Timer()
# initialize OI systems for the robot
self.OI = OI()
# solenoids
self.solenoid1 = wpilib.DoubleSolenoid(Robot.solenoidPortIn,
Robot.solenoidPortOut)
def robotInit(self):
self.elevator_up = False
# contoller
self.controller = wpilib.XboxController(0)
# motors
self.motors = {
name: ctre.WPI_TalonSRX(pin)
for name, pin in self.MOTOR_PINS.items()
}
# drive motors
self.left_side = wpilib.SpeedControllerGroup(self.motors['left1'],
self.motors['left2'])
self.right_side = wpilib.SpeedControllerGroup(self.motors['right2'],
self.motors['right1'])
self.drive = wpilib.drive.DifferentialDrive(self.left_side,
self.right_side)
# climbing motors
self.winch = self.motors['winch']
self.elevator = self.motors['elevator']
# ball handling motors
self.shooter = self.motors['shooter']
self.grabber = self.motors['grabber']
self.intermediate = self.motors['intermediate']
def __init__(self, robot):
super().__init__("DriveTrain")
self.robot = robot
self.front_left_motor = wpilib.Talon(1)
self.back_left_motor = wpilib.Talon(2)
self.front_right_motor = wpilib.Talon(3)
self.back_right_motor = wpilib.Talon(4)
left_motors = wpilib.SpeedControllerGroup(
self.front_left_motor, self.back_left_motor
)
right_motors = wpilib.SpeedControllerGroup(
self.front_right_motor, self.back_right_motor
)
self.drive = wpilib.drive.DifferentialDrive(left_motors, right_motors)
self.left_encoder = wpilib.Encoder(1, 2)
self.right_encoder = wpilib.Encoder(3, 4)
# Encoders may measure differently in the real world and in
# simulation. In this example the robot moves 0.042 barleycorns
# per tick in the real world, but the simulated encoders
# simulate 360 tick encoders. This if statement allows for the
# real robot to handle this difference in devices.
if robot.isReal():
self.left_encoder.setDistancePerPulse(0.042)
self.right_encoder.setDistancePerPulse(0.042)
else:
# Circumference in ft = 4in/12(in/ft)*PI
self.left_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
self.right_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
self.rangefinder = wpilib.AnalogInput(6)
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
'''Robot initialization function'''
gyroChannel = 0 # analog input
self.joystickChannel = 0 # usb number in DriverStation
# channels for motors
self.leftMotorChannel = 1
self.rightMotorChannel = 0
self.leftRearMotorChannel = 3
self.rightRearMotorChannel = 2
self.angleSetpoint = 0.0
self.pGain = 1 # propotional turning constant
# gyro calibration constant, may need to be adjusted
# gyro value of 360 is set to correspond to one full revolution
self.voltsPerDegreePerSecond = .0128
self.left = wpilib.SpeedControllerGroup(
wpilib.Talon(self.leftMotorChannel),
wpilib.Talon(self.leftRearMotorChannel))
self.right = wpilib.SpeedControllerGroup(
wpilib.Talon(self.rightMotorChannel),
wpilib.Talon(self.rightRearMotorChannel))
self.myRobot = DifferentialDrive(self.left, self.right)
self.gyro = wpilib.AnalogGyro(gyroChannel)
self.joystick = wpilib.Joystick(self.joystickChannel)
def robotInit(self):
''' function that is run at the beginning of the match '''
self.bottomShooterEncoder = WPI_TalonSRX(7)
self.topShooter = WPI_TalonSRX(6)
self.bottomShooter = WPI_TalonSRX(4)
self.topShooterEncoder = WPI_TalonSRX(5)
self.xbox = wpilib.Joystick(2) # controller for shooter
self.topShooters = wpilib.SpeedControllerGroup(self.topShooter,
self.topShooterEncoder)
self.bottomShooters = wpilib.SpeedControllerGroup(
self.bottomShooter, self.bottomShooterEncoder)
self.dash = NetworkTables.getTable("limelight")
self.dashboard = NetworkTables.getTable('SmartDashboard')
NetworkTables.initialize(server='10.99.91.2')
self.topButtonStatus = Toggle(self.xbox, 1)
self.bottomButtonStatus = Toggle(self.xbox, 4)
# PID settings
kP = 0.0
kI = 0.0
kD = 0.0
def __init__(self):
super().__init__()
self.joystick = wpilib.XboxController(0)
self.left_drive_motor = wpilib.Talon(0)
self.left_drive_motor_2 = wpilib.Talon(1)
self.right_drive_motor = wpilib.Talon(2)
self.right_drive_motor_2 = wpilib.Talon(3)
self.left_drive_motor_group = wpilib.SpeedControllerGroup(
self.left_drive_motor, self.left_drive_motor_2)
self.right_drive_motor_group = wpilib.SpeedControllerGroup(
self.right_drive_motor, self.right_drive_motor_2)
self.drive = DifferentialDrive(self.left_drive_motor_group,
self.right_drive_motor_group)
self.drive_rev = False
self.lift_motor = wpilib.Spark(4)
self.lift_motor_2 = wpilib.Spark(5)
self.lift_motor_group = wpilib.SpeedControllerGroup(
self.lift_motor, self.lift_motor_2)
self.lift_motor_speed = 0
self.lock_controls = False
self.front_motor = wpilib.Spark(6)
self.front_motor_2 = wpilib.Spark(7)
self.front_motor_2.setInverted(True)
self.front_motor_group = wpilib.SpeedControllerGroup(
self.front_motor, self.front_motor_2)
self.hatch_solenoid = wpilib.DoubleSolenoid(0, 1)
self.encoder = wpilib.Encoder(aChannel=0, bChannel=1)
def robotInit(self):
"""Robot initialization function"""
LEFT = 1
RIGHT = 2
CENTER1 = 3
CENTER2 = 4
# object that handles basic drive operations
self.leftTalon = ctre.WPI_TalonSRX(LEFT)
self.rightTalon = ctre.WPI_TalonSRX(RIGHT)
self.centerTalon1 = ctre.WPI_TalonSRX(CENTER1)
self.centerTalon2 = ctre.WPI_TalonSRX(CENTER2)
self.left = wpilib.SpeedControllerGroup(self.leftTalon)
self.right = wpilib.SpeedControllerGroup(self.rightTalon)
self.center1 = wpilib.SpeedControllerGroup(self.centerTalon1)
self.center2 = wpilib.SpeedControllerGroup(self.centerTalon2)
self.myRobot = DifferentialDrive(self.left, self.right)
self.myRobot.setExpiration(0.1)
# joysticks 1 & 2 on the driver station
# self.leftStick = wpilib.Joystick(0)
# self.rightStick = wpilib.Joystick(1)
self.DEADZONE = 0.4
self.LEFT = GenericHID.Hand.kLeft
self.RIGHT = GenericHID.Hand.kRight
self.driver = wpilib.XboxController(0)
def robotInit(self):
"""Robot initialization function"""
# motor controllers for traction
self.m_left_front = ctre.WPI_VictorSPX(22)
self.m_right_front = ctre.WPI_VictorSPX(33)
self.m_left_rear = ctre.WPI_VictorSPX(11)
self.m_right_rear = ctre.WPI_VictorSPX(44)
self.shooter = ctre.WPI_VictorSPX(9)
self.track_ball = ctre.WPI_VictorSPX(8)
self.ball_catcher = ctre.WPI_VictorSPX(55)
self.m_left = wpilib.SpeedControllerGroup(self.m_left_front,
self.m_left_rear)
self.m_right = wpilib.SpeedControllerGroup(self.m_right_front,
self.m_right_rear)
# object that handles basic drive operations
self.myRobot = wpilib.drive.DifferentialDrive(self.m_left,
self.m_right)
self.myRobot.setExpiration(0.1)
# joystick 0
self.stick = wpilib.Joystick(0)
# init camera
wpilib.CameraServer.launch('vision.py:main')
# create timer
self.timer = wpilib.Timer()
def robotInit(self):
'''Robot initialization function'''
# object that handles basic drive operations
self.frontLeftMotor = wpilib.Spark(3)
self.middleLeftMotor = wpilib.Spark(4)
self.rearLeftMotor = wpilib.Spark(5)
self.frontRightMotor = wpilib.Spark(0)
self.middleRightMotor = wpilib.Spark(1)
self.rearRightMotor = wpilib.Spark(2)
self.ihigh_motor = wpilib.Spark(6)
self.ilow_motor = wpilib.Spark(9)
self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor, self.middleLeftMotor, self.rearLeftMotor)
self.right = wpilib.SpeedControllerGroup(self.frontRightMotor, self.middleRightMotor, self.rearRightMotor)
self.myRobot = DifferentialDrive(self.left, self.right)
self.myRobot.setExpiration(0.1)
self.high = 0
self.low = 0
self.gameData = 'LRL'
# joysticks 1 & 2 on the driver station
self.Stick1 = wpilib.XboxController(0)
self.Stick2 = wpilib.Joystick(1)
self.aSolenoidLow = wpilib.DoubleSolenoid(2,3)
self.aSolenoidHigh = wpilib.DoubleSolenoid(0,1)
self.iSolenoid = wpilib.DoubleSolenoid(4,5)
def createObjects(self):
self.front_left_motor = WPI_TalonSRX(robotmap.front_left_drive)
self.front_right_motor = WPI_TalonSRX(robotmap.front_right_drive)
self.back_left_motor = WPI_TalonSRX(robotmap.back_left_drive)
self.back_right_motor = WPI_TalonSRX(robotmap.back_right_drive)
motor_configuration.bulk_configure(self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
self.left_motors = wpilib.SpeedControllerGroup(self.front_left_motor, self.back_left_motor)
self.right_motors = wpilib.SpeedControllerGroup(self.front_right_motor, self.back_right_motor)
self.front_left_motor.setInverted(True)
self.front_right_motor.setInverted(True)
self.drivetrain_object = wpilib.drive.DifferentialDrive(self.left_motors, self.right_motors)
self.oi = OI()
# self.arduino_serial_connection = serial.Serial(
# port=robotmap.com_port,
# baudrate=9600,
# parity=serial.PARITY_ODD,
# stopbits=serial.STOPBITS_TWO,
# bytesize=serial.SEVENBITS
# )
wpilib.CameraServer.launch('vision.py:main')
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.leftSpark1 = rev.CANSparkMax(15, rev.MotorType.kBrushless)
self.leftSpark2 = rev.CANSparkMax(14, rev.MotorType.kBrushless)
self.leftSpark3 = rev.CANSparkMax(13, rev.MotorType.kBrushless)
self.rightSpark1 = rev.CANSparkMax(20, rev.MotorType.kBrushless)
self.rightSpark2 = rev.CANSparkMax(1, rev.MotorType.kBrushless)
self.rightSpark3 = rev.CANSparkMax(2, rev.MotorType.kBrushless)
self.joystick1 = wpilib.Joystick(0)
self.joystick2 = wpilib.Joystick(1)
self.leftSparks = wpilib.SpeedControllerGroup(self.leftSpark1,
self.leftSpark2,
self.leftSpark3)
self.rightSparks = wpilib.SpeedControllerGroup(self.rightSpark1,
self.rightSpark2,
self.rightSpark3)
self.leftSpark1.setIdleMode(rev.IdleMode.kBrake)
self.leftSpark2.setIdleMode(rev.IdleMode.kBrake)
self.leftSpark3.setIdleMode(rev.IdleMode.kBrake)
self.rightSpark1.setIdleMode(rev.IdleMode.kBrake)
self.rightSpark2.setIdleMode(rev.IdleMode.kBrake)
self.rightSpark3.setIdleMode(rev.IdleMode.kBrake)
self.openCloseSolenoid = wpilib.DoubleSolenoid(2, 5)
self.inOutSolenoid = wpilib.DoubleSolenoid(3, 4)
def robotInit(self):
# Motor Init
self.motor1 = ctre.WPI_TalonSRX(1)
self.motor2 = ctre.WPI_TalonSRX(2)
self.motor3 = ctre.WPI_TalonSRX(3)
self.motor4 = ctre.WPI_TalonSRX(4)
# Arm Init
self.arm = ctre.WPI_TalonSRX(5)
# Speed control groups
self.left = wpilib.SpeedControllerGroup(self.motor1, self.motor2)
self.right = wpilib.SpeedControllerGroup(self.motor3, self.motor4)
# Drive Function Init
self.driveMeBoi = wpilib.drive.DifferentialDrive(self.left, self.right)
#Controller Init
self.controller = wpilib.XboxController(0)
# Sensor
self.intakeSensor = wpilib.DigitalInput(9)
#Color.py Init
self.color = color.PrintColor()
#Auto mode variables
self.components = {'drive': self.driveMeBoi}
self.automodes = AutonomousModeSelector('autonomous', self.components)
self.drive = drive.Drive(self.driveMeBoi)
def __init__(self):
# initialize wpilib stuff
self.sd = wpilib.SmartDashboard
self.timer = wpilib.Timer()
# initialize motors
self.motorLeftFront = robot_map.motorLeftFront
self.motorLeftMiddle = robot_map.motorLeftMiddle
self.motorLeftBack = robot_map.motorLeftBack
self.leftSideMotors = wpilib.SpeedControllerGroup(
robot_map.motorLeftFront, robot_map.motorLeftMiddle,
robot_map.motorLeftBack)
self.motorRightFront = robot_map.motorRightFront
self.motorRightMiddle = robot_map.motorRightMiddle
self.motorRightBack = robot_map.motorRightBack
self.rightSideMotors = wpilib.SpeedControllerGroup(
robot_map.motorRightFront, robot_map.motorRightMiddle,
robot_map.motorRightBack)
# initialize drive sticks
self.leftStick = robot_map.xboxControllerLeftStickY
self.rightStick = robot_map.xboxControllerRightStickY
# initialize gyro
self.navx = navx.AHRS.create_spi()
self.analog = wpilib.AnalogInput(
navx.getNavxAnalogInChannel(robot_map.gyro))
def createObjects(self):
# Joysticks
self.joystick_left = wpilib.Joystick(0)
self.joystick_right = wpilib.Joystick(1)
self.joystick_alt = wpilib.Joystick(2)
# Buttons
self.btn_intake_in = JoystickButton(self.joystick_alt, 2)
self.btn_intake_out = JoystickButton(self.joystick_alt, 1)
# Set up Speed Controller Groups
self.left_motors = wpilib.SpeedControllerGroup(
VictorSP(0),
VictorSP(1),
)
self.right_motors = wpilib.SpeedControllerGroup(
VictorSP(2),
VictorSP(3),
)
# Drivetrain
self.train = wpilib.drive.DifferentialDrive(self.left_motors,
self.right_motors)
# Intake
self.intake_motor = VictorSP(4)
def __init__(self) -> None:
super().__init__()
self.left1 = wpilib.PWMVictorSPX(constants.kLeftMotor1Port)
self.left2 = wpilib.PWMVictorSPX(constants.kLeftMotor2Port)
self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port)
self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port)
# The robot's drive
self.drive = wpilib.drive.DifferentialDrive(
wpilib.SpeedControllerGroup(self.left1, self.left2),
wpilib.SpeedControllerGroup(self.right1, self.right2),
)
# The left-side drive encoder
self.leftEncoder = wpilib.Encoder(
*constants.kLeftEncoderPorts,
reverseDirection=constants.kLeftEncoderReversed)
# The right-side drive encoder
self.rightEncoder = wpilib.Encoder(
*constants.kRightEncoderPorts,
reverseDirection=constants.kRightEncoderReversed)
# Sets the distance per pulse for the encoders
self.leftEncoder.setDistancePerPulse(
constants.kEncoderDistancePerPulse)
self.rightEncoder.setDistancePerPulse(
constants.kEncoderDistancePerPulse)
def createObjects(self):
# Joysticks
self.joystick = wpilib.Joystick(0)
# Drive motor controllers
# Dig | 0/1
# 2^1 | Left/Right
# 2^0 | Front/Rear
self.lf_motor = wpilib.Victor(0b00) # =>0
self.lr_motor = wpilib.Victor(0b01) # =>1
self.rf_motor = wpilib.Victor(0b10) # =>2
self.rr_motor = wpilib.Victor(0b11) # =>3
self.drivetrain = wpilib.drive.DifferentialDrive(wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor),
wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
self.btn_sarah = ButtonDebouncer(self.joystick, 2)
self.sarah = False
# Intake
self.intake_wheel_left = wpilib.Spark(5)
self.intake_wheel_right = wpilib.Spark(4)
self.intake_wheels = wpilib.SpeedControllerGroup(self.intake_wheel_left,
self.intake_wheel_right)
self.intake_wheels.setInverted(True)
self.btn_pull = JoystickButton(self.joystick, 3)
self.btn_push = JoystickButton(self.joystick, 1)
def robotInit(self):
''' Network Tables '''
self.table = NetworkTables.getTable('SmartDashboard')
self.controller = wpilib.XboxController(0)
#Jay Programing
# wpilib.CameraServer.launch("vision.py:main")
'''self.sortSwitch = wpilib.DigitalInput(0) #Switch to stop sorting motor''' # Input for potential switch
self.intake = wpilib.Talon(1) #intake motor
# Talon SRX #
# Right drivetrain
self.fr_motor = ctre.WPI_TalonSRX(2)
self.rr_motor = ctre.WPI_TalonSRX(3)
self.right = wpilib.SpeedControllerGroup(self.fr_motor, self.rr_motor)
# # Left drivetrain
self.fl_motor = ctre.WPI_TalonSRX(0) # 0
self.rl_motor = ctre.WPI_TalonSRX(1) # 1
self.left = wpilib.SpeedControllerGroup(self.fl_motor, self.rl_motor)
# [Six wheels; four motors--one for each gearbox]
# Class for driving the differential train
self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
# Triggers/Controls
self.kLeft = self.controller.Hand.kLeft
self.kRight = self.controller.Hand.kRight
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#Initialize Networktables
self.sd = NetworkTables.getTable('SmartDashboard')
#Set up motors to drive robot
self.M2 = wpilib.VictorSP(2)
self.M3 = wpilib.VictorSP(3)
#self.M2.setInverted(True)
#self.M3.setInverted(True)
self.left = wpilib.SpeedControllerGroup(self.M2, self.M3)
self.M0 = wpilib.VictorSP(0)
self.M1 = wpilib.VictorSP(1)
self.right = wpilib.SpeedControllerGroup(self.M0, self.M1)
self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
self.stick = wpilib.Joystick(1)
self.timer = wpilib.Timer()
#Camera
wpilib.CameraServer.launch()
#Servo
self.SV1 = wpilib.Servo(9)
self.SV2 = wpilib.Servo(8)
#Dashboard
NetworkTables.initialize(server='10.61.62.2')
#Switches
self.SW0 = wpilib.DigitalInput(0)
self.SW1 = wpilib.DigitalInput(1)
#Elevator
self.E = wpilib.VictorSP(5)
self.prepareCubeFlag = 0
self.grabCubeFlag = 0
self.deliverCubeFlag = 0
self.adjustLeftFlag = 0
self.adjustRightFlag = 0
self.driveFlag = 0
#Gyro
self.gyro = wpilib.ADXRS450_Gyro(0)
self.gyro.reset()
#All possible autonomous routines in a sendable chooser
'''
self.chooser = wpilib.SendableChooser()
self.chooser.addDefault("None", '4')
self.chooser.addObject("left-LeftScale", '1')
self.chooser.addObject("Middle-LeftScale", '2')
self.chooser.addObject("Right-LeftScale", '3')
self.chooser.addObject("Left-RightScale", '5')
'''
#wpilib.SmartDashboard.putData('Choice', self.chooser)
#Encoders
self.EC1 = wpilib.Encoder(2, 3)
self.EC2 = wpilib.Encoder(4, 5)
self.EC1.reset()
self.EC2.reset()
def __init__(self):
self.leftMotor = wpi.SpeedControllerGroup(
ctre.WPI_TalonSRX(ports.talonPorts.get("leftChassisMotor")))
self.rightMotor = wpi.SpeedControllerGroup(
ctre.WPI_TalonSRX(ports.talonPorts.get("rightChassisMotor")))
self.drive = wpi.drive.DifferentialDrive(self.leftMotor,
self.rightMotor)
def robotInit(self):
"""This function initiates the robot's components and parts"""
# Here we create a function for the command class to return the robot
# instance, so that we don't have to import the robot module for each
# command.
Command.getRobot = lambda _: self
# This launches the camera server between the robot and the computer
wpilib.CameraServer.launch()
self.joystick = wpilib.Joystick(0)
self.lr_motor = ctre.WPI_TalonSRX(1)
self.lf_motor = ctre.WPI_TalonSRX(2)
self.rr_motor = ctre.WPI_TalonSRX(5)
self.rf_motor = ctre.WPI_TalonSRX(6)
self.left = wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor)
self.right = wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor)
self.drivetrain_solenoid = wpilib.DoubleSolenoid(2, 3)
self.drivetrain_gyro = wpilib.AnalogGyro(1)
# Here we create the drivetrain as a whole, combining all the different
# robot drivetrain compontents.
self.drivetrain = drivetrain.Drivetrain(self.left, self.right,
self.drivetrain_solenoid,
self.drivetrain_gyro,
self.rf_motor)
self.l_gripper = wpilib.VictorSP(0)
self.r_gripper = wpilib.VictorSP(1)
self.grippers = grippers.Grippers(self.l_gripper, self.r_gripper)
self.elevator_motor = wpilib.VictorSP(2)
self.elevator_top_switch = wpilib.DigitalInput(4)
self.elevator_bot_switch = wpilib.DigitalInput(5)
self.elevator = elevator.Elevator(self.elevator_motor,
self.elevator_top_switch,
self.elevator_bot_switch)
self.handles_solenoid = wpilib.DoubleSolenoid(0, 1)
self.handles = handles.Handles(self.handles_solenoid)
# This creates the instance of the autonomous program that will run
# once the autonomous period begins.
self.autonomous = AutonomousProgram()
# This gets the instance of the joystick with the button function
# programmed in.
self.josytick = oi.getJoystick()
