def __init__(self):
super().__init__("Mecanum")
# motors and the channels they are connected to
self.frontLeftMotor = wpilib.VictorSP(1)
self.rearLeftMotor = wpilib.PWMVictorSPX(2)
self.frontRightMotor = wpilib.VictorSP(0)
self.rearRightMotor = wpilib.PWMVictorSPX(3)
# invert the left side motors
self.frontLeftMotor.setInverted(False)
# you may need to change or remove this to match your robot
self.rearLeftMotor.setInverted(False)
self.rearRightMotor.setInverted(False) #added this to match motor
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.drive.setSafetyEnabled(False)
def __init__(self):
#Initialize Right motors
right_front = (wpilib.VictorSP(0))
right_mid = (wpilib.VictorSP(1))
right_rear = (wpilib.VictorSP(2))
self.right_motor_group = wpilib.SpeedControllerGroup(
right_front, right_mid, right_rear)
def robotInit(self):
"""Robot initialization function"""
self.frontLeftMotor = wpilib.VictorSP(self.frontLeftChannel)
self.rearLeftMotor = wpilib.VictorSP(self.rearLeftChannel)
self.frontRightMotor = wpilib.VictorSP(self.frontRightChannel)
self.rearRightMotor = wpilib.VictorSP(self.rearRightChannel)
# invert the left side motors
# self.frontLeftMotor.setInverted(True)
# you may need to change or remove this to match your robot
# self.rearLeftMotor.setInverted(True)
# self.frontRightMotor.setInverted(True)
# self.rearRightMotor.setInverted(True)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.xbox0 = wpilib.XboxController(self.xchannel0)
self.xbox1 = wpilib.XboxController(self.xchannel1)
def __init__(self):
#Initialize Left motors
left_front = (wpilib.VictorSP(3))
left_mid = (wpilib.VictorSP(4))
left_rear = (wpilib.VictorSP(5))
self.left_motor_group = wpilib.SpeedControllerGroup(
left_front, left_mid, left_rear)
def robotInit(self):
self.left_drive_motors = wpilib.VictorSP(0)
self.right_drive_motors = wpilib.VictorSP(1)
self.arm_drive_motors = wpilib.VictorSP(2)
self.left_joystick = wpilib.Joystick(0)
self.right_joystick = wpilib.Joystick(1)
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 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()
def __init__(self):
'''Instantiates the claw object'''
super().__init__('Claw')
self.lastValue = 0
self.motorL = wpilib.VictorSP(RobotMap.claw.leftMotor)
self.motorR = wpilib.VictorSP(RobotMap.claw.rightMotor)
self.winchMotor = ctre.wpi_talonsrx.WPI_TalonSRX(RobotMap.claw.winchMotor)
def robotInit(self): #This is a function or method
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.robot_drive = wpilib.RobotDrive(5, 6)
self.stick = wpilib.Joystick(0)
self.Motor1 = wpilib.VictorSP(0)
self.Motor2 = wpilib.VictorSP(1)
def robotInit(self):
'''Robot initialization function'''
self.motorFrontRight = wp.VictorSP(2)
self.motorBackRight = wp.VictorSP(4)
self.motorMiddleRight = wp.VictorSP(6)
self.motorFrontLeft = wp.VictorSP(1)
self.motorBackLeft = wp.VictorSP(3)
self.motorMiddleLeft = wp.VictorSP(5)
self.intakeMotor = wp.VictorSP(8)
self.shootMotor1 = wp.VictorSP(7)
self.shootMotor2 = wp.VictorSP(9)
self.liftMotor = wp.VictorSP(0)
self.gyro = wp.ADXRS450_Gyro(0)
self.accel = wp.BuiltInAccelerometer()
self.gearSensor = wp.DigitalInput(6)
self.LED = wp.DigitalOutput(9)
self.rightEncd = wp.Encoder(0, 1)
self.leftEncd = wp.Encoder(2, 3)
self.shootEncd = wp.Counter(4)
self.compressor = wp.Compressor()
self.shifter = wp.DoubleSolenoid(0, 1)
self.ptoSol = wp.DoubleSolenoid(2, 3)
self.kicker = wp.DoubleSolenoid(4, 5)
self.gearFlap = wp.DoubleSolenoid(6, 7)
self.stick = wp.Joystick(0)
self.stick2 = wp.Joystick(1)
self.stick3 = wp.Joystick(2)
#Initial Dashboard Code
wp.SmartDashboard.putNumber("Turn Left pos 1:", 11500)
wp.SmartDashboard.putNumber("Lpos 2:", -57)
wp.SmartDashboard.putNumber("Lpos 3:", 5000)
wp.SmartDashboard.putNumber("stdist:", 6000)
wp.SmartDashboard.putNumber("Turn Right pos 1:", 11500)
wp.SmartDashboard.putNumber("Rpos 2:", 57)
wp.SmartDashboard.putNumber("Rpos 3:", 5000)
wp.SmartDashboard.putNumber("pos 4:", 39)
wp.SmartDashboard.putNumber("-pos 4:", -39)
wp.SmartDashboard.putNumber("Time", 5)
wp.SmartDashboard.putBoolean("Shooting Auto", False)
wp.SmartDashboard.putNumber("P", .08)
wp.SmartDashboard.putNumber("I", 0.005)
wp.SmartDashboard.putNumber("D", 0)
wp.SmartDashboard.putNumber("FF", 0.85)
self.chooser = wp.SendableChooser()
self.chooser.addDefault("None", 4)
self.chooser.addObject("Left Turn Auto", 1)
self.chooser.addObject("Straight/Enc", 2)
self.chooser.addObject("Right Turn Auto", 3)
self.chooser.addObject("Straight/Timer", 5)
self.chooser.addObject("Shoot ONLY", 6)
wp.SmartDashboard.putData("Choice", self.chooser)
wp.CameraServer.launch("vision.py:main")
def createObjects(self):
# Define Driving Motors
self.rightDrive = wpilib.VictorSP(0)
self.leftDrive = wpilib.VictorSP(1)
# Create Robot Drive
self.robotDrive = wpilib.drive.DifferentialDrive(
self.rightDrive, self.leftDrive)
# Create Shifter Pneumatics
self.shifterSolenoid = wpilib.DoubleSolenoid(0, 0, 1)
# Joysticks and Controllers
self.driveJoystick = wpilib.Joystick(0)
self.driveController = XboxController(0)
self.subsystemJoystick = wpilib.Joystick(1)
self.subsystemController = XboxController(1)
# Create NavX and Accel
self.navX = navx.AHRS.create_spi()
self.accel = wpilib.BuiltInAccelerometer()
# Set Drivespeed
self.driveSpeed = 0
# Intake Motors
self.intakeMotor = wpilib.VictorSP(2)
# Intake Lifter
self.intakeLifter = wpilib.Spark(6)
# Create Cube Intake Pneumatics
self.intakeSolenoid = wpilib.Solenoid(0, 2)
# Create Ramp Motors
self.rightRamp = wpilib.Spark(5)
self.leftRamp = wpilib.Spark(4)
# Create Ramp Deploy Pneumatics
self.rampSolenoid = wpilib.Solenoid(0, 3)
# Create Timer (For Making Timed Events)
self.timer = wpilib.Timer()
# Initialize Compressor
self.compressor = wpilib.Compressor()
# Create CameraServer
wpilib.CameraServer.launch("common/multipleCameras.py:main")
# Set Gear in Dashboard
wpilib.SmartDashboard.putString("Shift State", "Low Gear")
wpilib.SmartDashboard.putString("Cube State", "Unclamped")
def __init__(self):
super().__init__('Intake')
self.intake_motor_closeOpen = wpilib.VictorSP(
6
) #insert motor/control number, ie one of the low voltage input numbers
self.intake_motor_rightWheel = wpilib.VictorSP(
7
) #insert motor/control number, ie one of the low voltage input numbers
self.intake_motor_leftWheel = wpilib.VictorSP(
8
) #insert motor/control number, ie one of the low voltage input numbers
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.left_motor = wpilib.VictorSP(0)
self.right_motor = wpilib.VictorSP(1)
self.drive = wpilib.drive.DifferentialDrive(self.left_motor,
self.right_motor)
self.drive.setRightSideInverted(True)
self.stick = wpilib.Joystick(0)
self.timer = wpilib.Timer()
def __init__(self):
super().__init__('Intake')
self.intake_motor_closeOpen = wpilib.VictorSP(8)
self.intake_motor_rightWheel = wpilib.VictorSP(9)
self.intake_motor_leftWheel = wpilib.VictorSP(7)
self.limit_switch = wpilib.DigitalOutput(0)
self.pdp = wpilib.PowerDistributionPanel(16)
self.intake_table = networktables.NetworkTables.getTable('/Intake')
self.timer = wpilib.Timer()
self.timer.start()
self.logger = None
def robotInit(self):
'''Robot-wide initialization code should go here'''
self.lstick = wpilib.Joystick
self.motor_D1 = wpilib.VictorSP(3)
self.motor_I1 = wpilib.VictorSP(4)
self.motor_externo=wpilib.VictorSP(5)
self.G_motor=SpeedControllerGroup(self.motor_D1, self.motor_I1)
#motor_D1 y motor_D2 son los motores de la caja de reducción
self.finalCarrera1=wpilib.digitalInput(1)
self.finalCarrera2=wpilib.digitalInput(2)
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.stick = wpilib.Joystick(0)
self.Motor1 = wpilib.VictorSP(4)
self.Motor2 = wpilib.VictorSP(5)
self.Switch1 = wpilib.DigitalInput(0)
self.Switch2 = wpilib.DigitalInput(1)
self.Servo1 = wpilib.Servo(6)
self.Servo2 = wpilib.Servo(7)
def __init__( self, robot ): super( ).__init__( 'ground feeder' ) self.robot = robot #if you feel that this should be 0 and 1, because programmers count from 0 then too bad. self.feeder_motor_1 = wpilib.VictorSP( const.ID_FEEDER_MOTOR_1 ) self.feeder_motor_2 = wpilib.VictorSP( const.ID_FEEDER_MOTOR_2 ) self.feeder_motor_2.setInverted( True ) self.feeder_solenoid_1 = wpilib.Solenoid( const.ID_PCM_1, const.ID_FEEDER_SOLENOID_1 ) self.feeder_solenoid_2 = wpilib.Solenoid( const.ID_PCM_1, const.ID_FEEDER_SOLENOID_2 ) self.feeder_running = const.ID_FEEDER_STOPPED self.feeder_solenoid_state = const.ID_FEEDER_ENGAGED
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.table = NetworkTables.getTable("SmartDashboard")
self.robot_drive = wpilib.drive.DifferentialDrive(
wpilib.Spark(0), wpilib.Spark(1))
self.stick = wpilib.Joystick(0)
self.elevatorMotor = wpilib.VictorSP(5)
self.intakeMotor = wpilib.VictorSP(2)
self.intakeMotorLeft = wpilib.VictorSP(3)
self.intakeMotorRight = wpilib.VictorSP(4)
self.climbMotor = wpilib.VictorSP(6)
self.ahrs = AHRS.create_i2c(0)
#self.gearSpeed = .5
#self.lights = wpilib.Relay(1)
#self.lightToggle = False
#self.lightToggleBool = True
#self.togglev = 0
self.robot_drive.setSafetyEnabled(False)
wpilib.CameraServer.launch()
self.xb = wpilib.Joystick(1)
self.Compressor = wpilib.Compressor(0)
self.Compressor.setClosedLoopControl(True)
self.enabled = self.Compressor.enabled()
self.PSV = self.Compressor.getPressureSwitchValue()
self.LeftSolenoid = wpilib.DoubleSolenoid(0, 1)
self.RightSolenoid = wpilib.DoubleSolenoid(2, 3)
self.Compressor.start()
self.wheel = wpilib.Encoder(0, 1)
self.wheel2 = wpilib.Encoder(2, 3, True)
self.encoder = Sensors.Encode(self.wheel, self.wheel2)
#wpilib.CameraServer.launch()
self.ultrasonic = wpilib.AnalogInput(0)
self.autoSchedule = Auto.Auto(self, )
self.intakeToggle = False
self.intakePos = False
self.openSwitch = wpilib.DigitalInput(9)
self.closedSwitch = wpilib.DigitalInput(8)
self.speed = 0.6
self.leftSpeed = 0.7
self.rightSpeed = 0.7
self.speedToggle = False
def __init__(self):
#Initialize Left motors
# Two motors cause TuffBox
# Also 0 is generally reserved for PDP or something
left_one = (wpilib.PWMVictorSPX(3))
left_two = (wpilib.VictorSP(6))
self.left_motor_group = wpilib.SpeedControllerGroup(left_one, left_two)
def __init__(self, robot):
super().__init__()
self.robot = robot
self.left = wpilib.VictorSP(0)
self.right = wpilib.VictorSP(1)
"""Motors used for driving"""
self.drive = wpilib.DifferentialDrive(self.left, self.right)
"""DifferentialDrive is the main object that deals with driving"""
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)
wpilib.LiveWindow.addActuator(
"Drive Train", "Front_Left Motor", self.front_left_motor
)
wpilib.LiveWindow.addActuator(
"Drive Train", "Back Left Motor", self.back_left_motor
)
wpilib.LiveWindow.addActuator(
"Drive Train", "Front Right Motor", self.front_right_motor
)
wpilib.LiveWindow.addActuator(
"Drive Train", "Back Right Motor", self.back_right_motor
)
wpilib.LiveWindow.addSensor("Drive Train", "Left Encoder", self.left_encoder)
wpilib.LiveWindow.addSensor("Drive Train", "Right Encoder", self.right_encoder)
wpilib.LiveWindow.addSensor("Drive Train", "Rangefinder", self.rangefinder)
wpilib.LiveWindow.addSensor("Drive Train", "Gyro", self.gyro)
def __init__(self, robot):
'''
Command Dependencies:
All values currently arbitary!
'''
super().__init__("winch")
self.winch_motor = wpilib.VictorSP(5)
def robotInit(self):#This is a function or method
"""
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.stick = wpilib.Joystick(0)
self.Motor1 = wpilib.VictorSP(4)
self.Motor2 = wpilib.VictorSP(5)
self.Switch1 = wpilib.DigitalInput(0)
self.Switch2 = wpilib.DigitalInput(1)
self.Servo1 = wpilib.Servo(6)
self.Servo2 = wpilib.Servo(7)
self.camera1 = wpilib.CameraServer.launch('vision.py:main')
NetworkTables.initialize(server='10.61.62.2')
sd = NetworkTables.getTable('SmartDashboard')
sd.putNumber('someNumber', 1234)
def createObjects(self):
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.rf_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.CTRE_MagEncoder_Relative)
self.talon.setSensorPhase(True)
self.setOutputRange(self.MIN_SPEED, self.MAX_SPEED)
self.setAbsoluteTolerance(self.ABS_TOLERANCE)
self.ABS_TOLERANCE = (3 / self.DIST_TO_TICKS)
self.left = wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor)
self.right = wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor)
self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
self.drivetrain_solenoid = wpilib.DoubleSolenoid(2, 3)
self.drivetrain_gyro = wpilib.AnalogGyro(1)
self.elevator_motor = wpilib.VictorSP(2)
self.top_switch = wpilib.DigitalInput(4)
self.bot_switch = wpilib.DigitalInput(5)
self.handles_solenoid = wpilib.DoubleSolenoid(0, 1)
self.l_gripper_motor = wpilib.VictorSP(0)
self.r_gripper_motor = wpilib.VictorSP(1)
self.joystick = wpilib.Joystick(0)
self.trigger = wpilib.buttons.JoystickButton(self.joystick, 1)
self.button_2 = wpilib.buttons.JoystickButton(self.joystick, 2)
self.button_3 = wpilib.buttons.JoystickButton(self.joystick, 3)
self.button_4 = wpilib.buttons.JoystickButton(self.joystick, 4)
self.button_5 = wpilib.buttons.JoystickButton(self.joystick, 5)
self.button_7 = wpilib.buttons.JoystickButton(self.joystick, 7)
self.button_10 = wpilib.buttons.JoystickButton(self.joystick, 10)
self.button_11 = wpilib.buttons.JoystickButton(self.joystick, 11)
def __init__(self, robot):
super().__init__('agitator')
self.robot = robot
# The climber has two motors, but they are connected to one pwm because of a y cable
self.agitator_motor_1 = wpilib.VictorSP(const.ID_AGITATOR_MOTOR_1)
self.agitator_motor_1.setInverted(True) #true on practice robot
self.speed = 0
def robotInit(self):
"""Init is called once when the robot is turned on."""
self.efacing = 1
"""efacing is used to invert our controls."""
self.CarEncoder = wpilib.Encoder(0, 1)
#self.HatchEncoder = wpilib.Encoder(3, 4)
self.chooser = wpilib.SendableChooser()
self.chooser.addObject('cargo', '1')
self.chooser.addObject('hatch panel', '2')
self.left = wpilib.VictorSP(0)
self.right = wpilib.VictorSP(1)
"""Motors used for driving"""
self.myRobot = DifferentialDrive(self.left, self.right)
"""DifferentialDrive is the main object that deals with driving"""
self.RotServo = wpilib.Servo(2)
self.TiltServo = wpilib.Servo(3)
"""Our two servos will rotate (RotServo) and tilt (TiltServo) our
vision cameras."""
self.motor1 = wpilib.Talon(5)
self.motor2 = wpilib.Talon(6)
"""I mostly just added these motor controllers anticipating some sort
of intake system that uses motors."""
self.Punch = wpilib.DoubleSolenoid(0, 1)
self.DPunch = wpilib.DoubleSolenoid(3, 2)
"""The punching mechanism for removal of the hatch panels can use a
DoubleSolenoid or regular Solenoid. The Solenoid only needs the channel
it's plugged into (4) whereas the Double Solenoid needs the module
number, forward channel number, and reverse channel order in that
order."""
self.XBox0 = wpilib.XboxController(0)
self.XBox1 = wpilib.XboxController(1)
"""Xbox controllers 1 and 2 on the driver station."""
self.myRobot.setExpiration(0.1)
"""If communication is cut off between the driver station and the robot
def __init__(self, robot):
'''
Command Dependencies:
All values currently arbitary!
'''
super().__init__("carrier")
# CARRIER is 5
self.carrier_motor = wpilib.VictorSP(5)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.E1 = wpilib.VictorSP(0) #Left Elevator Motor
self.E2 = wpilib.VictorSP(1) #Right Elevatror Motor
self.S1 = wpilib.VictorSP(2) #Left Shoulder Motor
self.S2 = wpilib.VictorSP(3) #Right Shoulder Motor
self.M0 = ctre.wpi_talonsrx.WPI_TalonSRX(4)
self.M1 = ctre.wpi_talonsrx.WPI_TalonSRX(3)
self.M0.setInverted(True)
self.M1.setInverted(True)
self.left = wpilib.SpeedControllerGroup(self.M0,self.M1)
self.M2 = ctre.wpi_talonsrx.WPI_TalonSRX(2)
self.M3 = ctre.wpi_talonsrx.WPI_TalonSRX(1)
self.right = wpilib.SpeedControllerGroup(self.M2, self.M3)
self.drive = wpilib.drive.DifferentialDrive(self.left,self.right)
self.stick = wpilib.Joystick(0)
self.timer = wpilib.Timer()
def __init__(self, motors, maxSpeed=1, inverted=False):
'''
Constructor
'''
self.motorArr = []
self.max = maxSpeed
self.inverted = inverted
self.useGyro = False
for motor in motors:
self.motorArr.append(wpilib.VictorSP(motor))
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#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(0)
self.timer = wpilib.Timer()
def __init__(self, robot):
print("init")
super().__init__()
self.robot = robot
'''
Command Dependencies:
Cargo Intake/Eject
Initialize Motor[cargo intake]
Cargo is instantiated by
an "intake" and "eject" command
'''
self.cargo_motor = wpilib.VictorSP(6)
