class HatchLatch(Subsystem, metaclass=singleton.Singleton):
"""The HatchLatch subsystem controls the latch which grabs hatch panels
and encoders."""
def __init__(self):
super().__init__()
self.servo = Servo(0)
def setOpen(self):
"""Open the hatch latch."""
self.servo.setAngle(Constants.HATCH_LATCH_OPENED)
def setClosed(self):
"""Close the hatch latch."""
self.servo.setAngle(Constants.HATCH_LATCH_CLOSED)
def setToggle(self):
"""Toggle the hatch latch between open and closed
(if it is not in either state, it will be closed)."""
if self.servo.getAngle() == Constants.HATCH_LATCH_CLOSED:
self.setOpen()
elif self.servo.getAngle() == Constants.HATCH_LATCH_OPENED:
self.setClosed()
else:
self.setClosed()
def outputToSmartDashboard(self):
Dash.putNumber("Servo Angle", self.servo.getAngle())
class Peripherals(Subsystem):
def __init__(self, robot):
super().__init__()
self.intake_spark = Spark(6)
self.control_panel_spark = Spark(5)
self.left_dispenser_gate = Servo(7)
self.right_dispenser_gate = Servo(8)
def run_intake(self, power=0):
self.intake_spark.set(power)
def run_spinner(self, power=0):
self.control_panel_spark.set(power)
def close_gate(self):
self.left_dispenser_gate.setAngle(120)
self.right_dispenser_gate.setAngle(135)
def open_gate(self):
self.left_dispenser_gate.setAngle(0)
self.right_dispenser_gate.setAngle(0)
def panel_clockwise(self, power):
print(power)
self.control_panel_spark.set(power)
def log(self):
pass
class HatchLatch(Subsystem, metaclass=singleton.Singleton):
"""The HatchLatch subsystem controls the latch which grabs hatch panels
and encoders."""
def __init__(self):
super().__init__()
self.servo = Servo(0)
def setOpen(self):
"""Open the hatch latch."""
self.servo.setAngle(Constants.HATCH_LATCH_OPENED)
def setClosed(self):
"""Close the hatch latch."""
self.servo.setAngle(Constants.HATCH_LATCH_CLOSED)
def setToggle(self):
"""Toggle the hatch latch between open and closed
(if it is not in either state, it will be closed)."""
if self.servo.getAngle() == Constants.HATCH_LATCH_CLOSED:
self.setOpen()
elif self.servo.getAngle() == Constants.HATCH_LATCH_OPENED:
self.setClosed()
else:
self.setClosed()
def outputToDashboard(self):
Dash.putNumber("Servo Angle", self.servo.getAngle())
def periodic(self):
self.outputToDashboard()
def controlHatch(self):
""" Checks each trigger and opens and closes depending on the trigger pressed."""
if oi.OI.operator_buttons[6].whenPressed():
self.setOpen()
elif oi.OI.operator_buttons[5].whenPressed():
self.setClosed()
