def __init__(self):
self.mainCompressor = Compressor(PCMID)
self.intakeSolenoid = Solenoid(PCMID, intakeSolenoidChannel)
self.isExtended = False
self.mainCompressor.start()
class MyRobot(wpilib.TimedRobot):
""" Small program to verify Neo motor and encoder are working. """
def robotInit(self):
self.solenoid = Solenoid(0, 1)
def teleopInit(self):
self.solenoid.set(True)
def __init__(self, Robot):
#self.navx = Robot.navx
self.speedLimit = 0.999
self._leftRamp = 0.0
self._rightRamp = 0.0
self._rampSpeed = 6.0
self._kOonBalanceAngleThresholdDegrees = 5.0
self._autoBalance = True
self._quickstop_accumulator = 0.0
self._old_wheel = 0.0
self._driveReversed = True
self._drivePool = DataPool("Drive")
# setup drive train motors
self.rightDrive = SyncGroup(RIGHT_DRIVE_MOTOR_IDS, WPI_VictorSPX)
self.leftDrive = SyncGroup(LEFT_DRIVE_MOTOR_IDS, WPI_VictorSPX)
self.rightDrive.setInverted(True)
# setup drive train gear shifter
self.shifter = Solenoid(DRIVE_SHIFTER_PORT)
self.shifter.set(False)
# setup drive train encoders
self.leftEncoder = Encoder(LEFT_DRIVE_ENCODER_A, LEFT_DRIVE_ENCODER_B,
False, Encoder.EncodingType.k4X)
self.rightEncoder = Encoder(RIGHT_DRIVE_ENCODER_A,
RIGHT_DRIVE_ENCODER_B, False,
Encoder.EncodingType.k4X)
self.leftEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK)
self.leftEncoder.setReverseDirection(True)
self.rightEncoder.setReverseDirection(False)
self.rightEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK)
class Intake:
def __init__(self, Robot):
self._lift = Robot.lift
self._ramp = 0.0
self._rampSpeed = 6.0
self._intakeMotorLeft = WPI_VictorSPX(*INTAKE_MOTOR_LEFT_IDS)
self._intakeMotorRight = WPI_VictorSPX(*INTAKE_MOTOR_RIGHT_IDS)
self._intakeMotorRight.setInverted(True)
self._intakePistons = Solenoid(INTAKE_PISTONS)
self._photosensor = LimelightPhotosensor(Robot.limelight, 1)
def rampSpeed(self, speed):
# Ramp to prevent brown outs
self._ramp += (speed - self._ramp) / self._rampSpeed
self._intakeMotorLeft.set(self._ramp)
self._intakeMotorRight.set(self._ramp)
def setSpeed(self, speed):
self._intakeMotorLeft.set(speed)
self._intakeMotorRight.set(speed)
def getSpeed(self):
return self._intakeMotorLeft.get()
def pistonToggle(self):
self._intakePistons.set(not self._intakePistons.get())
def hasCube(self):
return self._photosensor.isTriggered()
def periodic(self):
#if lift.isBottom():
#photosensor.update()
pass
def __init__(self, Robot):
self._lift = Robot.lift
self._ramp = 0.0
self._rampSpeed = 6.0
self._intakeMotorLeft = WPI_VictorSPX(*INTAKE_MOTOR_LEFT_IDS)
self._intakeMotorRight = WPI_VictorSPX(*INTAKE_MOTOR_RIGHT_IDS)
self._intakeMotorRight.setInverted(True)
self._intakePistons = Solenoid(INTAKE_PISTONS)
self._photosensor = LimelightPhotosensor(Robot.limelight, 1)
def __init__(self, robot):
super().__init__()
self.robot = robot
self.cylinder1Up = Solenoid(6, 4)
self.cylinder1Down = Solenoid(6, 5)
self.cylinder2Up = Solenoid(6, 6)
self.cylinder2Down = Solenoid(6, 7)
self.ARM_STATUS = False
self.BOTH_HELD = False
def initialize(self):
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
self.joystick1 = oi.getJoystick(1)
self.kicker = Solenoid(map.hatchKick)
self.slider = Solenoid(map.hatchSlide)
self.kick("in")
self.slide("in")
self.lastKick = False
self.lastSlide = False
def __init__(self):
super().__init__()
self._l_motor = Talon(constants.motor_intake_l)
self._r_motor = Talon(constants.motor_intake_r)
self._intake_piston = Solenoid(constants.solenoid_intake)
self._photosensor = DigitalInput(constants.far_photosensor)
self._left_pwm = 0
self._right_pwm = 0
self._open = False
def __init__(self):
self.colorWheelExtend = Solenoid(robotmap.PCM_ID,
robotmap.COLOR_WHEEL_EXTEND_SOLENOID)
self.colorWheelRetract = Solenoid(
robotmap.PCM_ID, robotmap.COLOR_WHEEL_RETRACT_SOLENOID)
self.colorWheelMotor = Spark(robotmap.COLOR_WHEEL_ID)
self.RGBSensor = ColorSensorV3(wpilib.I2C.Port.kOnboard)
self.colorWheelExtend.set(False)
self.colorWheelRetract.set(True)
class lift(Component):
def __init__(self, robot):
super().__init__()
self.robot = robot
self.cylinder1Up = Solenoid(6, 4)
self.cylinder1Down = Solenoid(6, 5)
self.cylinder2Up = Solenoid(6, 6)
self.cylinder2Down = Solenoid(6, 7)
self.ARM_STATUS = False
self.BOTH_HELD = False
def climbUpDown(self, leftButtonPressed, rightButtonPressed):
if(rightButtonPressed == True and leftButtonPressed == True and self.BOTH_HELD == False):
self.BOTH_HELD = True
# Toggle arm status
if(self.ARM_STATUS == False):
self.ARM_STATUS = True
elif(self.ARM_STATUS == True):
self.ARM_STATUS = False
# Set cylinder to up or down... Don't break plz!!!
self.cylinder1Up.set(self.ARM_STATUS)
self.cylinder1Down.set(not self.ARM_STATUS)
self.cylinder2Up.set(self.ARM_STATUS)
self.cylinder2Down.set(not self.ARM_STATUS)
# Reset the button held flag
elif(rightButtonPressed == False and leftButtonPressed == False):
self.BOTH_HELD = False
class Popper(Subsystem):
def __init__(self, can_id=0, channel=0):
super().__init__()
self.solenoid = Solenoid(can_id, channel)
def set(self, state):
self.solenoid.set(state)
def extend(self):
self.set(True)
def retract(self):
self.set(False)
def __init__(self):
super().__init__()
self._l_motor = Talon(hardware.intake_left)
self._r_motor = Talon(hardware.intake_right)
self._intake_piston = Solenoid(hardware.intake_solenoid)
self._left_pwm = 0
self._right_pwm = 0
self._open = False
self._left_intake_amp = CircularBuffer(25)
self._right_intake_amp = CircularBuffer(25)
self._pulse_timer = Timer()
def __init__(self, robot):
super().__init__("Claw")
self.robot = robot
self.leftMotor = Spark(robotmap.CLAWLEFT)
self.rightMotor = Spark(robotmap.CLAWRIGHT)
self.CLAW_OPEN = Solenoid(robotmap.PCM1_CANID,
robotmap.CLAW_OPEN_SOLENOID)
self.CLAW_CLOSE = Solenoid(robotmap.PCM1_CANID,
robotmap.CLAW_CLOSE_SOLENOID)
self.sensor = InfraredSensor(robotmap.INFRARED_SENSOR_CHANNEL)
self.close()
def __init__(self, robot):
super().__init__("Drive")
self.robot = robot
self.left_master = WPI_TalonSRX(robotmap.DRIVELEFTMASTER)
self.right_master = WPI_TalonSRX(robotmap.DRIVERIGHTMASTER)
self.left_slave = WPI_TalonSRX(robotmap.DRIVELEFTSLAVE)
self.right_slave = WPI_TalonSRX(robotmap.DRIVERIGHTSLAVE)
self.shifter_high = Solenoid(robotmap.PCM1_CANID,
robotmap.SHIFTER_HIGH)
self.shifter_low = Solenoid(robotmap.PCM1_CANID, robotmap.SHIFTER_LOW)
self.differential_drive = DifferentialDrive(self.left_master,
self.right_master)
self.TalonConfig()
self.shiftLow()
def __init__(self, robot):
super().__init__("Climb")
self.robot = robot
self.winchMotor = Spark(robotmap.CLIMBWINCH)
self.armUpSolenoid = Solenoid(robotmap.CLIMBARM_UP)
self.armDownSolenoid = Solenoid(robotmap.CLIMBARM_DOWN)
self.lockCloseSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_CLOSE)
self.lockOpenSolenoid = Solenoid(robotmap.CLIMBCLAMPLOCK_OPEN)
self.hookLimit = DigitalInput(robotmap.LIMIT_SWITCH_HOOK)
def createPistons(self, pistonSpec):
piston = None
if pistonSpec['Type'] == 'Double':
piston = DoubleSolenoid(pistonSpec['portA'], pistonSpec['portB'])
elif pistonSpec['Type'] == 'single':
piston = Solenoid(pistonSpec['portA'])
else:
print("IDK your pistons")
return piston
def __init__(self):
super().__init__()
self._motor = SyncGroup(Talon, hardware.elevator)
self._stabilizer_piston = Solenoid(hardware.stabilizer_solenoid)
# Motion Planning!
self._follower = TrajectoryFollower()
self._calibrated = False
self.tote_count = 0
self.has_bin = False # Do we have a bin?
self._reset = True # starting a new stack?
self.tote_first = False # We're stacking totes without a bin.
self._should_drop = False # Are we currently trying to get a bin ?
self._manual_stack = False
self._cap = False
self._follower.set_goal(Setpoints.BIN) # Base state
self._follower_thread = Thread(target=self.update_follower)
self._follower_thread.start()
class Intake(Component):
def __init__(self):
super().__init__()
self._l_motor = Talon(constants.motor_intake_l)
self._r_motor = Talon(constants.motor_intake_r)
self._intake_piston = Solenoid(constants.solenoid_intake)
self._photosensor = DigitalInput(constants.far_photosensor)
self._left_pwm = 0
self._right_pwm = 0
self._open = False
def update(self):
self._l_motor.set(self._left_pwm)
self._r_motor.set(self._right_pwm)
self._intake_piston.set(not self._open)
def spin(self, power, same_direction=False):
self._left_pwm = power
self._right_pwm = power * (1 if same_direction else -1)
def intake_tote(self):
power = .3 if not self._photosensor.get() else .75
self.spin(power)
def intake_bin(self):
power = .3 if not self._photosensor.get() else .65
self.spin(power)
def open(self):
self._open = True
def close(self):
self._open = False
def stop(self):
"""Disables EVERYTHING. Only use in case of critical failure"""
self._l_motor.set(0)
self._r_motor.set(0)
def initialize(self):
#makes control objects
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
self.joystick1 = oi.getJoystick(1)
#makes solenoid objects to be used in kick and slide functions
self.kicker = Solenoid(map.hatchKick)
self.slider = Solenoid(map.hatchSlide)
self.maxVolts = 10
timeout = 0
self.wheels = Talon(map.hatchWheels)
self.wheels.setNeutralMode(2)
self.wheels.configVoltageCompSaturation(self.maxVolts)
self.wheels.configContinuousCurrentLimit(20,
timeout) #20 Amps per motor
self.wheels.configPeakCurrentLimit(
30, timeout) #30 Amps during Peak Duration
self.wheels.configPeakCurrentDuration(
100, timeout) #Peak Current for max 100 ms
self.wheels.enableCurrentLimit(True)
self.wheels.setInverted(True)
self.powerIn = 0.9
self.powerOut = -0.9
#sets kicker and slide solenoids to in
self.kick("in")
self.slide("in")
#starts lastkick/slide booleans
self.lastKick = False
self.lastSlide = False
self.hasHatch = False
self.outPower = 0
def init(self):
self.logger.info("DeepSpaceLift::init()")
self.timer = wpilib.Timer()
self.timer.start()
self.robot_mode = RobotMode.TEST
self.last_lift_adjust_time = 0
self.lift_adjust_timer = wpilib.Timer()
self.lift_adjust_timer.start()
self.state_timer = wpilib.Timer()
self.current_state = LiftState.LIFT_START_CONFIGURATION
self.current_lift_preset = LiftPreset.LIFT_PRESET_STOW
self.current_lift_preset_val = self.lift_stow_position
self.lift_setpoint = self.min_lift_position
self.lift_adjust_val = 0
self.lift_talon = TalonSRX(robotmap.LIFT_CAN_ID)
'''Select and zero sensor in init() function. That way the zero position doesn't get reset every time we enable/disable robot'''
self.lift_talon.configSelectedFeedbackSensor(FeedbackDevice.Analog, 0,
robotmap.CAN_TIMEOUT_MS)
self.lift_talon.setSelectedSensorPosition(0, 0,
robotmap.CAN_TIMEOUT_MS)
self.lift_pneumatic_extend = Solenoid(robotmap.PCM1_CANID,
robotmap.LIFT_RAISE_SOLENOID)
self.lift_pneumatic_retract = Solenoid(robotmap.PCM1_CANID,
robotmap.LIFT_LOWER_SOLENOID)
self.lift_pneumatic_extend.set(False)
self.lift_pneumatic_retract.set(True)
self.test_lift_pneumatic = sendablechooser.SendableChooser()
self.test_lift_pneumatic.setDefaultOption("Retract", 1)
self.test_lift_pneumatic.addOption("Extend", 2)
SmartDashboard.putData("TestLiftPneumatic", self.test_lift_pneumatic)
class PneumaticsSubsystem(Subsystem):
def __init__(self):
self.mainCompressor = Compressor(PCMID)
self.intakeSolenoid = Solenoid(PCMID, intakeSolenoidChannel)
self.isExtended = False
self.mainCompressor.start()
def initDefaultCommand(self):
pass
def flipSolenoid(self):
if self.isExtended == False:
self.isExtended = True
else:
self.isExtended == False
self.intakeSolenoid.set(isExtended)
def getIsExtended(self):
return self.isExtended
def __init__(self):
super().__init__()
self._motor = SyncGroup(Talon, constants.motor_elevator)
self._position_encoder = Encoder(*constants.encoder_elevator)
self._photosensor = DigitalInput(constants.photosensor)
self._stabilizer_piston = Solenoid(constants.solenoid_dropper)
self._position_encoder.setDistancePerPulse(
(PITCH_DIAMETER * math.pi) / TICKS_PER_REVOLUTION)
# Trajectory controlling stuff
self._follower = TrajectoryFollower()
self.assure_tote = CircularBuffer(5)
self.auto_stacking = True # Do the dew
self._tote_count = 0 # Keep track of totes!
self._has_bin = False # Do we have a bin on top?
self._new_stack = True # starting a new stack?
self._tote_first = False # Override bin first to grab totes before anything else
self._should_drop = False # Are we currently trying to get a bin ?
self._close_stabilizer = True # Opens the stabilizer manually
self.force_stack = False # manually actuates the elevator down and up
self._follower.set_goal(Setpoints.BIN) # Base state
self._follower_thread = Thread(target=self.update_follower)
self._follower_thread.start()
self._auton = False
quickdebug.add_tunables(Setpoints,
["DROP", "STACK", "BIN", "TOTE", "FIRST_TOTE"])
quickdebug.add_printables(
self,
[('position', self._position_encoder.getDistance),
('photosensor', self._photosensor.get), "has_bin", "tote_count",
"tote_first", "at_goal", "has_game_piece", "auto_stacking"])
def __init__(self):
self.stateTimer = wpilib.Timer()
self.stateTimer.start()
self.ballRakeExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_EXTEND_SOLENOID)
self.ballRakeRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_RAKE_RETRACT_SOLENOID)
self.ballHatchExtend = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_EXTEND_SOLENOID)
self.ballHatchRetract = Solenoid(robotmap.PCM2_ID, robotmap.BALL_HATCH_RETRACT_SOLENOID)
self.ballTickler = Spark(robotmap.BALL_TICKLER_ID)
self.bottomIntake = Spark(robotmap.BOTTOM_INTAKE_ID)
self.rakeMotor = Talon(robotmap.RAKE_ID)
self.ballRakeExtend.set(False)
self.ballRakeRetract.set(True)
self.ballHatchExtend.set(False)
self.ballHatchRetract.set(True)
class ClawSubsystem(Subsystem):
def __init__(self, robot):
super().__init__("Claw")
self.robot = robot
self.leftMotor = Spark(robotmap.CLAWLEFT)
self.rightMotor = Spark(robotmap.CLAWRIGHT)
self.CLAW_OPEN = Solenoid(robotmap.PCM1_CANID,
robotmap.CLAW_OPEN_SOLENOID)
self.CLAW_CLOSE = Solenoid(robotmap.PCM1_CANID,
robotmap.CLAW_CLOSE_SOLENOID)
self.sensor = InfraredSensor(robotmap.INFRARED_SENSOR_CHANNEL)
self.close()
def initDefaultCommand(self):
self.setDefaultCommand(ObtainBoxContinuous(self.robot))
def open(self):
self.CLAW_OPEN.set(True)
self.CLAW_CLOSE.set(False)
def close(self):
self.CLAW_OPEN.set(False)
self.CLAW_CLOSE.set(True)
def setSpeed(self, pullSpeed):
#positive left speed is pull
self.leftMotor.set(pullSpeed)
self.rightMotor.set(-pullSpeed)
def boxIsClose(self):
return self.sensor.GetMedianVoltage() > 0.6
def boxIsReallyClose(self):
return self.sensor.GetMedianVoltage() > 2.6
class HatchMech(Subsystem):
def __init__(self, Robot):
""" Create all physical parts used by subsystem. """
super().__init__('Hatch')
self.debug = True
self.robot = Robot
def initialize(self):
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
self.joystick1 = oi.getJoystick(1)
self.kicker = Solenoid(map.hatchKick)
self.slider = Solenoid(map.hatchSlide)
self.kick("in")
self.slide("in")
self.lastKick = False
self.lastSlide = False
def periodic(self):
#if self.xbox.getRawButton(map.kickHatch) == True: self.kick("out")
#elif self.xbox.getRawButton(map.toggleHatch) == True: self.kick("in")
#if self.xbox.getRawButton(map.extendHatch) == True: self.slide("out")
#elif self.xbox.getRawButton(map.retractHatch) == True: self.slide("in")
currKick = self.xbox.getRawButton(map.kickHatch)
currSlide = self.xbox.getRawButton(map.toggleHatch)
if currKick and currKick != self.lastKick: self.kick("toggle")
if currSlide and currSlide != self.lastSlide: self.slide("toggle")
self.lastKick = currKick
self.lastSlide = currSlide
if self.joystick0.getRawButton(
map.drivehatch) or self.joystick1.getRawButton(map.drivehatch):
self.kick("out")
def kick(self, mode):
if mode == "out": self.kicker.set(True)
elif mode == "in": self.kicker.set(False)
else: self.kicker.set(not self.kicker.get())
def slide(self, mode):
if mode == "out": self.slider.set(True)
elif mode == "in": self.slider.set(False)
else: self.slider.set(not self.slider.get())
def isEjectorOut(self):
return self.kicker.get()
def toggle(self):
if self.kicker.get(): self.kick("out")
else: self.kick("in")
def disable(self):
self.kick("in")
def dashboardInit(self):
pass
def dashboardPeriodic(self):
pass
class Pneumatics(Subsystem):
def __init__(self):
super().__init__("Pneumatics")
self.solenoid_R = Solenoid(robotmap.solenoid_R)
self.solenoid_L = Solenoid(robotmap.solenoid_L)
self.is_active = False
def extend(self):
self.solenoid_L.set(False)
self.solenoid_R.set(True)
def retract(self):
self.solenoid_R.set(False)
self.solenoid_L.set(True)
def halt(self):
self.solenoid_R.set(False)
self.solenoid_L.set(False)
def get_active(self):
return self.is_active
def alternate(self):
pass
class Drive:
def __init__(self, Robot):
#self.navx = Robot.navx
self.speedLimit = 0.999
self._leftRamp = 0.0
self._rightRamp = 0.0
self._rampSpeed = 6.0
self._kOonBalanceAngleThresholdDegrees = 5.0
self._autoBalance = True
self._quickstop_accumulator = 0.0
self._old_wheel = 0.0
self._driveReversed = True
self._drivePool = DataPool("Drive")
# setup drive train motors
self.rightDrive = SyncGroup(RIGHT_DRIVE_MOTOR_IDS, WPI_VictorSPX)
self.leftDrive = SyncGroup(LEFT_DRIVE_MOTOR_IDS, WPI_VictorSPX)
self.rightDrive.setInverted(True)
# setup drive train gear shifter
self.shifter = Solenoid(DRIVE_SHIFTER_PORT)
self.shifter.set(False)
# setup drive train encoders
self.leftEncoder = Encoder(LEFT_DRIVE_ENCODER_A, LEFT_DRIVE_ENCODER_B,
False, Encoder.EncodingType.k4X)
self.rightEncoder = Encoder(RIGHT_DRIVE_ENCODER_A,
RIGHT_DRIVE_ENCODER_B, False,
Encoder.EncodingType.k4X)
self.leftEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK)
self.leftEncoder.setReverseDirection(True)
self.rightEncoder.setReverseDirection(False)
self.rightEncoder.setDistancePerPulse(DRIVE_INCHES_PER_TICK)
def cheesyDrive(self, wheel, throttle, quickturn, altQuickturn, shift):
throttle = Util.deadband(throttle)
wheel = Util.deadband(wheel)
if self._driveReversed:
wheel *= -1
neg_inertia = wheel - self._old_wheel
self._old_wheel = wheel
wheel = Util.sinScale(wheel, 0.9, 1, 0.9)
if wheel * neg_inertia > 0:
neg_inertia_scalar = 2.5
else:
if abs(wheel) > .65:
neg_inertia_scalar = 6
else:
neg_inertia_scalar = 4
neg_inertia_accumulator = neg_inertia * neg_inertia_scalar
wheel += neg_inertia_accumulator
if altQuickturn:
if abs(throttle) < 0.2:
alpha = .1
self._quickstop_accumulator = (
1 -
alpha) * self._quickstop_accumulator + alpha * self.limit(
wheel, 1.0) * 5
over_power = -wheel * .75
angular_power = -wheel * 1
elif quickturn:
if abs(throttle) < 0.2:
alpha = .1
self._quickstop_accumulator = (
1 -
alpha) * self._quickstop_accumulator + alpha * self.limit(
wheel, 1.0) * 5
over_power = 1
angular_power = -wheel * 1
else:
over_power = 0
sensitivity = .9
angular_power = throttle * wheel * sensitivity - self._quickstop_accumulator
self._quickstop_accumulator = Util.wrap_accumulator(
self._quickstop_accumulator)
if shift:
if not self.shifter.get():
self.shifter.set(True)
else:
if self.shifter.get():
self.shifter.set(False)
right_pwm = left_pwm = throttle
left_pwm += angular_power
right_pwm -= angular_power
if left_pwm > 1:
right_pwm -= over_power * (left_pwm - 1)
left_pwm = 1
elif right_pwm > 1:
left_pwm -= over_power * (right_pwm - 1)
right_pwm = 1
elif left_pwm < -1:
right_pwm += over_power * (-1 - left_pwm)
left_pwm = -1
elif right_pwm < -1:
left_pwm += over_power * (-1 - right_pwm)
right_pwm = -1
if self._driveReversed:
left_pwm *= -1
right_pwm *= -1
if self.shifter.get(): # if low gear
#leftDrive.set(left_pwm)
#rightDrive.set(right_pwm)
self.moveRamped(left_pwm, right_pwm)
else:
self.moveRamped(left_pwm, right_pwm)
def setGear(self, gear):
if self.shifter.get() != gear:
self.shifter.set(gear)
def tankDrive(self, left, right):
scaledBalance = self.autoBalance()
left = self.limit(left + scaledBalance, self.speedLimit)
right = self.limit(right + scaledBalance, self.speedLimit)
self.leftDrive.set(left * LEFT_DRIFT_OFFSET)
self.rightDrive.set(right * RIGHT_DRIFT_OFFSET)
def limit(self, wheel, d):
return Util.limit(wheel, d)
def moveRamped(self, desiredLeft, desiredRight):
self._leftRamp += (desiredLeft - self._leftRamp) / self._rampSpeed
self._rightRamp += (desiredRight - self._rightRamp) / self._rampSpeed
self.tankDrive(self._leftRamp, self._rightRamp)
def autoShift(self, b):
if self.shifter.get() != b:
self.shifter.set(b)
def periodic(self):
self._drivePool.logDouble("gyro_angle", self.getRotation())
self._drivePool.logDouble("left_enc", self.rightEncoder.getDistance())
self._drivePool.logDouble("right_enc", self.leftEncoder.getDistance())
def setDrivetrainReversed(self, rev):
self.driveReversed = rev
def driveReversed(self):
return self.driveReversed
def getRotation(self):
return self.navx.getAngle()
def getLeftDistance(self):
return self.leftEncoder.getDistance() * 2.54 * ROBOT_INVERTED
def getRightDistance(self):
return self.rightEncoder.getDistance() * 2.54 * ROBOT_INVERTED
def resetDistance(self):
self.leftEncoder.reset()
self.rightEncoder.reset()
def autoBalance(self):
'''if self._autoBalance:
pitchAngleDegrees = self.navx.getPitch()
scaledPower = 1 + (0 - pitchAngleDegrees - self._kOonBalanceAngleThresholdDegrees) / self._kOonBalanceAngleThresholdDegrees
if scaledPower > 2:
scaledPower = 2
#return scaledPower;'''
return 0
def setSpeedLimit(self, speedLimit):
self.speedLimit = self.limit(speedLimit, DRIVE_SPEED_LIMIT)
def robotInit(self):
self.solenoid = Solenoid(0, 1)
def __init__(self):
super().__init__("Pneumatics")
self.solenoid_R = Solenoid(robotmap.solenoid_R)
self.solenoid_L = Solenoid(robotmap.solenoid_L)
self.is_active = False
pickup_achange_motor1 = CANTalon(45)
pickup_achange_motor2 = CANTalon(46)
pickup_achange_motor1.changeControlMode(CANTalon.ControlMode.Follower)
pickup_achange_motor1.set(47)
pickup_achange_motor1.reverseOutput(True)
pickup_roller_motor = CANTalon(8)
pickup = Pickup(pickup_achange_motor1, pickup_achange_motor2,
pickup_roller_motor)
#Manual shooter Talons and Objects
flywheel_motor = CANTalon(44)
shooter_act = Solenoid(1)
turntable_motor = CANTalon(12)
manual_shooter = ManualShooter(flywheel_motor, shooter_act, turntable_motor)
#DT Talons and Objects
dt_right = CANTalon(1)
# dt_r2 = CANTalon(2)
# dt_r3 = CANTalon(3)
dt_left = CANTalon(10)
# dt_l2 = CANTalon(11)
# dt_l3 = CANTalon(12)
dt_shifter = Solenoid(0)
# dt_r2.changeControlMode(CANTalon.ControlMode.Follower)
# dt_r3.changeControlMode(CANTalon.ControlMode.Follower)
dt_r3.changeControlMode(CANTalon.ControlMode.Follower)
dt_r4.changeControlMode(CANTalon.ControlMode.Follower)
dt_l2.changeControlMode(CANTalon.ControlMode.Follower)
dt_l3.changeControlMode(CANTalon.ControlMode.Follower)
dt_l4.changeControlMode(CANTalon.ControlMode.Follower)
dt_r2.set(1)
dt_r3.set(1)
dt_r4.set(1)
dt_l2.set(7)
dt_l3.set(7)
dt_l4.set(7)
dt = DriveTrain(1.0, dt_left, dt_right, left_encoder=None, right_encoder=None)
#Pneumatics
s_a = Solenoid(1)
s_b = Solenoid(2)
s_c = Solenoid(3)
s_d = Solenoid(4)
# Drive Controllers
driver_stick = Attack3Joystick(0)
xbox_controller = XboxJoystick(1)
ac = ArcadeDriveController(dt, driver_stick)
hid_sp = SensorPoller(
(driver_stick, xbox_controller)) # human interface devices
# Mech Talons, objects, and controller
# define MechController
mc = MechController(driver_stick, xbox_controller)
class HatchMech(Subsystem):
def __init__(self, Robot):
#Create all physical parts used by subsystem.
super().__init__('Hatch')
#self.debug = True
self.robot = Robot
def initialize(self):
#makes control objects
self.xbox = oi.getJoystick(2)
self.joystick0 = oi.getJoystick(0)
self.joystick1 = oi.getJoystick(1)
#makes solenoid objects to be used in kick and slide functions
self.kicker = Solenoid(map.hatchKick)
self.slider = Solenoid(map.hatchSlide)
self.maxVolts = 10
timeout = 0
self.wheels = Talon(map.hatchWheels)
self.wheels.setNeutralMode(2)
self.wheels.configVoltageCompSaturation(self.maxVolts)
self.wheels.configContinuousCurrentLimit(20,timeout) #20 Amps per motor
self.wheels.configPeakCurrentLimit(30,timeout) #30 Amps during Peak Duration
self.wheels.configPeakCurrentDuration(100,timeout) #Peak Current for max 100 ms
self.wheels.enableCurrentLimit(True)
self.wheels.setInverted(True)
self.powerIn = 0.9
self.powerOut = -0.9
#sets kicker and slide solenoids to in
self.kick("in")
self.slide("in")
#starts lastkick/slide booleans
self.lastKick = False
self.lastSlide = False
self.hasHatch = False
self.outPower = 0
def periodic(self):
self.updateHatch()
self.currKick = self.xbox.getRawButton(map.kickHatch)
self.currSlide = self.xbox.getRawButton(map.toggleHatch)
#if the variable is true and it does not equal the lastkick/slide boolean, sets it to the opposite of what it currently is
if self.currKick and (self.currKick != self.lastKick): self.kick("toggle")
if self.currSlide and (self.currSlide != self.lastSlide): self.slide("toggle")
#after the if statement, sets the lastkick/slide to the currkick/slide
self.lastKick = self.currKick
self.lastSlide = self.currSlide
self.setWheels()
# kick function to activate kicker solenoid
def kick(self, mode):
#out mode sets kicker solenoid to true
if mode == "out": self.setKick(True)
#in mode sets kicker solenoid to false
elif mode == "in": self.setKick(False)
#if neither of them, makes the kicker solenoid to the opposite of what it is
else: self.setKick(not self.kicker.get())
# slide function to activate slide solenoid
def slide(self, mode):
# out mode sets slider solenoid to true
if mode == "out": self.slider.set(True)
# in mode sets slider solenoid to false
elif mode == "in": self.slider.set(False)
#if neither of them, makes the slider solenoid to the opposite of what it is
else: self.slider.set(not self.slider.get())
def setKick(self, state):
self.kicker.set(state)
if state and self.slider.get() and self.hasHatch: self.hasHatch = False
def setWheels(self):
if self.kicker.get() and self.slider.get() and self.hasHatch:
self.wheels.set(self.powerOut)
self.outPower = self.powerOut
elif not self.kicker.get() and self.slider.get() and not self.hasHatch:
#should be "and not self.hasHatch"
self.wheels.set(self.powerIn)
self.outPower = self.powerIn
#elif self.joystick1.getRawButton(1):
# self.wheels.set(self.powerIn)
# self.outPower = self.powerIn
else:
self.wheels.set(0)
self.outPower = 0
def updateHatch(self):
#only checks current to possibly set false to true for hasHatch
threshold = 10 #10 amp current separates freely spinning and stalled
if self.slider.get() and self.wheels.getOutputCurrent()>threshold:
self.hasHatch = True
if self.joystick0.getRawButton(3) or self.joystick0.getRawButton(4) or self.joystick1.getRawButton(3) or self.joystick1.getRawButton(4):
self.hasHatch = True
#disable function runs kick function on in
def disable(self): self.kick("in")
def dashboardInit(self): pass
def dashboardPeriodic(self):
#commented out some values. DON'T DELETE THESE VALUES
#SmartDashboard.putNumber("Hatch Current", self.wheels.getOutputCurrent())
#SmartDashboard.putNumber("Power", self.outPower)
SmartDashboard.putBoolean("Has Hatch", self.hasHatch)
SmartDashboard.putBoolean("Slider Out", self.slider.get())
SmartDashboard.putBoolean("Kicker Out", self.kicker.get())
