def __init__(self):
self.leftEnc = wpilib.Encoder(
robot_map.LEFT_ENC_ONE, robot_map.LEFT_ENC_TWO, True, wpilib.Encoder.EncodingType.k4X)
self.rightEnc = wpilib.Encoder(
robot_map.RIGHT_ENC_ONE, robot_map.RIGHT_ENC_TWO, True, wpilib.Encoder.EncodingType.k4X)
self.elevatorEnc = wpilib.Encoder(
robot_map.ELEVATOR_ENC_ONE, robot_map.ELEVATOR_ENC_TWO, False, wpilib.Encoder.EncodingType.k4X)
self.ahrs = AHRS.create_i2c()
def __init__(self, navx_type):
self.prev_x_accel = 0
self.prev_y_accel = 0
if navx_type is robotmap.NavXType.I2C:
self.navx = AHRS.create_i2c()
elif navx_type is robotmap.NavXType.SPI:
self.navx = AHRS.create_spi()
else:
print("warning navx instaniated with unknown navx_type")