def teleopPeriodic(self):
"""This function is called periodically during operator control."""
oi.read_all_controller_inputs()
x = state["mov_x"] * .7
y = state["mov_y"] * .7
z = state["mov_z"] * .5
powerX = 0 if x < 0.15 and x > -0.15 else x
powerY = 0 if y < 0.15 and y > -0.15 else y
powerZ = 0 if z < 0.15 and z > -0.15 else z
self.drive.driveCartesian(powerX, -powerY, powerZ, 0)
#print(self.encoder.get())
if state["ir"] == True:
if self.ir5.get() or self.ir6.get():
self.drive.driveCartesian(0, -1, 0, 0)
elif self.ir.get() or self.ir2.get():
self.drive.driveCartesian(0, 1, 0, 0)
elif self.ir3.get() or self.ir4.get():
self.drive.driveCartesian(1, 0, 0, 0)
self.timer.start()
if self.timer.get() <= 3:
"""self.timer.start()"""
self.drive.driveCartesian(1, 0, 0, 0)
else:
self.drive.driveCartesian(0, 0, 0, 0)
def teleopPeriodic(self):
#se leen constantemente los botones y joysticks
oi.read_all_controller_inputs()
#código para el funcionamiento del movimiento
# de las mecanum a través del control de xbox
x = state["mov_x"] * .7
y = state["mov_y"] * .7
z = state["mov_z"] * .7
powerX = 0 if x < 0.15 and x > -0.15 else x
powerY = 0 if y < 0.15 and y > -0.15 else y
powerZ = 0 if z < 0.15 and z > -0.15 else z
if state["button_x_active"]:
if self.sensor_principal.get():
self.drive.driveCartesian(0, 0, 0, 0)
elif self.sensor_izquierdo.get():
self.drive.driveCartesian(0.4, 0, 0, 0)
elif self.sensor_derecho.get():
self.drive.driveCartesian(-0.4, 0, 0, 0)
else:
self.drive.driveCartesian(0, -0.5, 0, 0)
else:
self.drive.driveCartesian(powerX, powerY, powerZ, 0)
#código para el funcionamiento del elevador y la garra
if state["activating_lift"]:
state["timer_lift"] += 1
if state["timer_lift"] <= 100:
self.lift_motor.set(1)
elif state["timer_lift"] <= 200:
self.lift_motor.set(0)
self.cargo_motor.set(-1)
elif state["timer_lift"] <= 300:
self.lift_motor.set(-1)
self.cargo_motor.set(0)
else:
self.lift_motor.set(0)
self.cargo_motor.set(0)
else:
state["timer_lift"] = 0
self.lift_motor.set(0)
self.cargo_motor.set(0)
def teleopPeriodic(self):
def getThrottle(self):
return self._getRawAxis(0)
#se leen constantemente los botones y joysticks
oi.read_all_controller_inputs()
#código para el funcionamiento del movimiento
# de las mecanum a través del control de xbox
x = state["mov_x"]
y = state["mov_y"] * 0.7
z = state["mov_z"] * 0.7
if state["mov_xr"] != 0 and state["mov_xl"] == 0:
x = state["mov_xr"] * 0.7
if state["mov_xl"] != 0 and state["mov_xr"] == 0:
x = state["mov_xl"] * 0.7
powerX = 0 if x < 0.05 and x > -0.05 else x
powerY = 0 if y < 0.05 and y > -0.05 else y
powerZ = 0 if z < 0.05 and z > -0.05 else z
self.drive.driveCartesian(powerX, powerY, powerZ, 0)
#código para el funcionamiento del elevador y la garra
if state["activating_lift"]:
state["timer_lift"] += 1
if state["timer_lift"] <= 100:
self.lift_motor.set(1)
elif state["timer_lift"] <= 200:
self.lift_motor.set(0)
self.cargo_motor.set(-1)
elif state["timer_lift"] <= 300:
self.lift_motor.set(-1)
self.cargo_motor.set(0)
else:
self.lift_motor.set(0)
self.cargo_motor.set(0)
else:
state["timer_lift"] = 0
self.lift_motor.set(0)
self.cargo_motor.set(0)
def teleopPeriodic(self): self.PID() self.timer.start() oi.read_all_controller_inputs() if state["button_x_active"]: if self.rcw >= 68213.80: self.lift.set(0.8) self.lift2.set(0.8) elif self.rcw <= 68213.80 and self.rcw >= 58009.74: self.lift.set(0.7) self.lift2.set(0.7) elif self.rcw <= 58009.74 and self.rcw >= 37601.74: self.lift.set(0.6) self.lift2.set(0.6) elif self.rcw <= 37601.74 and self.rcw >= 12091.74: self.lift.set(0.5) self.lift2.set(0.5) elif self.rcw <= 12091.74 and self.rcw >= 102.04: self.lift.set(0.4) self.lift2.set(0.4) elif self.rcw <= 102.04: self.lift.set(0) self.lift2.set(0) wpilib.DriverStation.reportWarning(str(self.PID()), False) wpilib.DriverStation.reportWarning(str(self.encoder.get()), False) elif state["button_y_active"] == True: self.lift.set(-0.4) self.lift2.set(-0.4) else: self.lift.set(0) self.lift2.set(0) """if state["button_x_active"]:
def teleopPeriodic(self):
#print(PIDController.get(self))
# print(self.setpoint)
#print(self.rcw)
#print (Encoder.getFPGAIndex(self.encoder))
#self.encoder.reset()
#se leen constantemente los botones y joysticks
#print(self.encoder.get())
oi.read_all_controller_inputs()
#código para el funcionamiento del movimiento
# de las mecanum a través del control de xbox
v = max(self.ir.getVoltage(), 0.00001)
d = 62.28 * math.pow(v, -1.092)
print(self.ir2.get())
# Constrain output
#print(max(min(d, 145.0), 22.5))
x = state["mov_x"] * .7
y = state["mov_y"] * .7
z = state["mov_z"] * .7
powerX = 0 if x < 0.15 and x > -0.15 else x
powerY = 0 if y < 0.15 and y > -0.15 else y
powerZ = 0 if z < 0.15 and z > -0.15 else z
if state["button_x_active"]:
if self.sensor_principal.get():
drive_for()
self.drive.driveCartesian(0, 0, 0, 0)
elif self.sensor_izquierdo.get():
self.drive.driveCartesian(0.4, 0, 0, 0)
elif self.sensor_derecho.get():
self.drive.driveCartesian(-0.4, 0, 0, 0)
else:
self.drive.driveCartesian(0, -0.5, 0, 0)
else:
self.drive.driveCartesian(powerX, powerY, powerZ, 0)
#código para el funcionamiento del elevador y la garra
if state["activating_lift"]:
state["timer_lift"] += 1
if state["timer_lift"] <= 100:
self.lift_motor.set(1)
elif state["timer_lift"] <= 200:
self.lift_motor.set(0)
self.cargo_motor.set(-1)
elif state["timer_lift"] <= 300:
self.lift_motor.set(-1)
self.cargo_motor.set(0)
else:
self.lift_motor.set(0)
self.cargo_motor.set(0)
else:
state["timer_lift"] = 0
self.lift_motor.set(0)
self.cargo_motor.set(0)