def robotInit(self):
self.joystick = wpilib.Joystick(0)
wheelATalon = ctre.WPI_TalonSRX(21)
wheelBTalon = ctre.WPI_TalonSRX(22)
for talon in [wheelATalon, wheelBTalon]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
wheelA = sea.AngledWheel(wheelATalon,
1.0,
0.0,
math.pi / 2,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelB = sea.AngledWheel(wheelBTalon,
-1.0,
0.0,
math.pi / 2,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
self.superDrive = sea.SuperHolonomicDrive()
self.superDrive.addWheel(wheelA)
self.superDrive.addWheel(wheelB)
for wheel in self.superDrive.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
def initDrivetrain(self):
#talons
leftTalon = ctre.WPI_TalonSRX(0)
rightTalon = ctre.WPI_TalonSRX(1)
#configure talons
for talon in [leftTalon, rightTalon]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
#create wheels
leftWheel = sea.AngledWheel(leftTalon, -1, 0, math.pi / 2, 31291.1352,
16)
rightWheel = sea.AngledWheel(rightTalon, 1, 0, math.pi / 2, 31291.1352,
16)
#add wheels to drivetrain
self.drivetrain = sea.SuperHolonomicDrive()
self.drivetrain.addWheel(leftWheel)
self.drivetrain.addWheel(rightWheel)
for wheel in self.drivetrain.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
#sets up drivetrain to work in the simulator
sea.setSimulatedDrivetrain(self.drivetrain)
def robotInit(self):
self.joystick = wpilib.Joystick(0)
wheelADriveTalon = ctre.WPI_TalonSRX(1)
wheelARotateTalon = ctre.WPI_TalonSRX(0)
wheelBDriveTalon = ctre.WPI_TalonSRX(3)
wheelBRotateTalon = ctre.WPI_TalonSRX(2)
wheelCDriveTalon = ctre.WPI_TalonSRX(5)
wheelCRotateTalon = ctre.WPI_TalonSRX(4)
for talon in [
wheelADriveTalon, wheelARotateTalon, wheelBDriveTalon,
wheelBRotateTalon, wheelCDriveTalon, wheelCRotateTalon
]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
wheelADrive = sea.AngledWheel(wheelADriveTalon,
.75,
.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelBDrive = sea.AngledWheel(wheelBDriveTalon,
-.75,
.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelCDrive = sea.AngledWheel(wheelCDriveTalon,
0,
-.75,
0,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelARotate = sea.SwerveWheel(wheelADrive, wheelARotateTalon, 1612.8,
True)
wheelBRotate = sea.SwerveWheel(wheelBDrive, wheelBRotateTalon, 1612.8,
True)
wheelCRotate = sea.SwerveWheel(wheelCDrive, wheelCRotateTalon, 1680,
True) # 1670, 1686, 1680
self.superDrive = sea.SuperHolonomicDrive()
sea.setSimulatedDrivetrain(self.superDrive)
for wheelrotate in [wheelARotate, wheelBRotate, wheelCRotate]:
self.superDrive.addWheel(wheelrotate)
for wheel in self.superDrive.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
self.robotOrigin = None
self.app = None
sea.startDashboard(self, swervebot_app.SwerveBotDashboard)
def initDrivetrain():
superDrive = sea.SuperHolonomicDrive()
_makeSwerveWheel(superDrive, 1, 8, -WHEELBASE_WIDTH / 2,
-WHEELBASE_LENGTH / 2) # A
_makeSwerveWheel(superDrive, 3, 2, WHEELBASE_WIDTH / 2,
-WHEELBASE_LENGTH / 2) # B
_makeSwerveWheel(superDrive, 5, 4, -WHEELBASE_WIDTH / 2,
WHEELBASE_LENGTH / 2) # C
_makeSwerveWheel(superDrive, 7, 6, WHEELBASE_WIDTH / 2,
WHEELBASE_LENGTH / 2) # D
sea.setSimulatedDrivetrain(superDrive)
return superDrive
def robotInit(self):
self.joystick = wpilib.Joystick(0)
self.superDrive = sea.SuperHolonomicDrive()
sea.setSimulatedDrivetrain(self.superDrive)
self.makeSwerveWheel(1, 0, .75, .75, 1612.8, True)
self.makeSwerveWheel(3, 2, -.75, .75, 1612.8, True)
self.makeSwerveWheel(5, 4, 0, -.75, 1680, True) # 1670, 1686, 1680
self.setDriveMode(ctre.ControlMode.PercentOutput)
self.robotOrigin = None
self.app = None
sea.startDashboard(self, swervebot_app.SwerveBotDashboard)
self.ahrs = navx.AHRS.create_spi()
def robotInit(self):
leftSpark = rev.CANSparkMax(1, rev.MotorType.kBrushless)
rightSpark = rev.CANSparkMax(2, rev.MotorType.kBrushless)
for spark in [leftSpark, rightSpark]:
spark.restoreFactoryDefaults()
spark.setIdleMode(rev.IdleMode.kBrake)
leftWheel = sea.AngledWheel(leftSpark, -1, 0, math.pi / 2, 1, 16)
rightWheel = sea.AngledWheel(rightSpark, 1, 0, math.pi / 2, 1, 16)
self.drivetrain = sea.SuperHolonomicDrive()
self.drivetrain.addWheel(leftWheel)
self.drivetrain.addWheel(rightWheel)
for wheel in self.drivetrain.wheels:
wheel.driveMode = rev.ControlType.kVelocity
sea.setSimulatedDrivetrain(self.drivetrain)
def initDrivetrain():
superDrive = sea.SuperHolonomicDrive()
superDrive.motors = [] # not a normal property of SuperHolonomicDrive
_makeWheel(superDrive, DRIVETRAIN_LEFT[0], DRIVETRAIN_LEFT[1],
DRIVETRAIN_LEFT[2], rev.MotorType.kBrushless, 1, 0)
_makeWheel(superDrive,
DRIVETRAIN_RIGHT[0],
DRIVETRAIN_RIGHT[1],
DRIVETRAIN_RIGHT[2],
rev.MotorType.kBrushless,
-1,
0,
reverse=True)
sea.setSimulatedDrivetrain(superDrive)
return superDrive
