class Robot(wpilib.IterativeRobot):
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.drive = Drive()
self.stick = Joystick(0)
def robotPeriodic(self):
pass
def disabledInit(self):
pass
def disabledPeriodic(self):
self.drive.stop()
def autonomousInit(self):
"""
This function is run once each time the robot enters autonomous mode.
"""
pass
def autonomousPeriodic(self):
"""This function is called periodically during autonomous."""
self.drive.moveToPosition(10000, 'left')
def teleopInit(self):
pass
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
speed = self.stick.getY() * -1
rotation = self.stick.getTwist()
# self.drive.moveSpeed(speed, speed)
self.drive.arcade(speed, rotation)
def testInit(self):
pass
def testPeriodic(self):
pass
class Robot(wpilib.IterativeRobot):
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.pneumaticControlModuleCANID = robotmap.PCM
self.kDriveTrain = robotmap.DriveTrain
self.kCubeGrabber = robotmap.CubeGrabber
self.kSticks = robotmap.Sticks
self.dStick = Joystick(self.kSticks['drive'])
self.cStick = Joystick(self.kSticks['control'])
self.drive = Drive(self)
self.cubeGrabber = Grabber(self)
# holds data from the FMS about the field elements.
self.fielddata = None
def robotPeriodic(self):
pass
def disabledInit(self):
pass
def disabledPeriodic(self):
self.drive.stop()
def autonomousInit(self):
"""
This function is run once each time the robot enters autonomous mode.
"""
# get field data -- currently removed until we add an IF statement
# self.fielddata = wpilib.DriverStation.getInstance().getGameSpecificMessage()
self.drive.driveLeftMaster.setQuadraturePosition(0, 0)
self.drive.driveRightMaster.setQuadraturePosition(0, 0)
def autonomousPeriodic(self):
"""This function is called periodically during autonomous."""
## get field data
#if not self.fielddata:
#self.fielddata = wpilib.DriverStation.getInstance().getGameSpecificMessage()
#nearswitch, scale, farswitch = list(self.fielddata)
#if self.fielddata[0] == 'R':
#self.drive.arcade(.5, .2)
#else:
#self.drive.arcade(.5, -.2)
self.drive.arcade(.5, 0)
def teleopInit(self):
self.drive.driveLeftMaster.setQuadraturePosition(0, 0)
self.drive.driveRightMaster.setQuadraturePosition(0, 0)
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
speed = self.dStick.getY() * -1
rotation = self.dStick.getTwist()
# self.drive.moveSpeed(speed, speed)
self.drive.arcade(speed, rotation)
self.cubeGrabber.grabberFunction()
def testInit(self):
pass
def testPeriodic(self):
pass
class Robot(wpilib.IterativeRobot):
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.pneumaticControlModuleCANID = robotmap.PCM
self.kDriveTrain = robotmap.DriveTrain
self.kCubeGrabber = robotmap.CubeGrabber
self.kSticks = robotmap.Sticks
self.dStick = Joystick(self.kSticks['drive'])
self.cStick = Joystick(self.kSticks['control'])
self.drive = Drive(self)
self.cubeGrabber = Grabber(self)
# TODO: see examples/pacgoat/robot.py
# we need Classes defining autonomous commands to call for Forward
# and Reverse
#self.autoChooser = wpilib.SendableChooser()
#self.autoChooser.addDefault("Forward", Forward(self))
#self.autoChooser.addObject("Reverse", Reverse(self))
#wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
def robotPeriodic(self):
pass
def disabledInit(self):
pass
def disabledPeriodic(self):
self.drive.stop()
def autonomousInit(self):
"""
This function is run once each time the robot enters autonomous mode.
"""
# get field data
#self.fielddata = wpilib.DriverStation.getInstance().getGameSpecificMessage()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous."""
#nearswitch, scale, farswitch = list(self.fielddata)
#
# if nearswitch == 'R':
# self.drive.arcade(.5, .2)
# else:
# self.drive.arcade(.5, -.2)
pass
def teleopInit(self):
pass
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
speed = self.dStick.getY() * -1
rotation = self.dStick.getTwist()
# self.drive.moveSpeed(speed, speed)
if self.isSimulation():
self.drive.arcade(speed, rotation)
else:
self.drive.arcadeWithRPM(speed, rotation, 2800)
self.cubeGrabber.grabberFunction()
# TODO: need something like this in commands that autonomous or teleop
# would run to make sure an exception doesn't crash the code during
# competition.
#raise ValueError("Checking to see what happens when we get an exception")
def testInit(self):
pass
def testPeriodic(self):
wpilib.LiveWindow.setEnabled(True)
pass
