def init():
print('Subsystems init called')
'''
Creates all subsystems. You must run this before any commands are
instantiated. Do not run it more than once.
'''
global driveline
global drivelift
global elevator
global ramp
global cargograb
global hatchgrab
'''
Some tests call startCompetition multiple times, so don't throw an error if
called more than once in that case.
'''
if (driveline) is not None and not RobotBase.isSimulation():
raise RuntimeError('Subsystems have already been initialized')
driveline = TankDrive()
drivelift = TankLift()
elevator = Elevator()
ramp = Ramp()
cargograb = CargoGrab()
hatchgrab = HatchGrab()
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.puncher = Puncher()
self.claw = Claw()
self.arm = Arm()
self.intake = Intake()
self.elevator = Elevator()
self.hatch = Hatch()
self.intake_winch = IntakeWinch()
self.oi = OI(self)
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.rear_puncher = RearPuncher()
self.arm = Arm()
self.intake = Intake()
self.elevator = Elevator()
self.hatch = Hatch()
self.intake_winch = IntakeWinch()
self.lift = Lift()
# The "front" of the robot (which end is facing forward)
self.front = -1
self.oi = OI(self)
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
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.kElevator = robotmap.Elevator
self.kSticks = robotmap.Sticks
self.kClimber = robotmap.Climber
self.dStick = Joystick(self.kSticks['drive'])
self.cStick = Joystick(self.kSticks['control'])
self.drive = Drive(self)
self.cubeGrabber = cubeGrabber(self)
self.elevator = Elevator(self)
self.climber = Climber(self)
self.sendableChooser()
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
# All commands can get access to the subsystems here
subsystems.LEDS = LEDs()
subsystems.DRIVETRAIN = Drivetrain()
subsystems.ELEVATOR = Elevator()
subsystems.PAYLOAD = Payload()
subsystems.SERIAL = SerialEvent()
subsystems.PIGEON = Pigeon()
self.compressor = wpilib.Compressor(0)
self.compressor.setClosedLoopControl(True)
#self.compressor.start()
"""
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
"""
subsystems.JOYSTICK = oi.get_joystick()
wpilib.CameraServer.launch()
