def __init__(self, robot): '''The Constructor - assign Xbox controller buttons to specific Commands. ''' print("In OI:__init__") robot.xbox0 = wpilib.XboxController(0) robot.xbox1 = wpilib.XboxController(1) stickbutton = StickButton(robot.xbox0, .1) shoot = JoystickButton(robot.xbox0, XboxController.Button.kA) block = JoystickButton(robot.xbox0, XboxController.Button.kY) intake = JoystickButton(robot.xbox0, XboxController.Button.kX) shiftup = JoystickButton(robot.xbox0, XboxController.Button.kBumperRight) shiftdown = JoystickButton(robot.xbox0, XboxController.Button.kBumperLeft) togglecamera = JoystickButton(robot.xbox0, XboxController.Button.kStart) togglecamera.whenPressed(ToggleCamera(robot)) stickbutton.whenPressed(DifferentialDriveWithXbox(robot)) shoot.whileHeld(Shoot(robot)) block.toggleWhenPressed(Block(robot)) intake.whileHeld(Intake_Com(robot)) shiftup.whenPressed(ShiftUp(robot)) shiftdown.whenPressed(ShiftDown(robot))
def __init__(self, robot): '''The Constructor - assign Xbox controller buttons to specific Commands. ''' print("In OI:__init__") robot.xbox0 = wpilib.XboxController(0) robot.xbox1 = wpilib.XboxController(1) stickbutton = StickButton(robot.xbox0, .1) shoot = JoystickButton(robot.xbox0, XboxController.Button.kA) block = JoystickButton(robot.xbox0, XboxController.Button.kY) intake = JoystickButton(robot.xbox0, XboxController.Button.kX) shiftup = JoystickButton(robot.xbox0, XboxController.Button.kBumperRight) shiftdown = JoystickButton(robot.xbox0, XboxController.Button.kBumperLeft) triggerbutton = TriggerButton(robot.xbox1, .1) extendclimber = JoystickButton(robot.xbox1, XboxController.Button.kA) agitate = JoystickButton(robot.xbox0, XboxController.Button.kA) #releaseshoot = JoystickButton(robot.xbox0, XboxController.Button.kA) eject = JoystickButton(robot.xbox0, XboxController.Button.kB) togglecamera = JoystickButton(robot.xbox0, XboxController.Button.kStart) togglecamera.whenPressed(ToggleCamera(robot)) stickbutton.whenPressed(DifferentialDriveWithXbox(robot)) shoot.whileHeld(Shoot(robot)) block.toggleWhenPressed(Block(robot)) intake.whileHeld(Intake_Com(robot)) shiftup.whenPressed(ShiftUp(robot)) shiftdown.whenPressed(ShiftDown(robot)) triggerbutton.whenPressed(Climbwithtriggers(robot)) extendclimber.toggleWhenPressed(Extendclimber(robot)) agitate.whileHeld(Agitate(robot)) #releaseshoot.whileHeld(ReleaseShoot(robot)) eject.whileHeld(Cuntake(robot))
def __init__(self, robot): '''The Constructor - assign Xbox controller buttons to specific Commands. ''' print("In OI:__init__") robot.xbox0 = wpilib.XboxController(0) robot.xbox1 = wpilib.XboxController(1) """liftleft = JoystickButton(robot.xbox1, XboxController.Button.kA) lowerleft = JoystickButton(robot.xbox1, XboxController.Button.kB) liftright = JoystickButton(robot.xbox1, XboxController.Button.kX) lowerright = JoystickButton(robot.xbox1, XboxController.Button.kY) liftfront = JoystickButton(robot.xbox1, XboxController.Button.kStickLeft) lowerfront = JoystickButton(robot.xbox1, XboxController.Button.kStickRight) liftrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperRight) lowerrear = JoystickButton(robot.xbox1, XboxController.Button.kBumperLeft) lift = JoystickButton(robot.xbox1, XboxController.Button.kStart) lower = JoystickButton(robot.xbox1, XboxController.Button.kBack)""" #claw = JoystickButton(robot.xbox1, XboxController.Button.kY) intake = JoystickButton(robot.xbox1, XboxController.Button.kA) liftwinch = JoystickButton(robot.xbox1, XboxController.Button.kBumperRight) lowerwinch = JoystickButton(robot.xbox1, XboxController.Button.kBumperLeft) ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX) triggerbutton = TriggerButton(robot.xbox0, .1) punch = JoystickButton(robot.xbox0, XboxController.Button.kY) punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY) hatch = JoystickButton(robot.xbox0, XboxController.Button.kX) #park = JoystickButton(robot.xbox0, XboxController.Button.kA) """liftleft.whileHeld(LiftLeft(robot)) lowerleft.whileHeld(LowerLeft(robot)) liftright.whileHeld(LiftRight(robot)) lowerright.whileHeld(LowerRight(robot)) liftfront.whileHeld(LiftFront(robot))# lowerfront.whileHeld(LowerFront(robot# liftrear.whileHeld(LiftRear(robot)) lowerrear.whileHeld(LowerRear(robot))# lift.whileHeld(Lift(robot)) lower.whileHeld(Lower(robot))""" triggerbutton.whenPressed(MoveArmWithTriggers(robot)) intake.toggleWhenPressed(IntakeCargo(robot)) ejectcargo.toggleWhenPressed(EjectCargo(robot)) #claw.toggleWhenPressed(OpenClaw(robot)) punch.whenPressed(Punch(robot)) punch.whenReleased(Pull(robot)) hatch.toggleWhenPressed(CoverHatch(robot)) liftwinch.whileHeld(LiftWinch(robot)) lowerwinch.whileHeld(LowerWinch(robot)) punchrear.whenPressed(PunchRear(robot)) punchrear.whenReleased(PullRear(robot))
def __init__(self, robot): self.robot = robot self.left_joy = robot.left_joy self.right_joy = robot.right_joy self.xbox = robot.xbox # First character indicates self.right or self.left, # second indicates position, # third indicates which button of the position specified # Ex: ltop0 is self.left top 0 ''' JoystickButton and Xbox button assignments ''' ltop1 = JoystickButton(self.left_joy, 1) ltop2 = JoystickButton(self.left_joy, 2) ltop3 = JoystickButton(self.left_joy, 3) ltop4 = JoystickButton(self.left_joy, 4) ltop5 = JoystickButton(self.left_joy, 5) ltop6 = JoystickButton(self.left_joy, 6) rtop1 = JoystickButton(self.right_joy, 1) rtop2 = JoystickButton(self.right_joy, 2) rtop3 = JoystickButton(self.right_joy, 3) rtop4 = JoystickButton(self.right_joy, 4) rtop5 = JoystickButton(self.right_joy, 5) rtop6 = JoystickButton(self.right_joy, 6) xboxX = JoystickButton(self.xbox, 3) xboxY = JoystickButton(self.xbox, 4) xboxB = JoystickButton(self.xbox, 2) xboxA = JoystickButton(self.xbox, 1) xboxLB = JoystickButton(self.xbox, 5) xboxRB = JoystickButton(self.xbox, 6) #xbox_left_XY = self.xbox.getY(9) #self.xbox_XY = JoystickButton(self.xbox, 9) self.xbox_left_XY = self.xbox.getX() xboxBACK = JoystickButton(self.xbox, 7) xboxSTART = JoystickButton(self.xbox, 8) # whenActive and whenInactive allows toggle between 2 commands ''' Joystick 0 / Left Joystick Commands ''' # Button 1 causes cargo motor to spin outwards for 0.5s #ltop1.whileHeld(Do_Cargo_Eject(robot)) # Button 2 shuts down arm #ltop2.whileHeld(Do_Die_You_Gravy_Sucking_Pig(robot)) #XXX #ltop4.whenPressed(Do_Encoder_Check(robot)) ltop5.whileHeld(Do_Beak_Open(robot)) ''' Joystick 1 / Right Joystick Commands ''' # Button 2 toggles shifters rtop2.toggleWhenPressed(Do_Shifters_Toggle(robot)) # All the way back, 0 deg # for testing in sim #rtop5.whenPressed(Do_Axis_Button_5(robot)) ''' Joystick 2 / Xbox Controller Commands ''' #xboxSTART.whenPressed(Command_Ramp(robot)) # Y = Defence Position (straight up) #xboxY.whenPressed(Command_Defense(robot)) # B = Hatch Panel Intake (front of robot) # B for BEAK xboxB.whileHeld(Do_Beak_Open(robot)) # Out of Frame xboxX.whenPressed(Do_Four_Bar(robot)) # In frame xboxA.whenPressed(Do_Undo_Four_Bar(robot))
def __init__(self, robot): '''The Constructor - assign Xbox controller buttons to specific Commands. ''' print("In OI:__init__") robot.xbox0 = wpilib.XboxController(0) robot.xbox1 = wpilib.XboxController(1) hatch = JoystickButton(robot.xbox0, XboxController.Button.kX) park = JoystickButton(robot.xbox0, XboxController.Button.kBack) togglecamera = JoystickButton(robot.xbox0, XboxController.Button.kStart) triggerbutton = TriggerButton(robot.xbox0, .1) stickbutton = StickButton(robot.xbox0, .1) ejectcargo = JoystickButton(robot.xbox1, XboxController.Button.kX) intakecargo = JoystickButton(robot.xbox1, XboxController.Button.kA) frontlift = JoystickButton(robot.xbox1, XboxController.Button.kStart) rearlift = JoystickButton(robot.xbox1, XboxController.Button.kBack) invertfront = JoystickButton(robot.xbox1, XboxController.Button.kStickRight) liftwinch = JoystickButton(robot.xbox1, XboxController.Button.kBumperRight) lowerwinch = JoystickButton(robot.xbox1, XboxController.Button.kBumperLeft) punchrear = JoystickButton(robot.xbox1, XboxController.Button.kY) hatch.toggleWhenPressed(CoverHatch(robot)) park.whileHeld(Park(robot)) togglecamera.whenPressed(ToggleCamera(robot)) triggerbutton.whenPressed(MoveArmWithTriggers(robot)) stickbutton.whenPressed(DifferentialDriveWithXbox(robot)) ejectcargo.toggleWhenPressed(EjectCargo(robot)) intakecargo.toggleWhenPressed(IntakeCargo(robot)) frontlift.toggleWhenPressed(LiftFront(robot)) rearlift.toggleWhenPressed(LiftRear(robot)) invertfront.toggleWhenPressed(InvertFront(robot)) liftwinch.whileHeld(LiftWinch(robot)) lowerwinch.whileHeld(LowerWinch(robot)) punchrear.whenReleased(PullRear(robot)) punchrear.whenPressed(PunchRear(robot))