def initialize(self):
"""Called before the Command is run for the first time."""
# Get initial position
current = self.robot.drivetrain.get_gyro_angle()
# Calculate and store target
self._target_degrees = current + self._degrees_change
return Command.initialize(self)
def initialize(self):
"""Called before the Command is run for the first time."""
# Get initial position
current = self.robot.drivetrain.get_encoder_value()
# Calculate and store target
self._target_position = current + self._encoder_change
return Command.initialize(self)
def initialize(self):
"""Called before the Command is run for the first time."""
# Get initial position
current = self.robot.drivetrain.get_encoder_value()
# Calculate and store target
self._target_position = current + self._encoder_change
return Command.initialize(self)
def initialize(self):
"""Called before the Command is run for the first time."""
# Get initial position
current = self.robot.drivetrain.get_gyro_angle()
# Calculate and store target
self._target_degrees = current + self._degrees_change
return Command.initialize(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
speed = self._speed
time_left = self._duration - self._stopwatch.elapsed_time_in_secs()
if (time_left < self._ramp_threshold):
speed = speed * time_left / self._ramp_threshold
self.robot.drivetrain.arcade_drive(speed, 0.0)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY)
if dpad_y != 0.0:
self.robot.drivetrain.arcade_drive(self.DPAD_LINEAR_SPEED * dpad_y, 0.0)
else:
left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY)
right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY)
self.robot.drivetrain.tankDrive(left_track, right_track)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
current = self.robot.drivetrain.get_gyro_angle()
degrees_left = self._target_degrees - current
if degrees_left >= 0:
direction = 1.0
else:
direction = -1.0
turn_speed = self._speed * direction
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(0.0, turn_speed, False)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
# Get encoder count
current = self.robot.drivetrain.get_encoder_value()
distance_left = self._target_position - current
# Determine direction using target and current encoder values
if distance_left >= 0:
direction = -1.0
else:
direction = 1.0
linear_drive_amount = self._speed * direction
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0, False)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
modifier = self.robot.oi.get_button_state(UserController.DRIVER, JoystickButtons.RIGHTTRIGGER)
dpad_y = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.DPADY)
if dpad_y != 0.0:
self.robot.drivetrain.arcade_drive(self._dpad_scaling * dpad_y, 0.0)
else:
left_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.LEFTY)
right_track = self.robot.oi.get_axis(UserController.DRIVER, JoystickAxis.RIGHTY)
if modifier:
self.robot.drivetrain.tank_drive(self._stick_scaling * left_track, self._stick_scaling * right_track)
else:
self.robot.drivetrain.tank_drive(left_track, right_track)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
current = self.robot.drivetrain.get_gyro_angle()
degrees_left = self._target_degrees - current
if (degrees_left) >= 0:
direction = 1.0
else:
direction = -1.0
turn_speed = self._speed * direction
if degrees_left < self._ramp_threshold:
turn_speed = turn_speed * (degrees_left) / self._ramp_threshold
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(0.0, turn_speed)
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
# Get encoder count
current = self.robot.drivetrain.get_encoder_value()
distance_left = self._target_position - current
# Determine direction using target and current encoder values
if (distance_left) >= 0:
direction = 1.0
else:
direction = -1.0
linear_drive_amount = self._speed * direction
if (distance_left < self._ramp_threshold):
linear_drive_amount = linear_drive_amount * (distance_left) / self._ramp_threshold
# Set drivetrain using speed and direction
self.robot.drivetrain.arcade_drive(linear_drive_amount, 0.0)
return Command.execute(self)
def initialize(self):
Command.getRobot().intakeOutput.panelPlace(
IntakeOutput.PanelPutOrTake.PUT)
def initialize(self):
"""Called before the Command is run for the first time."""
# Start stopwatch
self._stopwatch.start()
return Command.initialize(self)
def __init__(self):
super().__init__(name=self.__class__,
subsystem=Command.getRobot().liftElevator)
def condition(self):
return Command.getRobot(
).intakeOutput.mode == IntakeOutput.BallOrHatchMode.BALL
def __init__(self, power):
super().__init__(name="Move {}".format(power),
subsystem=Command.getRobot().drivetrain)
self.power = power
def initialize(self):
Command.getRobot().drivetrain.set(ControlMode.PercentOutput,
self.power, self.power)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
return Command.execute(self)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
speed = self._speed
self.robot.drivetrain.arcade_drive(speed, 0.0, False)
return Command.execute(self)
def initialize(self):
"""Called before the Command is run for the first time."""
# Start stopwatch
self._stopwatch.start()
return Command.initialize(self)
def __init__(self, position):
super().__init__(name="ActivateArms {}".format(position),
subsystem=Command.getRobot().intakeOutput)
self.position = position
def initialize(self):
Command.getRobot().intakeOutput.setPosition(self.position)
def initialize(self):
Command.getRobot().intakeOutput.giveOrTakeCargo(self.key)
def __init__(self, key):
super().__init__(name="InhaleExhale {}".format(key),
subsystem=Command.getRobot().intakeOutput)
self.key = key
def __init__(self, mode):
super().__init__(name="SetObjectMode",
subsystem=Command.getRobot().intakeOutput)
self.mode = mode
self.logger = logging.getLogger(self.getName())
def initialize(self):
"""Called before the Command is run for the first time."""
return Command.initialize(self)
def __init__(self):
super().__init__(subsystem=Command.getRobot().liftElevator)
def end(self):
Command.getRobot().drivetrain.set(ControlMode.PercentOutput, 0.0, 0.0)
def initialize(self):
Command.getRobot().liftElevator.setElevatorReference(6.5)
def execute(self):
"""Called repeatedly when this Command is scheduled to run"""
return Command.execute(self)
def initialize(self):
Command.getRobot().liftElevator.liftDrive(self.power)
def initialize(self):
Command.getRobot().liftElevator.resetEncoders()
def end(self):
Command.getRobot().liftElevator.liftDrive(0.0)
def initialize(self):
"""Called before the Command is run for the first time."""
return Command.initialize(self)
def __init__(self, power):
super().__init__(name="LiftDrive {}".format(power),
subsystem=Command.getRobot().liftElevator)
self.power = power
def initialize(self):
if self.mode == IntakeOutput.IntakeInOutNeutral.NEUTRAL:
self.logger.info("NEUTRAL")
Command.getRobot().intakeOutput.setArmPower(0.0)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.UP)
elif self.mode == IntakeOutput.IntakeInOutNeutral.IN:
self.logger.info("IN")
Command.getRobot().intakeOutput.setArmPower(0.5)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.DOWN)
elif self.mode == IntakeOutput.IntakeInOutNeutral.OUT:
self.logger.info("OUT")
Command.getRobot().intakeOutput.setArmPower(-1.0)
Command.getRobot().intakeOutput.setPosition(IntakeOutput.Position.DOWN)
def initialize(self):
Command.getRobot().intakeOutput.panelPlace(
IntakeOutput.PanelPutOrTake.TAKE)
Command.getRobot().intakeOutput.mode = self.mode
def __init__(self):
super().__init__(subsystem=Command.getRobot().intakeOutput)
def __init__(self):
# Create Joysticks
self.stick = Joystick(0)
self.gamepad = Joystick(1)
# Create Buttons
self.trigger = JoystickButton(self.stick, 1)
self.button2 = JoystickButton(self.stick, 2)
self.button3 = JoystickButton(self.stick, 3)
self.button4 = JoystickButton(self.stick, 4)
self.button5 = JoystickButton(self.stick, 5)
self.button6 = JoystickButton(self.stick, 6)
self.button7 = JoystickButton(self.stick, 7)
self.button8 = JoystickButton(self.stick, 8)
self.button9 = JoystickButton(self.stick, 9)
self.button10 = JoystickButton(self.stick, 10)
self.button11 = JoystickButton(self.stick, 11)
self.pad1 = JoystickButton(self.gamepad, 1)
self.pad2 = JoystickButton(self.gamepad, 2)
self.pad3 = JoystickButton(self.gamepad, 3)
self.pad4 = JoystickButton(self.gamepad, 4)
self.pad5 = JoystickButton(self.gamepad, 5)
self.pad6 = JoystickButton(self.gamepad, 6)
self.pad7 = JoystickButton(self.gamepad, 7)
self.pad8 = JoystickButton(self.gamepad, 8)
self.pad9 = JoystickButton(self.gamepad, 9)
self.climb2 = ComboButton(self.pad6, self.button6)
self.climb3 = ComboButton(self.pad5, self.button6)
# Test buttons
self.test = ComboButton(self.pad2, self.button6)
# Command hookups
self.trigger.whenPressed(Intake())
self.trigger.whenReleased(NeutralIntake())
# self.button2.whileHeld(Align(3.0))
self.button8.whenPressed(
type(
'', (InstantCommand, ), {
'initialize':
lambda: Command.getRobot().liftElevator.resetEncoders()
}))
self.pad1.whenPressed(SetObjectMode(
IntakeOutput.BallOrHatchMode.HATCH))
self.pad1.whenReleased(SetObjectMode(
IntakeOutput.BallOrHatchMode.BALL))
Command.getRobot().intakeOutput.mode = IntakeOutput.BallOrHatchMode.HATCH if \
self.pad1.get() else IntakeOutput.BallOrHatchMode.HATCH
self.test.whenPressed(TopConditional())
self.pad3.whenPressed(MiddleConditional())
self.pad4.whenPressed(LowConditional())
self.climb2.whenPressed(TwoClimbG())
self.climb3.whenPressed(OneClimbG())
self.pad7.whenPressed(MoveElevator(1))
self.pad8.whenPressed(HighCenter())