def _init_components(self):
if self._config.getboolean(Feeder.motor_section, "MOTOR_ENABLED"):
self._motor_channel = self._config.getint(self.motor_section, "MOTOR_CHANNEL")
self._motor_inverted = self._config.getboolean(self.motor_section, "MOTOR_INVERTED")
if self._motor_channel:
self._motor = Talon(self._motor_channel)
if self._motor_inverted:
self._motor.setInverted(self._motor_inverted)
if self._config.getboolean(Feeder.switch_section, "SWITCH_ENABLED"):
self._switch_channel = self._config.getint(self.switch_section, "SWITCH_CHANNEL")
if self._switch_channel:
self._switch = DigitalInput(self._switch_channel)
class Feeder(Subsystem):
motor_section = "FeederMotor"
switch_section = "FeederSwitch"
general_section = "FeederGeneral"
_motor_channel = None
_switch_channel = None
_motor_inverted = None
_robot = None
_config = None
_motor = None
_switch = None
_has_ball = False
def __init__(self, robot, name=None, configfile="/home/lvuser/configs/subsystems.ini"):
self._robot = robot
self._config = configparser.ConfigParser()
self._config.read(os.path.join(os.getcwd(), configfile))
self._max_pickup_speed = self._config.getfloat(Feeder.general_section, "MAX_PICKUP_SPEED")
self._max_shoot_speed = self._config.getfloat(Feeder.general_section, "MAX_SHOOT_SPEED")
self._init_components()
self._update_smartdashboard(0.0)
super().__init__(name=name)
def initDefaultCommand(self):
self.setDefaultCommand(FeedBallAnalog(self._robot, 1.0))
def spinFeeder(self, speed):
"""Spins the feeder in the given direction at a speed represented as a float"""
if speed > 0:
speed = speed * self._max_pickup_speed
if speed < 0:
speed = speed * self._max_shoot_speed
if self._motor:
self._motor.set(speed)
self.hasBall()
self._update_smartdashboard(speed)
def hasBall(self):
if self._switch:
self._has_ball = not self._switch.get()
return self._has_ball
def _update_smartdashboard(self, speed):
SmartDashboard.putBoolean("Feeder Has Ball", self._has_ball)
SmartDashboard.putNumber("Feeder Speed", speed)
def _init_components(self):
if self._config.getboolean(Feeder.motor_section, "MOTOR_ENABLED"):
self._motor_channel = self._config.getint(self.motor_section, "MOTOR_CHANNEL")
self._motor_inverted = self._config.getboolean(self.motor_section, "MOTOR_INVERTED")
if self._motor_channel:
self._motor = Talon(self._motor_channel)
if self._motor_inverted:
self._motor.setInverted(self._motor_inverted)
if self._config.getboolean(Feeder.switch_section, "SWITCH_ENABLED"):
self._switch_channel = self._config.getint(self.switch_section, "SWITCH_CHANNEL")
if self._switch_channel:
self._switch = DigitalInput(self._switch_channel)
