def __init__(self): """Instantiates the motor object.""" super().__init__("DoubleMotor") self.motor = wpilib.PWMVictorSPX(5) self.motor2 = wpilib.PWMVictorSPX(6)
def __init__(self): super().__init__("Mecanum") # motors and the channels they are connected to self.frontLeftMotor = wpilib.VictorSP(1) self.rearLeftMotor = wpilib.PWMVictorSPX(2) self.frontRightMotor = wpilib.VictorSP(0) self.rearRightMotor = wpilib.PWMVictorSPX(3) # invert the left side motors self.frontLeftMotor.setInverted(False) # you may need to change or remove this to match your robot self.rearLeftMotor.setInverted(False) self.rearRightMotor.setInverted(False) #added this to match motor self.drive = MecanumDrive( self.frontLeftMotor, self.rearLeftMotor, self.frontRightMotor, self.rearRightMotor, ) self.drive.setExpiration(0.1) self.drive.setSafetyEnabled(False)
def __init__(self) -> None: super().__init__() self.left1 = wpilib.PWMVictorSPX(constants.kLeftMotor1Port) self.left2 = wpilib.PWMVictorSPX(constants.kLeftMotor2Port) self.right1 = wpilib.PWMVictorSPX(constants.kRightMotor1Port) self.right2 = wpilib.PWMVictorSPX(constants.kRightMotor2Port) # The robot's drive self.drive = wpilib.drive.DifferentialDrive( wpilib.SpeedControllerGroup(self.left1, self.left2), wpilib.SpeedControllerGroup(self.right1, self.right2), ) # The left-side drive encoder self.leftEncoder = wpilib.Encoder( *constants.kLeftEncoderPorts, reverseDirection=constants.kLeftEncoderReversed) # The right-side drive encoder self.rightEncoder = wpilib.Encoder( *constants.kRightEncoderPorts, reverseDirection=constants.kRightEncoderReversed) # Sets the distance per pulse for the encoders self.leftEncoder.setDistancePerPulse( constants.kEncoderDistancePerPulse) self.rightEncoder.setDistancePerPulse( constants.kEncoderDistancePerPulse)
def robotInit(self) -> None: # Create the motors, on pins 0 -to 4. self.right_motor_back = wpilib.PWMVictorSPX(0) self.right_motor_front = wpilib.PWMVictorSPX(1) self.left_motor_front = wpilib.PWMVictorSPX(2) self.left_motor_back = wpilib.PWMVictorSPX(3) # Because we're using a gearbox (don't remember which), we need to make speed groups. self.right_speed_group = wpilib.SpeedControllerGroup(self.right_motor_back, self.right_motor_front) self.left_speed_group = wpilib.SpeedControllerGroup(self.left_motor_back, self.left_motor_front) # Differential drive from the two speed controllers. self.drive = wpilib.drive.DifferentialDrive(self.left_speed_group, self.right_speed_group) wpilib.CameraServer.launch("vision.py:main")
def __init__(self): #Initialize Left motors # Two motors cause TuffBox # Also 0 is generally reserved for PDP or something left_one = (wpilib.PWMVictorSPX(3)) left_two = (wpilib.VictorSP(6)) self.left_motor_group = wpilib.SpeedControllerGroup(left_one, left_two)
def robotInit(self): #drive define self.fL = wpilib.PWMTalonFX(0) self.fR = wpilib.PWMTalonFX(1) self.bL = wpilib.PWMTalonFX(2) self.bR = wpilib.PWMTalonFX(3) #shooter define self.wheelL = wpilib.PWMVictorSPX(4) self.wheelR = wpilib.PWMVictorSPX(5) self.conveyor = wpilib.PWMVictorSPX(6) #lift self.liftUp = wpilib.PWMVictorSPX(7) self.liftDown = wpilib.PWMVictorSPX(8) self.driverXbox = wpilib.XboxController(0)
def __init__(self): super().__init__("Arcade") # motors and the channels they are connected to self.frontLeftMotor = wpilib.PWMVictorSPX(0) self.rearLeftMotor = wpilib.PWMVictorSPX(1) self.frontRightMotor = wpilib.PWMVictorSPX(2) self.rearRightMotor = wpilib.PWMVictorSPX(3) self.left = wpilib.SpeedControllerGroup(self.frontLeftMotor, self.rearLeftMotor) self.right = wpilib.SpeedControllerGroup(self.frontRightMotor, self.rearRightMotor) self.drive = DifferentialDrive(self.left, self.right) self.drive.setExpiration(0.1) self.drive.setSafetyEnabled(False)
def robotInit(self): self.tankDrive = DifferentialDrive( wpilib.PWMVictorSPX(0), wpilib.PWMVictorSPX(1) ) self.leftEncoder = wpilib.Encoder(0, 1) self.rightEncoder = wpilib.Encoder(2, 3) self.elevatorMotor = wpilib.PWMVictorSPX(2) self.elevatorPot = wpilib.AnalogPotentiometer(0) # Add a 'max speed' widget to a tab named 'Configuration', using a number slider # The widget will be placed in the second column and row and will be two columns wide self.maxSpeed = ( Shuffleboard.getTab("Configuration") .add(title="Max Speed", value=1) .withWidget("Number Slider") .withPosition(1, 1) .withSize(2, 1) .getEntry() ) # Add the tank drive and encoders to a 'Drivebase' tab driveBaseTab = Shuffleboard.getTab("Drivebase") driveBaseTab.add(title="Tank Drive", value=self.tankDrive) # Put both encoders in a list layout encoders = ( driveBaseTab.getLayout(type="List Layout", title="Encoders") .withPosition(0, 0) .withSize(2, 2) ) encoders.add(title="Left Encoder", value=self.leftEncoder) encoders.add(title="Right Encoder", value=self.rightEncoder) # Add the elevator motor and potentiometer to an 'Elevator' tab elevatorTab = Shuffleboard.getTab("Elevator") elevatorTab.add(title="Motor", value=self.elevatorMotor) elevatorTab.add(title="Potentiometer", value=self.elevatorPot)
def __init__(self): #Initialize Right motors right_one = (wpilib.PWMVictorSPX(2)) right_two = (wpilib.PWMVictorSPX(9)) self.right_motor_group = wpilib.SpeedControllerGroup( right_one, right_two)
def robotInit(self): #Networktables self.netTable = NetworkTables.getTable('SmartDashboard') #Hud Data Handlers self.statUpdater = SU.StatusUpdater(self, self.netTable) #Camera Server wpilib.CameraServer.launch() #Drive Motors self.motor1 = ctre.WPI_TalonSRX(1) self.motor2 = ctre.WPI_TalonSRX(2) self.motor3 = ctre.WPI_TalonSRX(9) self.motor4 = ctre.WPI_TalonSRX(10) #Intake Motors self.stage1Left = ctre.WPI_TalonSRX(5) self.stage1Right = ctre.WPI_TalonSRX(6) self.stage2Left = ctre.WPI_TalonSRX(4) self.stage2Right = ctre.WPI_TalonSRX(7) self.stage3Left = ctre.WPI_TalonSRX(3) self.stage3Right = ctre.WPI_TalonSRX(8) #Pan Arm Controls self.leftPanArm = wpilib.PWMVictorSPX(0) self.rightPanArm = wpilib.PWMVictorSPX(1) #Shifters self.shifter = wpilib.DoubleSolenoid(1, 2) #Climb self.pto = wpilib.DoubleSolenoid(3, 4) self.climbLift = wpilib.Solenoid(5) #User Inputs self.playerOne = wpilib.XboxController(0) self.playerTwo = wpilib.XboxController(1) #Navx self.navx = navx.AHRS.create_spi() self.power_board = wpilib.PowerDistributionPanel() #User Inputs self.playerOne = wpilib.XboxController(0) self.playerTwo = wpilib.XboxController(1) #Navx self.navx = navx.AHRS.create_spi() #Points #self.points = [] #Setup Logic self.rightDriveMotors = wpilib.SpeedControllerGroup( self.motor3, self.motor4) self.leftDriveMotors = wpilib.SpeedControllerGroup( self.motor1, self.motor2) self.leftDriveMotors.setInverted(True) self.robotDrive = DifferentialDrive(self.leftDriveMotors, self.rightDriveMotors) self.lowerIntakeMotors = wpilib.SpeedControllerGroup( self.stage1Left, self.stage1Right, self.stage2Left, self.stage2Right) self.stage3 = wpilib.SpeedControllerGroup(self.stage3Left, self.stage3Right) if wpilib.SolenoidBase.getPCMSolenoidVoltageStickyFault(0) == True: wpilib.SolenoidBase.clearAllPCMStickyFaults(0) self.pto.set(wpilib.DoubleSolenoid.Value.kReverse) #Drive.py init self.drive = drive.Drive(self.robotDrive, self.navx, self.motor1, self.motor2, self.motor3, self.motor4, self.shifter) #Intake.py self.intake = intake.Intake(self.lowerIntakeMotors, self.stage3, self.leftPanArm, self.rightPanArm) #Driver Station Instance self.driverStation = wpilib.DriverStation.getInstance() #Auto mode variables self.components = {'drive': self.drive, 'intake': self.intake} self.automodes = AutonomousModeSelector('autonomous', self.components)
def create_pwm_victor_spx(channel): return wpilib.PWMVictorSPX(channel)
def __init__(self): """Instantiates the motor object.""" super().__init__("SingleMotor2") self.motor = wpilib.PWMVictorSPX(7)