def __init__(self):
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
def __init__(self):
Events.__init__(self)
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
# setup events
self._create_event(GripperComponent.EVENTS.gripper_started_moving)
class GripperComponent(Events):
lift_positions = {
"up": 0.2,
# "middle": 197,
"down": 0.595
# "up": 2.2,
# "down": 4.0
}
class EVENTS(object):
gripper_started_moving = "gripper_started_moving"
gripper_started_moving_data = Command
def __init__(self):
Events.__init__(self)
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
# setup events
self._create_event(GripperComponent.EVENTS.gripper_started_moving)
def set_spread_state(self, spread: bool):
if spread:
self.solenoid.set(DoubleSolenoid.Value.kForward)
self._spread_state = True
else:
self.solenoid.set(DoubleSolenoid.Value.kReverse)
self._spread_state = False
def toggle_spread_state(self):
if self._spread_state is None:
self.set_spread_state(False)
else:
self.set_spread_state(not self._spread_state)
def set_motor_speeds(self, left: float, right: float):
self.left_motor.set(left)
self.right_motor.set(-right)
def set_lift_motor(self, speed):
print("grip_speed: {}".format(str(speed)))
self.lift_motor.set(speed)
def current_lift_state(self) -> str:
positions = [(key, position) for key, position in GripperComponent.lift_positions.items()]
return min(positions, key=lambda position: abs(self.pot.get() - position[1]))[0]
class Potentiometer(Sensor):
"""
Sensor wrapper for an analog gyroscope.
Has double attribute angle for total angle rotated.
"""
angle = 0
def __init__(self, channel, scale=1, offset=0):
"""
Initializes the gyroscope on some analog channel.
"""
super().__init__()
self.p = WPotentiometer(channel, scale, offset)
def poll(self):
self.angle = self.p.get()
def __init__(self, robot):
super().__init__()
self.robot = robot
self.armMotor = CANTalon(4)
self.wheelMotor = CANTalon(5)
self.frontSwitch = DigitalInput(8)
self.backSwitch = DigitalInput(9)
self.comp = Compressor()
self.comp.enabled()
self.armMotor.enableBrakeMode(True)
self.wheelMotor.enableBrakeMode(True)
self.potentiometer = AnalogPotentiometer(3, 270, -193)
#self.pidArm = PIDController(0.0, 0.0, 0.0, 0.0, self.potentiometer, self.armMotor, 0.02)
self.position = 0
class GripperComponent:
lift_positions = {
"up": 0.13,
"down": 0.54,
# "up": 0.2,
# "down": 0.595
# "up": 2.2,
# "down": 4.0
}
def __init__(self):
self.left_motor = Victor(0)
self.right_motor = Victor(1)
self.solenoid = DoubleSolenoid(2, 3)
self.lift_motor = Victor(4)
self.pot = AnalogPotentiometer(0)
# state
self._lift_state = None
self._spread_state = None
def set_spread_state(self, spread: bool):
if spread:
self.solenoid.set(DoubleSolenoid.Value.kForward)
self._spread_state = True
else:
self.solenoid.set(DoubleSolenoid.Value.kReverse)
self._spread_state = False
def toggle_spread_state(self):
if self._spread_state is None:
self.set_spread_state(False)
else:
self.set_spread_state(not self._spread_state)
def set_motor_speeds(self, left: float, right: float):
self.left_motor.set(left)
self.right_motor.set(-right)
def set_lift_motor(self, speed):
self.lift_motor.set(speed)
def current_lift_state(self) -> str:
positions = [(key, position) for key, position in GripperComponent.lift_positions.items()]
return min(positions, key=lambda position: abs(self.pot.get() - position[1]))[0]
def __init__(self, channel, scale=1, offset=0):
"""
Initializes the gyroscope on some analog channel.
"""
super().__init__()
self.p = WPotentiometer(channel, scale, offset)
class arm(Component):
#set up variables
def __init__(self, robot):
super().__init__()
self.robot = robot
self.armMotor = CANTalon(4)
self.wheelMotor = CANTalon(5)
self.frontSwitch = DigitalInput(8)
self.backSwitch = DigitalInput(9)
self.comp = Compressor()
self.comp.enabled()
self.armMotor.enableBrakeMode(True)
self.wheelMotor.enableBrakeMode(True)
self.potentiometer = AnalogPotentiometer(3, 270, -193)
#self.pidArm = PIDController(0.0, 0.0, 0.0, 0.0, self.potentiometer, self.armMotor, 0.02)
self.position = 0
def armAuto(self, upValue, downValue, target, rate=0.3):
'''
if self.getPOT() <= target:
self.armMotor.set(0)
'''
if upValue == 1:
self.armMotor.set(rate * -1)
elif downValue == 1:
self.armMotor.set(rate)
else:
self.armMotor.set(0)
def armUpDown(self, left, right, controllerA, rate=0.3):
rate2 = rate*1.75
if(self.backSwitch.get() == False or self.frontSwitch.get() == False): #Checking limit switches
self.armMotor.set(0)
if(left >= 0.75):#if tripped, disallow further movement
# if(controllerA == True):
# self.armMotor.set(rate2)
# else:
self.armMotor.set(rate)
elif(right >= 0.75):#if tripped, disallow further movement
# if(controllerA == True):
# self.armMotor.set(-rate2)
# else:
self.armMotor.set(rate * -1)
elif(left < 0.75 and right < 0.75):
self.armMotor.set(0)
def wheelSpin(self, speed):
currentSpeed = 0
if (speed > 0.75):
currentSpeed = -1
elif(speed < -0.75):
currentSpeed = 1
self.wheelMotor.set(currentSpeed)
def getPOT(self):
return (self.potentiometer.get()*-1)
def getBackSwitch(self):
return self.backSwitch.get()
def getFrontSwitch(self):
return self.frontSwitch.get()
