class Robot(CommandBasedRobot):
def robotInit(self):
subsystems.init()
self.followJoystick = FollowJoystick()
def teleopInit(self):
self.followJoystick.start()
def teleopInit(self):
"""This function runs at the beginning of the teleop period"""
# Here we set the drivetrain's default command to FollowJoystick().
# Meaning that once the teleop begins, the robot will be controlled by
# the joystick.
self.drivetrain.setDefaultCommand(FollowJoystick())
def robotInit(self):
subsystems.init()
oi.init()
self.teleopProgram = wpilib.command.CommandGroup()
self.teleopProgram.addParallel(FollowJoystick())
self.teleopProgram.addParallel(Intake())
def initDefaultCommand(self):
"""Sets the default command of this subsystem to the `FollowJoystick`
command.
This will run when nothing else is running on the `Drivetrain` subsytem.
"""
self.setDefaultCommand(FollowJoystick())
print("Set the default command of the `Drivetrain` to `FollowJoystick`.")
def returnPIDInput(self):
if oi.controller.getBumper(
GenericHID.Hand.kLeft): # return control back to controller
FollowJoystick().start()
return 0.5
rod_pos = camera.get_rod_pos()
if rod_pos is None:
self.logger.critical("Couldn't find the rod!")
self.is_lost = True
if not self.is_autonomous: # return control to controller if not in autonomous
self.logger.critical("Returning control to the controller!")
FollowJoystick().start()
RumbleController(0.5).start()
return 0.5
else:
self.sd.putNumber("rod/actual", rod_pos[0])
return rod_pos[0]
def execute(self):
if self.timer.hasPeriodPassed(0.05):
# for xbox controller
# piston control
if oi.controller.getAButton(): # open
ControlGearMech(False).start()
elif oi.controller.getBButton(): # close
ControlGearMech(True).start()
# reversing control
# if oi.controller.getStartButton(): # reverse camera, motors, and sonar
# if self.sd.containsKey("camera/dev"):
# if self.sd.getNumber("camera/dev") == 1:
# self.sd.putNumber("camera/dev", 2)
# else:
# self.sd.putNumber("camera/dev", 1)
# else:
# self.sd.putNumber("camera/dev", 1)
# cur_direct = self.sd.getNumber("direction")
# if cur_direct == 1:
# subsystems.motors.reverseDirection()
# else:
# subsystems.motors.forwardDirection()
# self.sd.putNumber("direction", -cur_direct)
# slow mode
if oi.controller.getBumper(GenericHID.Hand.kRight):
if self.right_bumper_last:
pass
elif oi.divider != 1:
self.sd.putBoolean("slowmode", False)
else:
self.sd.putBoolean("slowmode", True)
self.right_bumper_last = True
else:
self.right_bumper_last = False
# lock on
if oi.controller.getBumper(GenericHID.Hand.kLeft):
if self.left_bumper_last:
pass
elif not self.sd.getBoolean("lockonRunning"):
LockOn().start()
else:
self.logger.critical("Returning control to the controller!")
self.sd.putBoolean("lockonRunning", False)
RumbleController(0.5).start()
FollowJoystick().start()
self.left_bumper_last = True
else:
self.left_bumper_last = False
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick_player
joystick_player = Joystick(0)
set_joystick()
trigger = JoystickButton(joystick_player, Joystick.ButtonType.kTrigger)
trigger.whenPressed(Record(FollowJoystick()))
def robotInit(self):
"""
This is a good place to set up your subsystems and anything else that
you will need to access later.
"""
subsystems.init()
# Command.getRobot = lambda x=0: self
# self.motor = singlemotor.SingleMotor()
self.autonomousProgram = AutonomousProgram()
"""
Since OI instantiates commands and commands need access to subsystems,
OI must be initialized after subsystems.
"""
oi.init()
self.teleopProgram = FollowJoystick()
def robotInit(self):
"""
We use this method to declare the various, high-level objects for the
robot.
For example, we can use the create a CommandGroup object to store the
various process for our robot to run when we enable it.
"""
subsystems.init()
oi.init()
self.teleopProgram = wpilib.command.CommandGroup()
self.teleopProgram.addParallel(FollowJoystick())
self.teleopProgram.addParallel(Shooter())
self.autoProgram = wpilib.command.CommandGroup()
self.autoProgram.addParallel(AutoJoystick())
self.autoProgram.addParallel(Shooter())
self.autoProgram.addSequential(Crossbow(0.55, 0.5))
self.autoProgram.addSequential(Crossbow(-0.75, 1))
def initDefaultCommand(self):
self.setDefaultCommand(FollowJoystick())
def robotInit(self):
subsystems.init()
self.followJoystick = FollowJoystick()
