def createObjects(self):
self.controller = wpilib.XboxController(0)
self.drive_motor = ctre.WPI_TalonSRX(1)
self.encodermotor_motor = ctre.WPI_TalonSRX(5)
self.current_position = self.starting_position
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.frontLeft = ctre.WPI_TalonSRX(1)
self.frontRight = ctre.WPI_TalonSRX(3)
self.rearLeft = ctre.WPI_TalonSRX(2)
self.rearRight = ctre.WPI_TalonSRX(4)
self.spool = ctre.WPI_TalonSRX(5)
# self.rearLeft.setInverted(True)
# self.frontLeft.setInverted(True)
self.drive = wpilib.RobotDrive(self.frontLeft, self.rearLeft,
self.frontRight, self.rearRight)
self.stick = wpilib.Joystick(0)
self.pickUpHandler = 0
self.pickupTimer = 0
self.picker = wpilib.Solenoid(0, 1)
self.rotation = wpilib.Solenoid(0, 2)
self.thrust = wpilib.Solenoid(0, 3)
self.transmission = wpilib.Solenoid(0, 4)
def robotInit(self):
# Motor Init
self.motor1 = ctre.WPI_TalonSRX(1)
self.motor2 = ctre.WPI_TalonSRX(2)
self.motor3 = ctre.WPI_TalonSRX(3)
self.motor4 = ctre.WPI_TalonSRX(4)
# Arm Init
self.arm = ctre.WPI_TalonSRX(5)
# Speed control groups
self.left = wpilib.SpeedControllerGroup(self.motor1, self.motor2)
self.right = wpilib.SpeedControllerGroup(self.motor3, self.motor4)
# Drive Function Init
self.driveMeBoi = wpilib.drive.DifferentialDrive(self.left, self.right)
#Controller Init
self.controller = wpilib.XboxController(0)
# Sensor
self.intakeSensor = wpilib.DigitalInput(9)
#Color.py Init
self.color = color.PrintColor()
#Auto mode variables
self.components = {'drive': self.driveMeBoi}
self.automodes = AutonomousModeSelector('autonomous', self.components)
self.drive = drive.Drive(self.driveMeBoi)
def robotInit(self):
#assigns driver as controller 0 and operator as controller 1
# self.driver = wpilib.XboxController(0)
# self.operator = wpilib.XboxController(1)
self.master_talon = ctre.WPI_TalonSRX(1)
self.master_talon = ctre.WPI_TalonSRX(4)
pass
def createObjects(self):
"""Robot initialization function"""
self.chassis_left_front = rev.CANSparkMax(5, rev.MotorType.kBrushless)
self.chassis_left_rear = rev.CANSparkMax(4, rev.MotorType.kBrushless)
self.chassis_right_front = rev.CANSparkMax(7, rev.MotorType.kBrushless)
self.chassis_right_rear = rev.CANSparkMax(6, rev.MotorType.kBrushless)
self.indexer_motors = [ctre.WPI_TalonSRX(3)]
self.indexer_switches = [wpilib.DigitalInput(9)]
self.injector_slave_motor = ctre.WPI_TalonSRX(43)
self.injector_slave_motor.follow(self.indexer_motors[0])
self.injector_slave_motor.setInverted(True)
self.loading_piston = wpilib.Solenoid(0)
self.shooter_centre_motor = rev.CANSparkMax(3, rev.MotorType.kBrushless)
self.shooter_outer_motor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
self.colour_sensor = rev.color.ColorSensorV3(wpilib.I2C.Port.kOnboard)
self.spinner_motor = wpilib.Spark(2)
self.spinner_solenoid = wpilib.DoubleSolenoid(2, 3)
self.turret_centre_index = wpilib.DigitalInput(1)
self.turret_motor = ctre.WPI_TalonSRX(10)
self.vision = Vision()
# operator interface
self.joystick_left = wpilib.Joystick(0)
self.joystick_right = wpilib.Joystick(1)
self.spinner_joystick = wpilib.Joystick(2)
self.turret_joystick = wpilib.Joystick(3)
def __init__(self):
self.topSpinner = ctre.WPI_TalonSRX(21)
self.topSpinner.configFactoryDefault(0)
self.bottomSpinner = ctre.WPI_TalonSRX(20)
self.bottomSpinner.configFactoryDefault(0)
# TODO fix names
self.solenoid0 = wpilib.Solenoid(0)
self.solenoid1 = wpilib.Solenoid(1)
self.solenoid2 = wpilib.Solenoid(2)
self.solenoid3 = wpilib.Solenoid(3)
self.compressor = wpilib.Compressor(0)
self.stopCompressor()
self.armOut = False
self.grabOut = False
self.slideMotor = ctre.WPI_TalonSRX(30)
self.slideMotor.configFactoryDefault(0)
self.slideMotor.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder, 0, 0)
self.slideMotor.setSensorPhase(False)
self.slideMotor.config_kP(0, 0.3, 0)
self.slideMotor.config_kI(0, 0, 0)
self.slideMotor.config_kD(0, 3, 0)
self.slideMotor.config_kF(0, 0, 0)
self.slideMotor.configPeakOutputReverse(-0.75, 0)
self.slideValue = None
self.resetAllSensors()
def robotInit(self):
''' Network Tables '''
self.table = NetworkTables.getTable('SmartDashboard')
self.controller = wpilib.XboxController(0)
#Jay Programing
# wpilib.CameraServer.launch("vision.py:main")
'''self.sortSwitch = wpilib.DigitalInput(0) #Switch to stop sorting motor''' # Input for potential switch
self.intake = wpilib.Talon(1) #intake motor
# Talon SRX #
# Right drivetrain
self.fr_motor = ctre.WPI_TalonSRX(2)
self.rr_motor = ctre.WPI_TalonSRX(3)
self.right = wpilib.SpeedControllerGroup(self.fr_motor, self.rr_motor)
# # Left drivetrain
self.fl_motor = ctre.WPI_TalonSRX(0) # 0
self.rl_motor = ctre.WPI_TalonSRX(1) # 1
self.left = wpilib.SpeedControllerGroup(self.fl_motor, self.rl_motor)
# [Six wheels; four motors--one for each gearbox]
# Class for driving the differential train
self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
# Triggers/Controls
self.kLeft = self.controller.Hand.kLeft
self.kRight = self.controller.Hand.kRight
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.timer = wpilib.Timer()
self.timer.start()
self.navx = navx.AHRS.create_spi()
self.lstick = wpilib.Joystick(0)
self.l_motor_master = ctre.WPI_TalonSRX(3)
self.l_motor_slave = ctre.WPI_TalonSRX(4)
self.r_motor_master = ctre.WPI_TalonSRX(1)
self.r_motor_slave = ctre.WPI_TalonSRX(2)
self.l_motor_slave.set(ControlMode.Follower, 3)
self.r_motor_slave.set(ControlMode.Follower, 1)
self.l_motor_master.setInverted(False)
self.l_motor_slave.setInverted(False)
self.r_motor_master.setInverted(False)
self.r_motor_slave.setInverted(False)
self.l_motor_master.setSensorPhase(True)
self.r_motor_master.setSensorPhase(False)
self.robot_drive = wpilib.RobotDrive(self.l_motor_master,
self.r_motor_master)
def robotInit(self):
# assign motors to object
self.motorLeftFront = ctre.WPI_TalonSRX(Robot.frontLeftPort)
self.motorLeftBack = ctre.WPI_TalonSRX(Robot.backLeftPort)
self.motorRightFront = ctre.WPI_TalonSRX(Robot.frontRightPort)
self.motorRightBack = ctre.WPI_TalonSRX(Robot.backRightPort)
# invert motors
self.motorLeftFront.setInverted(True)
self.motorLeftBack.setInverted(True)
# make motor groups
self.leftMotors = wpilib.SpeedControllerGroup(self.motorLeftBack,
self.motorLeftFront)
self.rightMotors = wpilib.SpeedControllerGroup(self.motorRightBack,
self.motorRightFront)
# create a drivetrain ovject to access motors easier
self.drivetrain = wpilib.drive.DifferentialDrive(
self.leftMotors, self.rightMotors)
# set up a timer to allow for cheap drive by time auto
self.timer = wpilib.Timer()
# initialize OI systems for the robot
self.OI = OI()
# solenoids
self.solenoid1 = wpilib.DoubleSolenoid(Robot.solenoidPortIn,
Robot.solenoidPortOut)
def __init__(self, robot):
self.robot = robot
# get drive motors
self.frontLeftCim = ctre.WPI_TalonSRX(robotmap.frontLeftDrive)
self.frontRightCim = ctre.WPI_TalonSRX(robotmap.frontRightDrive)
self.backLeftCim = ctre.WPI_TalonSRX(robotmap.backLeftDrive)
self.backRightCim = ctre.WPI_TalonSRX(robotmap.backRightDrive)
# configure motors
self.configureMotorCurrent(self.frontLeftCim)
self.configureMotorCurrent(self.frontRightCim)
self.configureMotorCurrent(self.backLeftCim)
self.configureMotorCurrent(self.backRightCim)
# reverse left side motors
self.frontLeftCim.setInverted(True)
self.backLeftCim.setInverted(True)
# make drivetrain
self.drivetrain = mecanumdrive.MecanumDrive(self.frontLeftCim, self.backLeftCim, self.frontRightCim, self.backRightCim)
# setup encoders
self.encoderLeft = wpilib.Encoder(aChannel=robotmap.leftEncoderChannelA, bChannel=robotmap.leftEncoderChannelB, reverseDirection=False, encodingType=wpilib.Encoder.EncodingType.k4X)
self.encoderLeft.setPIDSourceType(wpilib.Encoder.PIDSourceType.kDisplacement)
self.encoderLeft.setDistancePerPulse((6*math.pi)/(256))
self.encoderRight = wpilib.Encoder(aChannel=robotmap.rightEncoderChannelA, bChannel=robotmap.rightEncoderChannelB, reverseDirection=False, encodingType=wpilib.Encoder.EncodingType.k4X)
self.encoderRight.setPIDSourceType(wpilib.Encoder.PIDSourceType.kDisplacement)
self.encoderRight.setDistancePerPulse((6*math.pi)/(256))
# setup gyro
self.gyro = wpilib.ADXRS450_Gyro(0)
super().__init__()
def robotInit(self):
""" Set motors """
self.ldrive_motor = ctre.WPI_TalonSRX(1)
self.rdrive_motor = ctre.WPI_TalonSRX(2)
self.scoop_motor = ctre.WPI_TalonSRX(3)
self.extender_motor = ctre.WPI_TalonSRX(4)
self.dump_motor = ctre.WPI_TalonSRX(5)
""" Set encoders """
self.ldrive_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.QuadEncoder)
self.rdrive_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.QuadEncoder)
self.scoop_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.QuadEncoder)
self.extender_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.QuadEncoder)
self.dump_motor.configSelectedFeedbackSensor(
ctre.WPI_TalonSRX.FeedbackDevice.QuadEncoder)
self.drive = wpilib.drive.DifferentialDrive(self.ldrive_motor,
self.rdrive_motor)
self.stick = wpilib.XboxController(1)
#self.reverseButton = ButtonDebouncer(self.stick, 1)
self.timer = wpilib.Timer()
def createObjects(self):
"""Initialize all wpilib motors & sensors"""
wpilib.CameraServer.launch()
# LiveWindow slows down the robot, and we aren't using it
wpilib.LiveWindow.disableAllTelemetry()
self.mainStick = wpilib.Joystick(0)
self.extraStick = wpilib.Joystick(1)
self.armUp = False
self.drive_l1 = ctre.WPI_TalonSRX(1)
self.drive_l2 = ctre.VictorSPX(2)
self.drive_l3 = ctre.VictorSPX(3)
self.drive_r1 = ctre.WPI_TalonSRX(4)
self.drive_r2 = ctre.VictorSPX(5)
self.drive_r3 = ctre.VictorSPX(6)
self.elevator_motor1 = ctre.WPI_TalonSRX(7)
self.arm_motor = rev.CANSparkMax(9, rev.MotorType.kBrushless)
self.cargo_intake_motor = ctre.WPI_TalonSRX(11)
self.hatch_intake_motor = ctre.WPI_TalonSRX(8)
self.shiftSolenoid1 = wpilib.DoubleSolenoid(0, 1)
self.shiftSolenoid2 = wpilib.DoubleSolenoid(3, 2)
self.blinkin = wpilib.Spark(1)
self.gear = 1
self.irSensor = SharpIR2Y0A21(0)
def init(self):
self.logger.info("DeepSpaceDrive::init()")
self.timer = wpilib.Timer()
self.timer.start()
self.current_state = DriveState.OPERATOR_CONTROL
self.pigeon = PigeonIMU(robotmap.PIGEON_IMU_CAN_ID)
self.leftTalonMaster = ctre.WPI_TalonSRX(robotmap.DRIVE_LEFT_MASTER_CAN_ID)
self.leftTalonSlave = ctre.WPI_TalonSRX(robotmap.DRIVE_LEFT_SLAVE_CAN_ID)
self.rightTalonMaster = ctre.WPI_TalonSRX(robotmap.DRIVE_RIGHT_MASTER_CAN_ID)
self.rightTalonSlave = ctre.WPI_TalonSRX(robotmap.DRIVE_RIGHT_SLAVE_CAN_ID)
self.dummyTalon = ctre.TalonSRX(robotmap.CLAW_LEFT_WHEELS_CAN_ID)
self.talons = [self.leftTalonMaster, self.leftTalonSlave, self.rightTalonMaster, self.rightTalonSlave]
self.masterTalons = [self.leftTalonMaster, self.rightTalonMaster]
self.drive = wpilib.RobotDrive(self.leftTalonMaster, self.rightTalonMaster)
self.drive.setSafetyEnabled(False)
self.drive_front_extend = wpilib.Solenoid(robotmap.PCM1_CANID, robotmap.DRIVE_FRONT_EXTEND_SOLENOID)
self.drive_front_retract = wpilib.Solenoid(robotmap.PCM1_CANID, robotmap.DRIVE_FRONT_RETRACT_SOLENOID)
self.drive_back_extend = wpilib.Solenoid(robotmap.PCM1_CANID, robotmap.DRIVE_REAR_EXTEND_SOLENOID)
self.drive_back_retract = wpilib.Solenoid(robotmap.PCM1_CANID, robotmap.DRIVE_REAR_RETRACT_SOLENOID)
def __init__(self, robot):
"""Save the robot object, and assign and save hardware ports
connected to the drive motors."""
super().__init__()
self.robot = robot
# The digital gyro plugged into the SPI port on RoboRIO
self.gyro = wpilib.ADXRS450_Gyro()
# Motors used for driving
self.left = ctre.WPI_TalonSRX(1)
self.leftB = ctre.WPI_TalonSRX(2)
self.right = ctre.WPI_TalonSRX(3)
self.rightB = ctre.WPI_TalonSRX(4)
# TODO: switch to DifferentialDrive is the main object that deals with driving
self.drive = DifferentialDrive(self.left, self.right)
#TODO: These probably will not be the actual ports used
self.left_encoder = wpilib.Encoder(2, 3)
self.right_encoder = wpilib.Encoder(4, 5)
# Encoders may measure differently in the real world and in
# simulation. In this example the robot moves 0.042 barleycorns
# per tick in the real world, but the simulated encoders
# simulate 360 tick encoders. This if statement allows for the
# real robot to handle this difference in devices.
# TODO: Measure our encoder's distance per pulse
if robot.isReal():
self.left_encoder.setDistancePerPulse(0.042)
self.right_encoder.setDistancePerPulse(0.042)
else:
# Circumference in ft = 4in/12(in/ft)*PI
self.left_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
self.right_encoder.setDistancePerPulse((4.0 / 12.0 * math.pi) / 360.0)
def robotInit(self):
"""Robot initialization function"""
LEFT = 1
RIGHT = 2
CENTER1 = 3
CENTER2 = 4
# object that handles basic drive operations
self.leftTalon = ctre.WPI_TalonSRX(LEFT)
self.rightTalon = ctre.WPI_TalonSRX(RIGHT)
self.centerTalon1 = ctre.WPI_TalonSRX(CENTER1)
self.centerTalon2 = ctre.WPI_TalonSRX(CENTER2)
self.left = wpilib.SpeedControllerGroup(self.leftTalon)
self.right = wpilib.SpeedControllerGroup(self.rightTalon)
self.center1 = wpilib.SpeedControllerGroup(self.centerTalon1)
self.center2 = wpilib.SpeedControllerGroup(self.centerTalon2)
self.myRobot = DifferentialDrive(self.left, self.right)
self.myRobot.setExpiration(0.1)
# joysticks 1 & 2 on the driver station
# self.leftStick = wpilib.Joystick(0)
# self.rightStick = wpilib.Joystick(1)
self.DEADZONE = 0.4
self.LEFT = GenericHID.Hand.kLeft
self.RIGHT = GenericHID.Hand.kRight
self.driver = wpilib.XboxController(0)
def createObjects(self):
#Creates the joystick objects
self.joystick = wpilib.Joystick(0)
#Creates the motor control objects
self.drive_l1 = ctre.WPI_VictorSPX(1) #
self.drive_l2 = ctre.WPI_VictorSPX(2) #
self.drive_r1 = ctre.WPI_VictorSPX(3) #
self.drive_r2 = ctre.WPI_VictorSPX(4) #
self.encoder_l = wpilib.Encoder(0, 1)
self.encoder_r = wpilib.Encoder(2, 3)
self.nav = navx.AHRS.create_spi(
) #Gyros can only be used on channels 0 or 1
self.intake_motor = ctre.WPI_TalonSRX(5)
self.intake_motor.setNeutralMode(ctre.NeutralMode.Brake)
self.shooter_motor = ctre.WPI_TalonSRX(6)
self.shooter_motor.setNeutralMode(ctre.NeutralMode.Brake)
if is_sim:
self.physics = physics.PhysicsEngine()
self.last_tm = time.time()
def initDrivetrain(self):
#talons
leftTalon = ctre.WPI_TalonSRX(0)
rightTalon = ctre.WPI_TalonSRX(1)
#configure talons
for talon in [leftTalon, rightTalon]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
#create wheels
leftWheel = sea.AngledWheel(leftTalon, -1, 0, math.pi / 2, 31291.1352,
16)
rightWheel = sea.AngledWheel(rightTalon, 1, 0, math.pi / 2, 31291.1352,
16)
#add wheels to drivetrain
self.drivetrain = sea.SuperHolonomicDrive()
self.drivetrain.addWheel(leftWheel)
self.drivetrain.addWheel(rightWheel)
for wheel in self.drivetrain.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
#sets up drivetrain to work in the simulator
sea.setSimulatedDrivetrain(self.drivetrain)
def createObjects(self):
with open("../ports.json" if os.getcwd()[-5:-1] == "test" else "ports.json") as f:
self.ports = json.load(f)
with open("../buttons.json" if os.getcwd()[-5:-1] == "test" else "buttons.json") as f:
self.buttons = json.load(f)
# Arm
arm_ports = self.ports["arm"]
self.arm_left = wpilib.Victor(arm_ports["arm_left"])
self.arm_right = ctre.WPI_TalonSRX(arm_ports["arm_right"])
self.wrist = ctre.WPI_TalonSRX(arm_ports["wrist"])
self.intake = wpilib.Spark(arm_ports["intake"])
self.hatch = wpilib.DoubleSolenoid(arm_ports["hatch_in"], arm_ports["hatch_out"])
# DriveTrain
drive_ports = self.ports["drive"]
self.front_left = wpilib.Victor(drive_ports["front_left"])
self.front_right = wpilib.Victor(drive_ports["front_right"])
self.back_left = wpilib.Victor(drive_ports["back_left"])
self.back_right = wpilib.Victor(drive_ports["back_right"])
self.joystick = wpilib.Joystick(0)
self.print_timer = wpilib.Timer()
self.print_timer.start()
self.logger = logging.getLogger("Robot")
self.test_tab = Shuffleboard.getTab("Test")
wpilib.CameraServer.launch()
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.driver_stick = wpilib.Joystick(0)
self.codriver_stick = wpilib.Joystick(1)
self.left_shooter_motor = ctre.WPI_TalonSRX(0)
self.left_drivetrain_motor = ctre.WPI_TalonSRX(1)
self.right_drivetrain_motor = ctre.WPI_TalonSRX(2)
self.right_shooter_motor = ctre.WPI_TalonSRX(3)
self.intake_motor = wpilib.Spark(8)
self.arm_pivot_motor = wpilib.Spark(6)
self.arm_lock_motor = wpilib.Spark(5)
self.timer = wpilib.Timer()
#self.navx = navx.AHRS.create_spi()
self.duration = 20
self.drivetrain = DriveTrain(self.left_drivetrain_motor,
self.right_drivetrain_motor)
self.shooter = Shooter(self.intake_motor, self.left_shooter_motor,
self.right_shooter_motor)
self.arm = Arm(self.arm_pivot_motor, self.arm_lock_motor)
def __init__(self):
super().__init__('Drivetrain')
#The set motor controllers for this years robot and how motors are coded
self.motor_rb = ctre.WPI_TalonSRX(1)
self.motor_rf = ctre.WPI_VictorSPX(17)
self.motor_lb = ctre.WPI_TalonSRX(13)
self.motor_lf = ctre.WPI_VictorSPX(15)
self.motor_rf.follow(self.motor_rb)
self.motor_lf.follow(self.motor_lb)
self.motors = [self.motor_rb, self.motor_lb, self.motor_rf, self.motor_lf]
self.drive = wpilib.drive.DifferentialDrive(self.motor_rb, self.motor_lb)
self.navx = navx.AHRS.create_spi()
self.motor_lb.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,0,0)
self.motor_rb.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder, 0, 0)
self.motor_rb.selectProfileSlot(0, 0)
self.motor_lb.selectProfileSlot(0, 0)
self.navx_table = networktables.NetworkTables.getTable('/Sensor/Navx')
self.leftEncoder_table = networktables.NetworkTables.getTable("/Encoder/Left")
self.rightEncoder_table = networktables.NetworkTables.getTable("/Encoder/Right")
self.leftError = networktables.NetworkTables.getTable("/TalonL/Error")
self.rightError = networktables.NetworkTables.getTable("/TalonR/Error")
self.motor_lb.setSensorPhase(True)
self.motor_rb.setSensorPhase(True)
self.timer = wpilib.Timer()
self.timer.start()
self.mode = ""
self.logger = None
def robotInit(self):
"""
Initializes all motors in the robot.
"""
self.leftTalon = ctre.WPI_TalonSRX(LEFT)
self.rightTalon = ctre.WPI_TalonSRX(RIGHT)
self.centerTalon1 = ctre.WPI_TalonSRX(CENTER1)
self.centerTalon2 = ctre.WPI_TalonSRX(CENTER2)
self.left = wpilib.SpeedControllerGroup(self.leftTalon)
self.right = wpilib.SpeedControllerGroup(self.rightTalon)
self.center1 = wpilib.SpeedControllerGroup(self.centerTalon1)
self.center2 = wpilib.SpeedControllerGroup(self.centerTalon2)
self.myRobot = DifferentialDrive(self.right, self.left)
self.myRobot.setExpiration(0.1)
# reasonable deadzone size
self.DEADZONE = 0.1
self.driver = wpilib.XboxController(0)
# Toggles whether or not robot can move
self.emergencyStop = False
def __init__(self):
#Initialize talon motors with talon speed controller
self.frontLeftMotor = ctre.WPI_TalonSRX(robotmap.FRONT_LEFT_ID)
self.rearLeftMotor = ctre.WPI_TalonSRX(robotmap.REAR_LEFT_ID)
self.frontRightMotor = ctre.WPI_TalonSRX(robotmap.FRONT_RIGHT_ID)
self.rearRightMotor = ctre.WPI_TalonSRX(robotmap.REAR_RIGHT_ID)
# invert the left side motors
self.frontLeftMotor.setInverted(False)
self.frontRightMotor.setInverted(False)
self.rearLeftMotor.setInverted(False)
self.rearRightMotor.setInverted(False)
self.talons = [
self.frontLeftMotor, self.rearLeftMotor, self.frontRightMotor,
self.rearRightMotor
]
#Initialize drivetrain with motors
self.drive = drive.MecanumDrive(
self.frontLeftMotor,
self.rearLeftMotor,
self.frontRightMotor,
self.rearRightMotor,
)
def __init__(self):
super().__init__('Drivetrain')
#The set motor controllers for this years robot and how motors are coded
self.motor_rb = ctre.WPI_TalonSRX(1)
self.motor_rf = ctre.WPI_VictorSPX(17)
self.motor_lb = ctre.WPI_TalonSRX(13)
self.motor_lf = ctre.WPI_VictorSPX(12)
self.motor_rf.follow(self.motor_rb)
self.motor_lf.follow(self.motor_lb)
self.motors = [self.motor_rb, self.motor_lb, self.motor_rf, self.motor_lf]
self.drive = wpilib.drive.DifferentialDrive(self.motor_rb, self.motor_lb)
self.navx = navx.AHRS.create_spi()
self.pdp = wpilib.PowerDistributionPanel(16)
self.motor_lb.setNeutralMode(ctre.NeutralMode.Brake)
self.motor_rb.setNeutralMode(ctre.NeutralMode.Brake)
self.motor_rf.setNeutralMode(ctre.NeutralMode.Brake)
self.motor_lf.setNeutralMode(ctre.NeutralMode.Brake)
self.motor_lb.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,0,0)
self.motor_rb.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder, 0, 0)
self.motor_rb.selectProfileSlot(0, 0)
self.motor_lb.selectProfileSlot(0, 0)
self.table = networktables.NetworkTables.getTable("/Drivetrain")
self.sd_table = networktables.NetworkTables.getTable("/SmartDashboard")
self.motor_lb.setSensorPhase(False)
self.motor_rb.setSensorPhase(False)
self.left_offset = 0
self.right_offset = 0
self.timer = wpilib.Timer()
self.timer.start()
self.computed_velocity = 0
self.logger = None
class Lift:
lift_motor1 = ctre.WPI_TalonSRX(1) #Change these numbers
lift_motor2 = ctre.WPI_TalonSRX(2)
#Speed modifier so it isn't too fast
SPEED = .8
DEADZONE = .2
#Required but not used
def __init__(self):
pass
#Tells the motor to move based on a given value
def move(self, value):
#Changes amount based on speed modifier
if math.fabs(value) < self.DEADZONE:
value = 0
else:
value = value - ((value / math.fabs(value)) * self.DEADZONE)
if (value > 0 and self.limitSwitchB.get() == 1):
value = 0
# if (value < 0 and self.limitSwitchT.get() == 1):
# value = 0
self.lift_motor1.set(value * self.SPEED)
self.lift_motor2.set(value * -self.SPEED)
#Also required, don't know what it does
def execute(self):
pass
def robotInit(self):
self.joystick = wpilib.Joystick(0)
wheelATalon = ctre.WPI_TalonSRX(21)
wheelBTalon = ctre.WPI_TalonSRX(22)
for talon in [wheelATalon, wheelBTalon]:
talon.configSelectedFeedbackSensor(ctre.FeedbackDevice.QuadEncoder,
0, 0)
wheelA = sea.AngledWheel(wheelATalon,
1.0,
0.0,
math.pi / 2,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
wheelB = sea.AngledWheel(wheelBTalon,
-1.0,
0.0,
math.pi / 2,
encoderCountsPerFoot=31291.1352,
maxVoltageVelocity=16)
self.superDrive = sea.SuperHolonomicDrive()
self.superDrive.addWheel(wheelA)
self.superDrive.addWheel(wheelB)
for wheel in self.superDrive.wheels:
wheel.driveMode = ctre.ControlMode.PercentOutput
def __init__(self):
self.motor1 = ctre.WPI_TalonSRX(31)
self.motor1.configFactoryDefault(0)
self.motor1.setNeutralMode(ctre.NeutralMode.Brake)
self.motor2 = ctre.WPI_TalonSRX(32)
self.motor2.configFactoryDefault(0)
self.motor2.setNeutralMode(ctre.NeutralMode.Brake)
self.fast = False
def createObjects(self):
self.joystickR = wpilib.Joystick(0)
self.drive_l1 = ctre.WPI_TalonSRX(1)
self.drive_l2 = ctre.VictorSPX(2)
self.drive_l3 = ctre.VictorSPX(3)
self.drive_r1 = ctre.WPI_TalonSRX(4)
self.drive_r2 = ctre.VictorSPX(5)
self.drive_r3 = ctre.VictorSPX(6)
def robotInit(self):
self.robot_drive = wpilib.RobotDrive(5,6)
self.stick1 = wpilib.Joystick(0)
self.motor1 = ctre.WPI_TalonSRX(1) # Initialize the TalonSRX on device 1.
self.motor2 = ctre.WPI_TalonSRX(2)
self.motor3 = ctre.WPI_TalonSRX(3)
self.motor4 = ctre.WPI_TalonSRX(4)
def __init__(self):
'''Assign and save the motor controllers for the front and rear
screw jacks of the elevator.'''
super().__init__()
self.FrontElevator1 = ctre.WPI_TalonSRX(5)
self.FrontElevator2 = ctre.WPI_TalonSRX(6)
self.RearElevator = ctre.WPI_TalonSRX(10)
def __init__(self):
self.leftMotor = wpi.SpeedControllerGroup(
ctre.WPI_TalonSRX(ports.talonPorts.get("leftChassisMotor")))
self.rightMotor = wpi.SpeedControllerGroup(
ctre.WPI_TalonSRX(ports.talonPorts.get("rightChassisMotor")))
self.drive = wpi.drive.DifferentialDrive(self.leftMotor,
self.rightMotor)
