def robotInit(self):
"""Run when the robot turns on."""
field_styles = coloredlogs.DEFAULT_FIELD_STYLES
field_styles['filename'] = {'color': 'cyan'}
coloredlogs.install(
fmt=
"%(asctime)s[%(msecs)d] %(filename)s:%(lineno)d %(name)s %(levelname)s %(message)s",
datefmt="%m-%d %H:%M:%S",
field_styles=field_styles) # install to created handler
Command.getRobot = lambda x=0: self
# Update constants from json file on robot
# if self.isReal():
# Constants.updateConstants()
# Update constants for dashboard editing
Constants.initSmartDashboard()
# Initialize motor objects
drive.Drive().init()
backarm.BackArm().init()
intake.Intake().init()
# The PDP
# self.pdp = PDP(7)
# Set command group member variables
self.autonomous = autogroup.AutonomousCommandGroup()
self.disabled = disabledgroup.DisabledCommandGroup()
self.disabled.setRunWhenDisabled(True)
self.teleop = teleopgroup.TeleopCommandGroup()
self.test = testgroup.TestCommandGroup()
self.global_ = globalgroup.GlobalCommandGroup()
self.global_.setRunWhenDisabled(True)
# Start the camera sever
CameraServer.launch()
self.watchdog = watchdog.Watchdog(Constants.WATCHDOG_TIMEOUT,
self._watchdogTimeout)
self.globalInit()
LiveWindow.disableAllTelemetry()
def robotInit(self):
self.drivetrain = drivetrain.Drivetrain(self)
self.intake = intake.Intake(self)
self.lift = lift.Lift(self)
self.oi = OI(self)
self.logger = logging.getLogger("robot")
self.autonomousCommand = None
wpilib.CameraServer.launch('vision.py:main')
self.chooser = wpilib.SendableChooser()
self.chooser.addObject("Left", 1)
self.chooser.addDefault("Center", 2)
self.chooser.addObject("Right", 3)
wpilib.SmartDashboard.putData("Auto Chooser", self.chooser)
def __init__(self):
"""Initilize the Odemetry class."""
super().__init__()
self.drive = drive.Drive()
self.timestamp = 0
self.last_timestamp = 0
self.dt = 0
# Gyroscope
if hal.isSimulation():
self.gyro = analoggyro.AnalogGyro(0)
self.pidgyro = pidanaloggyro.PIDAnalogGyro(self.gyro)
else:
self.gyro = PigeonIMU(intake.Intake().l_motor)
self.pidgyro = pidpigeon.PIDPigeon(self.gyro)
self.pose = pose.Pose()
self.last_left_encoder_distance = 0
self.last_right_encoder_distance = 0
self.last_angle = 0
def robotInit(self):
"""
Init Robot
"""
# Robot Components
# Constructor params are PWM Ports on the RIO
self.drivetrain = drive.Drivetrain(self, 1,2,3,4)
self.intake = intake.Intake(0, self)
self.popper = popper.Popper(0,0)
self.front_lift = lift.Lift(0,1,2)
self.rear_lift = lift.Lift(0,5,4)
self.imu = imu.IMU(2)
self.encoders = encoders.Encoders()
CameraServer.launch("subsystems/camera.py:main")
self.oi = OI(self)
#self.drivecommand = DriveCommandGroup()
self.timer = Timer()
def __init__(self, state):
super().__init__()
self.intake = intake.Intake()
self.requires(self.intake)
self.state = state
self.setInterruptible(True)