def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot", DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# make this true to ignore joystick errors
self.debug = False
self.enabled_time = 0
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.navigation = Navigation(self)
self.pneumatics = Pneumatics(self)
self.peripherals = Peripherals(self)
#wpilib.SmartDashboard.putData(self.drivetrain)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
wpilib.SmartDashboard.putData(Scheduler.getInstance())
# instantiate the command used for the autonomous period
self.autonomousCommand = None
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot",
DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def __init__(self):
self.timer = Timer()
self.driver_station = DriverStation(controller=XboxController(0))
# self.gyroscope = AHRS.create_i2c()
# self.left_encoder = Encoder()
# self.right_encoder = Encoder()
self.drivetrain = TankDrivetrain(timer=self.timer, left_motors=[TalonSRX(10), TalonSRX(6)],
right_motors=[TalonSRX(12), TalonSRX(18)])
self.pneumatics = Pneumatics(compressor=Compressor(0), start_compressor=True, timer=self.timer)
self.beak = BeakMechanism(beak_solenoid=DoubleSolenoid(0, 4, 5), diag_solenoid=DoubleSolenoid(0, 0, 1),
driver_station=self.driver_station, timer=self.timer, cooldown=0.5)
# self.odometry = EncoderOdometry(left_encoder=self.left_encoder, right_encoder=self.right_encoder, gyro=self.gyroscope)
'''
class Robot(wpilib.IterativeRobot):
"""This is the main class for running the PacGoat code."""
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot",
DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def autonomousInit(self):
self.autonomousCommand = self.autoChooser.getSelected()
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
"""This function is called at the beginning of operator control."""
#This makes sure that the autonomous stops running when
#teleop starts running. If you want the autonomous to
#continue until interrupted by another command, remove
#this line or comment it out.
if self.autonomousCommand is not None:
self.autonomousCommand.cancel()
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
"""This function is called periodically during test mode."""
wpilib.LiveWindow.run()
def disabledInit(self):
self.shooter.unlatch()
def disabledPeriodic(self):
"""This function is called periodically while disabled."""
self.log()
def log(self):
self.pneumatics.writePressure()
wpilib.SmartDashboard.putNumber("Pivot Pot Value",
self.pivot.getAngle())
wpilib.SmartDashboard.putNumber(
"Left Distance",
self.drivetrain.getLeftEncoder().getDistance())
wpilib.SmartDashboard.putNumber(
"Right Distance",
self.drivetrain.getRightEncoder().getDistance())
class Robot(wpilib.IterativeRobot):
"""This is the main class for running the PacGoat code."""
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot", DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def autonomousInit(self):
self.autonomousCommand = self.autoChooser.getSelected()
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
"""This function is called at the beginning of operator control."""
#This makes sure that the autonomous stops running when
#teleop starts running. If you want the autonomous to
#continue until interrupted by another command, remove
#this line or comment it out.
if self.autonomousCommand is not None:
self.autonomousCommand.cancel()
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
"""This function is called periodically during test mode."""
wpilib.LiveWindow.run()
def disabledInit(self):
self.shooter.unlatch()
def disabledPeriodic(self):
"""This function is called periodically while disabled."""
self.log()
def log(self):
self.pneumatics.writePressure()
wpilib.SmartDashboard.putNumber("Pivot Pot Value", self.pivot.getAngle())
wpilib.SmartDashboard.putNumber("Left Distance", self.drivetrain.getLeftEncoder().getDistance())
wpilib.SmartDashboard.putNumber("Right Distance", self.drivetrain.getRightEncoder().getDistance())
def __init__(self):
Command.__init__(self, "SolenoidControl")
self.pneumatic_subsystem = Pneumatics()
self.piston = self.pneumatic_subsystem.dsolenoid
self.sol_value = wpilib.DoubleSolenoid.Value