class OI():
def __init__(self):
self.driveRobot = DriveTrain()
self.arm = ArmSystem()
self.pneumatics = PneumaticsCommand()
# self.servo = ServoCommand()
self.armToggle = Toggle(self.pneumatics.extendArm,
self.pneumatics.retractArm)
self.gripToggle = Toggle(self.pneumatics.openGrip,
self.pneumatics.closeGrip)
self.joystick = Joystick(0)
self.armUpButton = JoystickButton(self.joystick, 6)
self.armDownButton = JoystickButton(self.joystick, 4)
self.stopButton = JoystickButton(self.joystick, 10)
''' Extension and retraction variables - syntax: ''' # JoystickButton(self.joystick, [appointed button number])
# self.armExtendButton = JoystickButton(self.joystick, 5)
# self.armRetractButton = JoystickButton(self.joystick, 3)
# self.armToggle = False
# self.armLast = False
# self.grabToggle = False
# self.grabLast = False
self.armButton = JoystickButton(self.joystick, 2)
self.gripButton = JoystickButton(self.joystick, 1)
def poll(self):
''' Axis control - syntax: ''' # self.joystick.get[axis]()
self.xAxis = self.joystick.getX()
self.yAxis = self.joystick.getY()
self.zAxis = self.joystick.getZ()
self.driveRobot.drive(self.xAxis, self.yAxis, self.zAxis)
# print(self.armUpButton.get())
self.arm.armMove(0.5, self.armUpButton.get(), self.armDownButton.get())
self.armToggle.togglePneumatics(self.armButton.get())
self.gripToggle.togglePneumatics(self.gripButton.get())
class BeaverTronicsRobot(wpilib.IterativeRobot):
def robotInit(self):
#**************Camera Initialization********************
#Networktables.initialize('server=roborio.5970-frc.local')
#wpilib.CameraServer.launch()
#wpilib.CameraServer.launch('vision.py:main')
"""
This function is called upon program startup and
should be used for any initialization code.
"""
#**************Robot-Side Initialization***************
# Inititalize the Drive motors
self.left_motors = []
self.left_motors.append(wpilib.VictorSP(0))
self.left_motors.append(wpilib.VictorSP(1))
self.right_motors = []
self.right_motors.append(wpilib.VictorSP(4))
self.right_motors.append(wpilib.VictorSP(3))
# too lazy to change the formal from a list even though its only 1 thing.deal with it.
# Initialize the winch Motor
self.winch_motor = []
self.winch_motor.append(wpilib.VictorSP(8))
# Initialize the triger Motor
self.Triger_motor = []
self.Trigger_motor.append(wpilib.VictorSP(7))
#***************Driverstation Initialization******************
#TANK DRIVE Xbox
# Initialize the Joysticks that will be used
self.xbox = wpilib.XboxController(1)
#got the pinouts off of google need to test
self.WinchUp = JoystickButton(self.xbox, 0) #A
self.WinchDown = JoystickButton(self.xbox, 1) #B
self.Trigger = JoystickButton(self.xbox, 3) #Y
#Initialize the Joysticks that will be used--idk what this does because im doing this @11:45 before comp, so im not deleting it
self.throttle = wpilib.Joystick(1)
self.steering = wpilib.Joystick(2)
def autonomousInit(self):
"""This function is run once each time the robot enters autonomous mode."""
self.auto_loop_counter = 0
def autonomousPeriodic(self):
#old auto code could be used to cross baseline if we wire shit up correctly
if self.auto_loop_counter < 10:
self.setDriveMotors(1, -1) # forward auto
"""else:
if self.auto_loop_counter < 20/2:
self.DoubleSolenoid.set(1)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 30/2:
self.DoubleSolenoid.set(2)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 50/2:
self.DoubleSolenoid.set(1)
self.auto_loop_counter += 1
else:
if self.auto_loop_counter < 70/2:
self.DoubleSolenoid.set(2)
self.auto_loop_counter += 1
self.auto_loop_counter = 0"""
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
self.drivetrainMotorControl()
self.Winch()
self.Trigger()
def testPeriodic(self):
"""This function is called periodically during test mode."""
def drivetrainMotorControl(self):
left = self.steering.getY()
right = self.throttle.getY()
drive_powers = drive.tankdrive(right, left)
self.leftspeeds = drive_powers[0]
self.rightspeeds = drive_powers[1]
# set the motors to powers
self.setDriveMotors(self.leftspeeds, self.rightspeeds)
def setDriveMotors(self, leftspeed, rightspeed):
for motor in self.right_motors:
motor.set(leftspeed * -1)
for motor in self.left_motors:
motor.set(rightspeed * -1)
def winch(self):
if self.WinchUp.get():
for motor in self.Winch_motor:
motor.set(1)
elif setf.WinchDown.get():
for motor in self.Winch_motor:
motor.set(-1)
else:
for motor in self.Winch_motor:
motor.set(0)
def Trigger(self):
if self.Trigger.get():
for motor in self.Trigger_motor:
motor.set(1)
else:
for motor in self.Trigger_motor:
motor.set(0)
class OI(object):
def __init__(self):
# Create Joysticks
self.stick = Joystick(0)
self.gamepad = Joystick(1)
# Create Buttons
self.trigger = JoystickButton(self.stick, 1)
self.button2 = JoystickButton(self.stick, 2)
self.button3 = JoystickButton(self.stick, 3)
self.button4 = JoystickButton(self.stick, 4)
self.button5 = JoystickButton(self.stick, 5)
self.button6 = JoystickButton(self.stick, 6)
self.button7 = JoystickButton(self.stick, 7)
self.button8 = JoystickButton(self.stick, 8)
self.button9 = JoystickButton(self.stick, 9)
self.button10 = JoystickButton(self.stick, 10)
self.button11 = JoystickButton(self.stick, 11)
self.pad1 = JoystickButton(self.gamepad, 1)
self.pad2 = JoystickButton(self.gamepad, 2)
self.pad3 = JoystickButton(self.gamepad, 3)
self.pad4 = JoystickButton(self.gamepad, 4)
self.pad5 = JoystickButton(self.gamepad, 5)
self.pad6 = JoystickButton(self.gamepad, 6)
self.pad7 = JoystickButton(self.gamepad, 7)
self.pad8 = JoystickButton(self.gamepad, 8)
self.pad9 = JoystickButton(self.gamepad, 9)
self.climb2 = ComboButton(self.pad6, self.button6)
self.climb3 = ComboButton(self.pad5, self.button6)
# Test buttons
self.test = ComboButton(self.pad2, self.button6)
# Command hookups
self.trigger.whenPressed(Intake())
self.trigger.whenReleased(NeutralIntake())
# self.button2.whileHeld(Align(3.0))
self.button8.whenPressed(
type(
'', (InstantCommand, ), {
'initialize':
lambda: Command.getRobot().liftElevator.resetEncoders()
}))
self.pad1.whenPressed(SetObjectMode(
IntakeOutput.BallOrHatchMode.HATCH))
self.pad1.whenReleased(SetObjectMode(
IntakeOutput.BallOrHatchMode.BALL))
Command.getRobot().intakeOutput.mode = IntakeOutput.BallOrHatchMode.HATCH if \
self.pad1.get() else IntakeOutput.BallOrHatchMode.HATCH
self.test.whenPressed(TopConditional())
self.pad3.whenPressed(MiddleConditional())
self.pad4.whenPressed(LowConditional())
self.climb2.whenPressed(TwoClimbG())
self.climb3.whenPressed(OneClimbG())
self.pad7.whenPressed(MoveElevator(1))
self.pad8.whenPressed(HighCenter())
@property
def driveStick(self):
return self.stick
@property
def gamePad(self):
return self.gamePad