def getJoystick():
"""This function creates an instance of the joystick, and assigns commands
to the joystick buttons."""
joystick = Joystick(0)
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(GrippersIntake())
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whileHeld(GrippersExhaust())
POV_up = POVButton(joystick, 0)
POV_down = POVButton(joystick, 180)
POV_up.whileActive(ElevatorUp())
POV_down.whileActive(ElevatorDown())
button_5 = JoystickButton(joystick, 5)
button_5.whenPressed(HandlesState(HandlesOpen(), HandlesClose()))
button_6 = JoystickButton(joystick, 6)
button_6.whenPressed(DrivetrainState(StrengthState(), SpeedState()))
return joystick
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button1 = JoystickButton(joystick, 1)
button1.whileHeld(Targeting())
return Joystick
def get_joystick():
joystick = Joystick(0)
thumb = JoystickButton(joystick, Joystick.ButtonType.kTop)
thumb.whenPressed(SwitchMode())
trigger = JoystickButton(joystick, Joystick.ButtonType.kTrigger)
trigger.whileHeld(OperateConveyor())
button_11 = JoystickButton(joystick, 11)
button_11.whenPressed(AutoTargetY())
button_12 = JoystickButton(joystick, 12)
button_12.whenPressed(AutoTargetX())
button_9 = JoystickButton(joystick, 9)
button_9.whenPressed(AutoTargetAngle())
return joystick
def getJoystick():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
joystick = Joystick(0)
button5 = JoystickButton(joystick, 5)
button6 = JoystickButton(joystick, 6)
button3 = JoystickButton(joystick, 3)
button4 = JoystickButton(joystick, 4)
button1 = JoystickButton(joystick, 1)
button2 = JoystickButton(joystick, 2)
button7 = JoystickButton(joystick, 7)
button5.whenPressed(BallIntake())
button6.whileHeld(BallOutake())
button3.whileHeld(LiftArm())
button4.whileHeld(LowerArm())
button1.whileHeld(HatchUp())
button2.whileHeld(HatchDown())
button7.whileHeld(FindTarget())
return joystick
def init():
"""
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
"""
global leftDriverStick
global rightDriverStick
global goGamePad
try:
leftDriverStick = T16000M(0)
except:
print(
'OI: Error - Could not instantiate Left Driver Stick on USB port 0!!!'
)
try:
rightDriverStick = T16000M(1)
except:
print(
'OI: Error - Could not instantiate Right Driver Stick on USB port 0!!!'
)
try:
goGamePad = Joystick(2)
except:
print('OI: Error - Could not instantiate GO GamePad on USB port 2!!!')
# ----------------------------------------------------------
# Driver Controls
# ----------------------------------------------------------
#global resetYawBtn
#resetYawBtn = JoystickButton(rightDriverStick, config.btnResetYawAngleIndex)
#resetYawBtn.whenPressed(NavxResetYawAngle())
#global btnDriveSlow
#btnDriveSlow = JoystickButton(leftDriverStick, config.btnDriveSlow)
global btnEnableLightSensor
btnEnableLightSensor = JoystickButton(leftDriverStick,
config.btnEnableLightSensorIndex)
global btnResetEncoders
btnResetEncoders = JoystickButton(leftDriverStick,
config.btnResetEncodersIndex)
btnResetEncoders.whenPressed(ElevatorResetEncoders())
# ----------------------------------------------------------
# Manipulators (Cargo and Hatch)
# ----------------------------------------------------------
global btnCargoGrabTog
btnCargoGrabTog = JoystickButton(goGamePad, config.btnCargoGrabTogIndex)
btnCargoGrabTog.whenPressed(CargoToggleTrigger())
global btnHatchGrabTog
btnHatchGrabTog = JoystickButton(goGamePad, config.btnHatchGrabTogIndex)
btnHatchGrabTog.whenPressed(HatchToggleTrigger())
global btnExtendSuctionsTog
btnExtendSuctionsTog = JoystickButton(goGamePad,
config.btnExtendSuctionsTogIndex)
btnExtendSuctionsTog.whenPressed(ExtendSuctionsTrigger())
# ----------------------------------------------------------
# Elevator system
# ----------------------------------------------------------
global btnElevatorHatchHeight
btnElevatorHatchHeight = JoystickButton(goGamePad,
config.btnElevatorHatchHeightIndex)
btnElevatorHatchHeight.whenPressed(ElevatorMoveHatchHeight())
global btnElevatorCargoHeight
btnElevatorCargoHeight = JoystickButton(goGamePad,
config.btnElevatorCargoHeightIndex)
btnElevatorCargoHeight.whenPressed(ElevatorCargoHeight())
# ----------------------------------------------------------
# Ramp system
# ----------------------------------------------------------
#global btnRampExtendTog
#btnRampExtendTog = JoystickButton(goGamePad, config.btnRampExtendTogIndex)
#btnRampExtendTog.whenPressed(RampExtend())
#global btnRampRetractTog
#btnRampRetractTog = JoystickButton(goGamePad, config.btnRampRetractTogIndex)
#btnRampRetractTog.whenPressed(RampRetract())
global btnRampTog
btnRampTog = JoystickButton(goGamePad, config.btnRampTogIndex)
btnRampTog.whenPressed(RampToggleTrigger())
# ----------------------------------------------------------
# Lift system
# ----------------------------------------------------------
global btnAutoClimb
btnAutoClimb = JoystickButton(leftDriverStick, config.btnAutoClimbIndex)
btnAutoClimb.whileHeld(AutoClimb())
#global btnTogAllLift
#btnTogAllLift = JoystickButton(rightDriverStick, config.btnTogAllLiftIndex)
#btnTogAllLift.whenPressed(AllLiftTogTrigger())
global btnExtendAll
btnExtendAll = JoystickButton(rightDriverStick, config.btnExtendAllIndex)
btnExtendAll.whenPressed(ExtendAll())
global btnRetractAll
btnRetractAll = JoystickButton(rightDriverStick, config.btnRetractAllIndex)
btnRetractAll.whenPressed(RetractAll())
#global btnTogFrontLift
#btnTogFrontLift = JoystickButton(rightDriverStick, config.btnTogFrontLiftIndex)
#btnTogFrontLift.whenPressed(FrontLiftTogTrigger())
global btnExtendFront
btnExtendFront = JoystickButton(rightDriverStick,
config.btnExtendFrontIndex)
btnExtendFront.whenPressed(ExtendFront())
global btnRetractFront
btnRetractFront = JoystickButton(rightDriverStick,
config.btnRetractFrontIndex)
btnRetractFront.whenPressed(RetractFront())
#global btnTogBackLift
#btnTogBackLift = JoystickButton(rightDriverStick, config.btnTogBackLiftIndex)
#btnTogBackLift.whenPressed(BackLiftTogTrigger())
global btnExtendBack
btnExtendBack = JoystickButton(rightDriverStick, config.btnExtendBackIndex)
btnExtendBack.whenPressed(ExtendBack())
global btnRetractBack
btnRetractBack = JoystickButton(rightDriverStick,
config.btnRetractBackIndex)
btnRetractBack.whenPressed(RetractBack())
class MyRobot(commandbased.CommandBasedRobot):
def robotInit(self):
'''This is where the robot code starts.'''
team3200.getRobot = lambda x=0:self
self.map = team3200.robotMap.RobotMap()
self.networkTableInit()
self.dtSub = team3200.subsystems.driveTrain.DriveTrainSub()
self.jGreatDrive = joystickDrive.JoystickDrive(-.8)
self.jDrive = self.jGreatDrive
self.driveInit(self.jDrive)
self.liftHold = True
self.liftSub = team3200.subsystems.lifter.LifterSub()
self.pistonSub = team3200.subsystems.lifter.PlatePiston()
self.driveController = wpilib.XboxController(self.map.controllerMap.driverController['controllerId'])
self.auxController = wpilib.XboxController(self.map.controllerMap.auxController['controllerId'])
self.controllerInit()
self.healthMonitor = team3200.subsystems.healthMonitor.HealthMonitor()
def networkTableInit(self):
'''This sets up the network tables and adds a variable called sensitivity'''
NetworkTables.initialize(server = 'roborio-3200-frc.local')
self.liveWindowTable = NetworkTables.getTable('Custom')
for k, v in self.map.networkTableMap.networkTableValues.items():
#K for key, V for value
self.liveWindowTable.putNumber(k, v)
def controllerInit(self):
self.driveController = wpilib.XboxController(self.map.controllerMap.driverController['controllerId'])
self.auxController = wpilib.XboxController(self.map.controllerMap.auxController['controllerId'])
self.driveControllerMap = self.map.controllerMap.driverController
self.auxControllerMap = self.map.controllerMap.auxController
#Spacing added for readability
'''Buttons for the Drive Controller'''
self.lightButton = JoystickButton(self.driveController, self.driveControllerMap['ledToggle'])
self.lightButton.whenPressed(Lights())
self.leftButton = JoystickButton(self.driveController, self.driveControllerMap['leftButton'])
self.leftButton.whenPressed(joystickDrive.GearDown(self))
self.rightButton = JoystickButton(self.driveController, self.driveControllerMap['rightButton'])
self.rightButton.whileHeld(joystickDrive.GearUp(self))
self.alignButton = JoystickButton(self.driveController, self.driveControllerMap['alignButton'])
self.alignButton.whenPressed(AlignButton(self.dtSub))
self.straightButton = JoystickButton(self.driveController, self.driveControllerMap['straightButton'])
self.straightButton.whileHeld(DriveStraight(self.dtSub))
'''Buttons for the Auxiliary Controller'''
self.raiseButton = JoystickButton(self.auxController, self.auxControllerMap['RaiseButton'])
if self.liftHold:
self.raiseButton.whileHeld(lifterControl.RaiseButton(self.liftSub))
self.raiseButton.whenReleased(lifterControl.StopButton(self.liftSub))
else:
self.raiseButton.whenPressed(lifterControl.RaiseButton(self.liftSub))
self.lowerButton = JoystickButton(self.auxController, self.auxControllerMap['LowerButton'])
if self.liftHold:
self.lowerButton.whileHeld(lifterControl.LowerButton(self.liftSub))
self.lowerButton.whenReleased(lifterControl.StopButton(self.liftSub))
else:
self.lowerButton.whenPressed(lifterControl.LowerButton(self.liftSub))
self.pistonButton = JoystickButton(self.auxController, self.auxControllerMap['PistonButton'])
self.pistonButton.whenPressed(lifterControl.PistonButton(self.pistonSub))
self.rollerIO = JoystickButton(self.auxController, self.auxControllerMap['RollerIO'])
self.rollerIO.whenPressed(lifterControl.ForwardRoller(self.liftSub))
self.rollerIO.whenReleased(lifterControl.StopRoller(self.liftSub))
self.rollerToggle = JoystickButton(self.auxController, self.auxControllerMap['RollerToggle'])
self.rollerToggle.whenPressed(lifterControl.ReverseRoller(self.liftSub))
self.rollerToggle.whenReleased(lifterControl.StopRoller(self.liftSub))
def driveInit(self, jDrive):
self.dtSub = team3200.subsystems.driveTrain.DriveTrainSub()
self.jDrive = jDrive
sensName = "ControllerSensitivity"
if sensName in self.map.networkTableMap.networkTableValues:
sensEntry = self.liveWindowTable.getEntry(sensName)
self.jDrive = team3200.commands.joystickDrive.JoystickDrive(sensEntry)
self.dtSub.setDefaultCommand(self.jDrive)
class OI(object):
def __init__(self):
# Create Joysticks
self._driveJoy = XboxController(0)
self._cyController = Joystick(1)
# Create Buttons
self._blastenTheHatches = JoystickButton(self._driveJoy, 2)
self._servoOpen = JoystickButton(self._driveJoy, 4)
self._servoHalf = JoystickButton(self._driveJoy, 3)
self._servoClose = JoystickButton(self._driveJoy, 1)
self._suplexButton = JoystickButton(self._driveJoy, 8)
self._backButton = JoystickButton(self._driveJoy, 7)
# Testing
self._moveMastUpButton = JoystickButton(self._cyController, 8)
self._moveMastDownButton = JoystickButton(self._cyController, 9)
# Connect Buttons to Commands
hatchEffector = Command.getRobot().hatchEffector
self._blastenTheHatches.whileHeld(hatchEffector.ParallelShoot(hatchEffector))
self._servoOpen.whileHeld(hatchEffector.ServoOpen(hatchEffector))
self._servoHalf.whileHeld(hatchEffector.ServoHalf(hatchEffector))
self._servoClose.whileHeld(hatchEffector.ServoClose(hatchEffector))
suplex = Command.getRobot().suplex
self._suplexButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.UP))
self._backButton.whileHeld(suplex.Smash(suplex, Flipper.FlipDirection.DOWN))
mastyBoi = Command.getRobot().mastyBoi
self._moveMastUpButton.whileHeld(mastyBoi.HoistTheColors(mastyBoi))
self._moveMastDownButton.whileHeld(mastyBoi.RetrieveTheColors(mastyBoi))
@property
def driveJoy(self):
return self._driveJoy
def init():
'''
Assign commands to button actions, and publish your joysticks so you
can read values from them later.
'''
global joystick
joystick = Joystick(0)
brakeButton = JoystickButton(joystick, RobotMap.buttons.brake)
brakeButton.whileHeld(Brake())
# resetRevolutionsButton = JoystickButton(joystick, RobotMap.buttons.resetRevolutions)
# resetRevolutionsButton.whenPressed(ResetRevolutions())
preciseDriveButton = JoystickButton(joystick, RobotMap.buttons.preciseDrive)
preciseDriveButton.whileHeld(PreciseDriveWithJoystick())
# climbButton = JoystickButton(joystick, RobotMap.buttons.climb)
# climbButton.whileHeld(Climb())
# dropButton = JoystickButton(joystick, RobotMap.buttons.drop)
# dropButton.whileHeld(Drop())
# stopClimbButton = JoystickButton(joystick, RobotMap.buttons.stopClimb)
# stopClimbButton.whileHeld(StopClimb())
# suckCubeButton = JoystickButton(joystick, RobotMap.buttons.suckCube)
# suckCubeButton.whileHeld(SuckCube())
retractCubeButton = JoystickButton(joystick, RobotMap.buttons.retractCube)
retractCubeButton.whileHeld(RetractCube())
retractCubeButton2 = JoystickButton(joystick, RobotMap.buttons.retractCube2)
retractCubeButton2.whileHeld(RetractCube())
winchUpButton = JoystickButton(joystick, RobotMap.buttons.winchUp)
winchUpButton.whileHeld(WinchUp())
winchDownButton = JoystickButton(joystick, RobotMap.buttons.winchDown)
winchDownButton.whileHeld(WinchDown())