class Robot(MagicRobot):
pid_controller: PIDControl
chassis: Chassis
joystick: Joystick
pid_drive: piddrive
def createObjects(self):
self.chassis_left_motor_master = WPI_TalonSRX(1)
self.chassis_left_motor_slave = WPI_TalonSRX(2)
self.chassis_right_motor_master = WPI_TalonSRX(3)
self.chassis_right_motor_slave = WPI_TalonSRX(4)
self.chassis_navx = AHRS.create_spi()
self.joystick = Joystick(0)
def teleopPeriodic(self):
self.chassis.set_speed(-self.joystick.getY(),
-self.joystick.getThrottle())
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())
