def initialize(self):
""" Read in and apply current drive choices. """
DriveHuman.setupDashboardControls()
global modeChooser
self.mode = modeChooser.getSelected()
self.quickTurn = SmartDashboard.getBoolean("Quick Turn", self.quickTurn)
self.squareInputs = SmartDashboard.getBoolean("Square Inputs", self.squareInputs)
self.fixedLeft = SmartDashboard.getNumber("Fixed Left", self.fixedLeft)
self.fixedRight = SmartDashboard.getNumber("Fixed Right", self.fixedRight)
self.rotationGain = SmartDashboard.getNumber("Rotation Gain", self.rotationGain)
self.slowGain = SmartDashboard.getNumber("Slow Gain", self.slowGain)
def _update_sd(self):
SmartDashboard.putNumber("Left Encoder Position", self.left_talon0.getEncPosition())
SmartDashboard.putNumber("Right Encoder Position", self.right_talon0.getEncPosition())
SmartDashboard.putNumber("heading", self.get_gyro_angle())
self.reversed = SmartDashboard.getBoolean("Reversed", False)
self.turn_controller.setPID(self.turning_P.value, self.turning_I.value, self.turning_D.value, 0)
def approach(self, state_tm):
if SmartDashboard.getBoolean("Vision/Found Hook"):
self.next_state('found_hook')
else:
if state_tm < self.forward_time:
self.drive.arcade_drive(0, 0.25)
else:
self.next_state('stop')
def LeftStickX(self):
creep_mode = SmartDashboard.getBoolean("Creep", False)
if creep_mode:
return self.conditonAxis(
self.getRawAxis(robotmap.XBOX_LEFT_X_AXIS),
self.creep_x_deadband, self.creep_x_rate, self.creep_x_expo,
self.creep_x_power, self.creep_x_min, self.creep_x_max)
else:
return self.conditonAxis(
self.getRawAxis(robotmap.XBOX_LEFT_X_AXIS),
self.left_x_deadband, self.left_x_rate, self.left_x_expo,
self.left_x_power, self.left_x_min, self.left_x_max)
def reverse(self):
SmartDashboard.putBoolean("Reversed", not SmartDashboard.getBoolean("Reversed", False))
