def robotInit( self ):
# Motor Config
self.PositionConfig = CANTalonConfig( wpilib.CANTalon.ControlMode.Position,
wpilib.CANTalon.FeedbackDevice.QuadEncoder )
self.PositionConfig.setPIDF( 0.5, 0.0, 2.0, 0.0 )
self.PositionConfig.setControlSlot( 0 )
self.PositionConfig.setRampRates( 25.0, 0.0 )
self.PositionConfig.setBraking( False )
self.Drive = DriveUnit(11,2, AngleConfig=self.PositionConfig, magTalon= True)
self.Drive.setEncoderClicksRev(400000)
# Sticks
self.RightStick = SmartJoystick( 1, axisDeadband=0.08 )
self.SmartDashboard = wpilib.SmartDashboard()
class MyRobot( wpilib.IterativeRobot ):
def robotInit( self ):
# Motor Config
self.PositionConfig = CANTalonConfig( wpilib.CANTalon.ControlMode.Position,
wpilib.CANTalon.FeedbackDevice.QuadEncoder )
self.PositionConfig.setPIDF( 0.5, 0.0, 2.0, 0.0 )
self.PositionConfig.setControlSlot( 0 )
self.PositionConfig.setRampRates( 25.0, 0.0 )
self.PositionConfig.setBraking( False )
self.Drive = DriveUnit(11,2, AngleConfig=self.PositionConfig, magTalon= True)
self.Drive.setEncoderClicksRev(400000)
# Sticks
self.RightStick = SmartJoystick( 1, axisDeadband=0.08 )
self.SmartDashboard = wpilib.SmartDashboard()
def autonomousInit( self ):
pass
def autonomousPeriodic( self ):
pass
def teleopInit( self ):
self.Drive.enable()
print( "Enabled" )
def teleopPeriodic( self ):
vector = self.RightStick.getVector(compass= True, Yinv= False)
self.Drive.setVector(vector)
self.Drive.pushTransform()
def testInit( self ):
pass
def testPeriodic( self ):
pass
def disabledInit( self ):
self.Drive.disable( )
