class Robot(CommandBasedRobot): def robotInit(self): subsystems.init() self.followJoystick = FollowJoystick() def teleopInit(self): self.followJoystick.start()
def teleopInit(self): """This function runs at the beginning of the teleop period""" # Here we set the drivetrain's default command to FollowJoystick(). # Meaning that once the teleop begins, the robot will be controlled by # the joystick. self.drivetrain.setDefaultCommand(FollowJoystick())
def robotInit(self): subsystems.init() oi.init() self.teleopProgram = wpilib.command.CommandGroup() self.teleopProgram.addParallel(FollowJoystick()) self.teleopProgram.addParallel(Intake())
def initDefaultCommand(self): """Sets the default command of this subsystem to the `FollowJoystick` command. This will run when nothing else is running on the `Drivetrain` subsytem. """ self.setDefaultCommand(FollowJoystick()) print("Set the default command of the `Drivetrain` to `FollowJoystick`.")
def returnPIDInput(self): if oi.controller.getBumper( GenericHID.Hand.kLeft): # return control back to controller FollowJoystick().start() return 0.5 rod_pos = camera.get_rod_pos() if rod_pos is None: self.logger.critical("Couldn't find the rod!") self.is_lost = True if not self.is_autonomous: # return control to controller if not in autonomous self.logger.critical("Returning control to the controller!") FollowJoystick().start() RumbleController(0.5).start() return 0.5 else: self.sd.putNumber("rod/actual", rod_pos[0]) return rod_pos[0]
def execute(self): if self.timer.hasPeriodPassed(0.05): # for xbox controller # piston control if oi.controller.getAButton(): # open ControlGearMech(False).start() elif oi.controller.getBButton(): # close ControlGearMech(True).start() # reversing control # if oi.controller.getStartButton(): # reverse camera, motors, and sonar # if self.sd.containsKey("camera/dev"): # if self.sd.getNumber("camera/dev") == 1: # self.sd.putNumber("camera/dev", 2) # else: # self.sd.putNumber("camera/dev", 1) # else: # self.sd.putNumber("camera/dev", 1) # cur_direct = self.sd.getNumber("direction") # if cur_direct == 1: # subsystems.motors.reverseDirection() # else: # subsystems.motors.forwardDirection() # self.sd.putNumber("direction", -cur_direct) # slow mode if oi.controller.getBumper(GenericHID.Hand.kRight): if self.right_bumper_last: pass elif oi.divider != 1: self.sd.putBoolean("slowmode", False) else: self.sd.putBoolean("slowmode", True) self.right_bumper_last = True else: self.right_bumper_last = False # lock on if oi.controller.getBumper(GenericHID.Hand.kLeft): if self.left_bumper_last: pass elif not self.sd.getBoolean("lockonRunning"): LockOn().start() else: self.logger.critical("Returning control to the controller!") self.sd.putBoolean("lockonRunning", False) RumbleController(0.5).start() FollowJoystick().start() self.left_bumper_last = True else: self.left_bumper_last = False
def init(): ''' Assign commands to button actions, and publish your joysticks so you can read values from them later. ''' global joystick_player joystick_player = Joystick(0) set_joystick() trigger = JoystickButton(joystick_player, Joystick.ButtonType.kTrigger) trigger.whenPressed(Record(FollowJoystick()))
def robotInit(self): """ This is a good place to set up your subsystems and anything else that you will need to access later. """ subsystems.init() # Command.getRobot = lambda x=0: self # self.motor = singlemotor.SingleMotor() self.autonomousProgram = AutonomousProgram() """ Since OI instantiates commands and commands need access to subsystems, OI must be initialized after subsystems. """ oi.init() self.teleopProgram = FollowJoystick()
def robotInit(self): """ We use this method to declare the various, high-level objects for the robot. For example, we can use the create a CommandGroup object to store the various process for our robot to run when we enable it. """ subsystems.init() oi.init() self.teleopProgram = wpilib.command.CommandGroup() self.teleopProgram.addParallel(FollowJoystick()) self.teleopProgram.addParallel(Shooter()) self.autoProgram = wpilib.command.CommandGroup() self.autoProgram.addParallel(AutoJoystick()) self.autoProgram.addParallel(Shooter()) self.autoProgram.addSequential(Crossbow(0.55, 0.5)) self.autoProgram.addSequential(Crossbow(-0.75, 1))
def initDefaultCommand(self): self.setDefaultCommand(FollowJoystick())
def robotInit(self): subsystems.init() self.followJoystick = FollowJoystick()