def __init__(self, liftPos=-27, elevatorPos=-19.5):
super().__init__(name="OneClimbG {}: {}".format(liftPos, elevatorPos))
self.addSequential(RaiseLiftElevator(liftPos, elevatorPos), 3)
self.addSequential(LiftDrive(-1), 4)
self.addSequential(MoveElevator(7))
self.addSequential(ActivateArms(IntakeOutput.Position.DOWN))
self.addParallel(LiftDrive(-1), 3.5)
self.addSequential(Move(3.5), 0.3)
self.addSequential(WaitCommand(1.0))
self.addParallel(Move(1), 0.1)
self.addParallel(MoveLift(2.5))
self.addSequential(LiftDrive(-1), 1)
def build_move(self, text, params, line_num):
# Check for proper placement of the words MOVE, TO, and POSTION
if (not (params[0] == "MOVE" and params[2] == "TO"
and params[3] == "POSITION")):
return self.build_error_msg(text, params, line_num, "Syntax Error")
# Check if the thing to move is actually LH or RH and not something else
if (not params[1] in ["LH", "RH"]):
return self.build_error_msg(
text, params, line_num,
"Unrecognized hand side: " + str(params[1]))
# Check if the position to move to is either a number or a position reference
if (not (params[4].isdigit()
or params[4] in ["LHPOS", "RHPOS", "LHCARD", "RHCARD"])):
return self.build_error_msg(
text, params, line_num,
str(params[4]) + " is not a recognized number or reference")
num, num_spec = self.det_number(params[4])
right_hand = (params[1] == "RH")
return Move(text, line_num, right_hand, num, num_spec)
