def initialize(self):
pose_estimator.set_new_pose(
Pose(x=1.5,
y=-10 *
(1 if game_data.get_robot_side() == Side.RIGHT else -1),
heading=0))
self.group = get_scale_only_group(self.drive, self.elevator,
self.intake)
self.group.start()
def initialize(self):
pose_estimator.set_new_pose(
Pose(x=1.5,
y=-10 *
(1 if game_data.get_robot_side() == Side.RIGHT else -1),
heading=0))
self.group = get_scale_only_group(self.drive, self.elevator,
self.intake)
self.group.addSequential(PrintCommand("Done with only scale"))
if not hal.isSimulation():
self.group.addParallel(MoveElevatorCommand(self.elevator, 0))
else:
self.group.addParallel(PrintCommand("Elevator moving"))
on_left = game_data.get_scale_side() == Side.LEFT
self.group.addSequential(
TurnToLookat(self.drive,
lookat=Vector2(16, 5 * (1 if on_left else -1))))
self.group.addSequential(
AcquireCube(drive=self.drive,
drive_speed=0.4,
intake=self.intake,
timeout=0.3))
if game_data.get_scale_side() == game_data.get_own_switch_side():
if not hal.isSimulation():
self.group.addSequential(MoveElevatorCommand(
self.elevator, 30))
self.group.addSequential(
MoveIntakeCommand(self.intake, ArmState.DOWN))
else:
self.group.addParallel(PrintCommand("Elevator moving"))
self.group.addSequential(
DistanceDriveCommand(drive=self.drive,
power=0.25,
distance=0.5))
self.group.addSequential(PrintCommand("Distance done"))
self.group.addSequential(
SetIntakeCommand(intake=self.intake, new_state=GrabState.OUT))
self.group.start()
def initialize(self):
pose_estimator.set_new_pose(Pose(x=1.5, y=-10, heading=0))
def execute(self):
pose_estimator.set_new_pose(Pose(0, 0, 0))
self.isFinished = lambda: True
def initialize(self):
pose_estimator.set_new_pose(Pose(1.5, 0, 0))