def robotInit(self): """ This is a good place to set up your subsystems and anything else that you will need to access later. """ # Define Robot getter Command.getRobot = lambda: self # Create subsystems self.liftElevator = LiftElevator() self.drivetrain = DriveTrain() self.intakeOutput = IntakeOutput() self.compressor = Compressor() self.compressor.start() # Shuffleboard options # Autonomous commands # self.autonomousCommand = DelayedDriveToBaseLine() self.autonomousCommand = DriveToBaseLine() """ Since OI instantiates commands and commands need access to subsystems, OI must be initialized after subsystems. """ self.oi = OI()
def robotInit(self): """ This function is run when the robot is first started up and should be used for any initialization code. """ # make this true to ignore joystick errors self.debug = False self.enabled_time = 0 # Initialize the subsystems self.drivetrain = DriveTrain(self) self.navigation = Navigation(self) self.pneumatics = Pneumatics(self) self.peripherals = Peripherals(self) #wpilib.SmartDashboard.putData(self.drivetrain) # This MUST be here. If the OI creates Commands (which it very likely # will), constructing it during the construction of CommandBase (from # which commands extend), subsystems are not guaranteed to be # yet. Thus, their requires() statements may grab null pointers. Bad # news. Don't move it. self.oi = OI(self) wpilib.SmartDashboard.putData(Scheduler.getInstance()) # instantiate the command used for the autonomous period self.autonomousCommand = None
def robotInit(self): '''Initialize all subsystems.''' self.drivetrain = DriveTrain(self) self.shooter = Shooter(self) self.intake_sub = Intake_Sub(self) self.shifter = Shifter(self) self.blocker = Blocker(self) self.climbmotors = Climbmotors(self) self.climbpistons = Climbpistons(self) self.agitator = Agitator(self) wpilib.SmartDashboard.putStringArray( "Auto List", ["Far Left", "Far Right", "Center", "Center Low Goal", "Default"]) """self.autoChooser.addOption("Far Left", AutoFarLeft) self.autoChooser.addOption("Far Right", AutoFarRight) self.autoChooser.addOption("Center", AutoShoot) self.autoChooser.addOption("Center Low Goal", AutoCenterLowGoal) self.autoChooser.setDefaultOption("Default", AutoBackupShoot) wpilib.SmartDashboard.putData('Select Autonomous...', self.autoChooser)""" # The "front" of the robot (which end is facing forward) self.front = -1 self.oi = OI(self)
def robotInit(self): '''Initialize all subsystems.''' self.drivetrain = DriveTrain(self) self.shooter = Shooter(self) self.intake_sub = Intake_Sub(self) self.shifter = Shifter(self) # The "front" of the robot (which end is facing forward) self.front = -1 self.oi = OI(self)
def robotInit(self): '''Initialize all subsystems.''' self.drivetrain = DriveTrain(self) self.puncher = Puncher() self.claw = Claw() self.arm = Arm() self.intake = Intake() self.elevator = Elevator() self.hatch = Hatch() self.intake_winch = IntakeWinch() self.oi = OI(self)
def robotInit(self): '''Initialize all subsystems.''' self.drivetrain = DriveTrain(self) self.rear_puncher = RearPuncher() self.arm = Arm() self.intake = Intake() self.elevator = Elevator() self.hatch = Hatch() self.intake_winch = IntakeWinch() self.lift = Lift() # The "front" of the robot (which end is facing forward) self.front = -1 self.oi = OI(self)
def robotInit(self): print("[Robot] Initializing") logging.basicConfig(level=logging.DEBUG) print("[Robot] Starting network tables server") NetworkTables.initialize() print("[Robot] Setting up systems") self.cargosystem = CargoSystem(self) self.climbsystem = ClimbSystem(self) self.drivetrain = DriveTrain(self) self.hatchsystem = HatchSystem(self) self.oi = OI(self) # setup autonomous type print("[Robot] Setting up autonomous") scAutonomousType = wpilib.SendableChooser() scAutonomousType.setDefaultOption("1. Driver Controlled", 100) scAutonomousType.addOption ("2. Timed Just Drive Forward", 200) scAutonomousType.addOption ("3. Motion Profile Just Drive Forward", 300) scAutonomousType.addOption ("4. Total Autonomous", 400) wpilib.SmartDashboard.putData ("Anonomous Type", scAutonomousType) # setup robot positions scRobotPosition = wpilib.SendableChooser() scRobotPosition.setDefaultOption("1. Upper Left" , 1) scRobotPosition.addOption ("2. Lower Left" , 2) scRobotPosition.addOption ("3. Centre" , 3) scRobotPosition.addOption ("4. Upper Right", 4) scRobotPosition.addOption ("5. Lower Right", 5) wpilib.SmartDashboard.putData ("Robot Position", scRobotPosition) # setup hatch positions scHatchPosition = wpilib.SendableChooser() scHatchPosition.setDefaultOption("1. Back" , 10) scHatchPosition.addOption ("2. Middle" , 20) scHatchPosition.addOption ("3. Front" , 30) wpilib.SmartDashboard.putData ("Hatch Position", scHatchPosition) # wpilib.CameraServer.launch("d:\\jet\\projects\\python\\RobotPy\\src\\vision.py:main") # wpilib.SmartDashboard.putData(self.drivetrain) wpilib.SmartDashboard.putNumber("H-Lower", 0) wpilib.SmartDashboard.putNumber("H-Upper", 180) wpilib.SmartDashboard.putNumber("S-Lower", 0) wpilib.SmartDashboard.putNumber("S-Upper", 255) wpilib.SmartDashboard.putNumber("V-Lower", 0) wpilib.SmartDashboard.putNumber("V-Upper", 255)
def robotInit(self): self.activated = False """Robot-wide initialization code should go here.""" #SwiftCameraServer().launch('camera1.py:main') #SwiftCameraServer().launch('camera2.py:main') wpilib.CameraServer.launch() self.configuration = constants.COMP_BOT self.arm = Arm(self) self.drivetrain = DriveTrain(self) self.pneumatic = Pneumatic(self) self.compressor = wpilib.Compressor() self.camera_servo_1 = CameraServo(self, constants.CAMERA_1_PWM, constants.CAMERA_1_DEFAULT) self.camera_servo_2 = CameraServo(self, constants.CAMERA_2_PWM, constants.CAMERA_2_DEFAULT) self.oi = OI(self)
def robotInit(self): """This function is run when the robot is first started up and should be used for any initialization code.""" self.drivetrain = DriveTrain(self) self.elevator = Elevator(self) self.wrist = Wrist(self) self.claw = Claw() self.oi = OI(self) # instantiate the command used for the autonomous period self.autonomousCommand = Autonomous(self) # Show what command your subsystem is running on the SmartDashboard wpilib.SmartDashboard.putData(self.drivetrain) wpilib.SmartDashboard.putData(self.elevator) wpilib.SmartDashboard.putData(self.wrist) wpilib.SmartDashboard.putData(self.claw)
def robotInit(self): '''Initialize all subsystems.''' self.drivetrain = DriveTrain(self) self.shooter = Shooter(self) self.intake_sub = Intake_Sub(self) self.shifter = Shifter(self) self.blocker = Blocker(self) self.climbmotors = Climbmotors(self) self.climbpistons = Climbpistons(self) self.agitator = Agitator(self) self.autoChooser = wpilib.SendableChooser() self.autoChooser.setDefaultOption("Drive", DriveAutonomous(self)) # The "front" of the robot (which end is facing forward) self.front = -1 self.oi = OI(self)
def robotInit(self): """Robot-wide initialization code should go here""" super().__init__() if self.isReal(): # use the real drive train self.drivetrain = DriveTrain(self) else: # use the simulated drive train #self.drivetrain = DriveTrainSim(self) self.drivetrain = DriveTrainSim(self) self.shooter = Shooter(self) self.vision = Vision() # oi MUST be created after all other subsystems since it uses them self.oi = OI(self) self.enabled_time = 0 # something is especially weird with the sim about this needing to be initialized in robotInit self.autonomousCommand = None # initialize the placeholder command for autonomous
def robotInit(self): """ This function is run when the robot is first started up and should be used for any initialization code. """ # Initialize the subsystems self.drivetrain = DriveTrain(self) self.collector = Collector(self) self.shooter = Shooter(self) self.pneumatics = Pneumatics(self) self.pivot = Pivot(self) wpilib.SmartDashboard.putData(self.drivetrain) wpilib.SmartDashboard.putData(self.collector) wpilib.SmartDashboard.putData(self.shooter) wpilib.SmartDashboard.putData(self.pneumatics) wpilib.SmartDashboard.putData(self.pivot) # This MUST be here. If the OI creates Commands (which it very likely # will), constructing it during the construction of CommandBase (from # which commands extend), subsystems are not guaranteed to be # yet. Thus, their requires() statements may grab null pointers. Bad # news. Don't move it. self.oi = OI(self) #instantiate the command used for the autonomous period self.autoChooser = wpilib.SendableChooser() self.autoChooser.addDefault("Drive and Shoot", DriveAndShootAutonomous(self)) self.autoChooser.addObject("Drive Forward", DriveForward(self)) wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser) self.autonomousCommand = None # Pressurize the pneumatics self.pneumatics.start()
def robotInit(self): """ Robot-wide initialization code goes here. For the command-based programming framework, this means creating the subsytem objects and the operator input object. BE SURE TO CREATE THE SUBSYTEM OBJECTS BEFORE THE OPERATOR INPUT OBJECT (since the operator input object will almost certainly have subsystem dependencies). For further information on the command-based programming framework see: wpilib.screenstepslive.com/s/currentCS/m/java/l/599732-what-is-command-based-programming """ # Create the subsytems and the operator interface objects self.driveTrain = DriveTrain(self) self.boom = Boom(self) self.intakeMotors = IntakeMotors(self) self.intakePneumatics = IntakePneumatics(self) self.oi = OI(self) # Create the smartdashboard object self.smartDashboard = SmartDashboard() # Create the sendable choosers to get the autonomous preferences self.startSpotChooser = SendableChooser() self.startSpotChooser.addObject("Start Left", 'Left') self.startSpotChooser.addObject("Start Right", 'Right') self.startSpotChooser.addDefault("Start Middle", 'Middle') self.smartDashboard.putData("Starting Spot", self.startSpotChooser) self.scaleDisableChooser = SendableChooser() self.scaleDisableChooser.addObject("Enable Scale", 'Scale') self.scaleDisableChooser.addDefault("Disable Scale", 'No Scale') self.smartDashboard.putData("Scale Enable", self.scaleDisableChooser) # Build up the autonomous dictionary. Fist key is the starting position. The second key is the switch. The third key is the scale. self.chooserOptions = {"Left": {"R": {"R": {"No Scale": {'command': AutonForward}, "Scale": {'command': AutonForward} }, "L": {"No Scale": {'command': AutonForward}, "Scale": {'command': AutonForward} }, }, "L": {"R": {"No Scale": {'command': AutonLeftStartLeftSwitch}, "Scale": {'command': AutonLeftStartLeftSwitch} }, "L": {"No Scale": {'command': AutonLeftStartLeftSwitch}, "Scale": {'command': AutonLeftStartLeftSwitch} }, }, }, "Middle": {"R": {"R": {"No Scale": {'command': AutonMiddleStartRightSwitch}, "Scale": {'command': AutonMiddleStartRightSwitch} }, "L": {"No Scale": {'command': AutonMiddleStartRightSwitch}, "Scale": {'command': AutonMiddleStartRightSwitch} }, }, "L": {"R": {"No Scale": {'command': AutonMiddleStartLeftSwitch}, "Scale": {'command': AutonMiddleStartLeftSwitch} }, "L": {"No Scale": {'command': AutonMiddleStartLeftSwitch}, "Scale": {'command': AutonMiddleStartLeftSwitch} }, }, }, "Right": {"R": {"R": {"No Scale": {'command': AutonRightStartRightSwitch}, "Scale": {'command': AutonRightStartRightSwitch} }, "L": {"No Scale": {'command': AutonRightStartRightSwitch}, "Scale": {'command': AutonRightStartRightSwitch} }, }, "L": {"R": {"No Scale": {'command': AutonForward}, "Scale": {'command': AutonForward} }, "L": {"No Scale": {'command': AutonForward}, "Scale": {'command': AutonForward} }, }, }, } # Create a timer for data logging self.timer = Timer() # Create the camera server CameraServer.launch() # Boom state start at the scale self.boomState = BOOM_STATE.Scale
def robotInit(self): """ Robot-wide initialization code goes here. For the command-based programming framework, this means creating the subsytem objects and the operator input object. BE SURE TO CREATE THE SUBSYTEM OBJECTS BEFORE THE OPERATOR INPUT OBJECT (since the operator input object will almost certainly have subsystem dependencies). For further information on the command-based programming framework see: wpilib.screenstepslive.com/s/currentCS/m/java/l/599732-what-is-command-based-programming """ # Create the subsytems and the operator interface objects self.driveTrain = DriveTrain(self) self.boom = Boom(self) self.intakeMotors = IntakeMotors(self) self.intakePneumatics = IntakePneumatics(self) self.oi = OI(self) # Create the smartdashboard object self.smartDashboard = SmartDashboard() # Create the sendable choosers to get the autonomous preferences self.scoringElementChooser = SendableChooser() self.scoreScale = ScoreScale() self.scoreSwitch = ScoreSwitch() self.scoringElementChooser.addObject("Score Scale", self.scoreScale) self.scoringElementChooser.addObject("Score Switch", self.scoreSwitch) self.scoringElementChooser.addDefault("Score Scale", self.scoreScale) self.smartDashboard.putData("Score Field Element", self.scoringElementChooser) self.crossFieldChooser = SendableChooser() self.crossFieldEnable = CrossFieldEnable() self.crossFieldDisable = CrossFieldDisable() self.crossFieldChooser.addObject("Cross Field Enable", self.crossFieldEnable) self.crossFieldChooser.addObject("Cross Field Disable", self.crossFieldDisable) self.crossFieldChooser.addDefault("Cross Field Disable", self.crossFieldDisable) self.smartDashboard.putData("Cross Field Enable", self.crossFieldChooser) self.positionChooser = SendableChooser() self.startingLeft = StartingLeft() self.startingRight = StartingRight() self.startingMiddle = StartingMiddle() self.positionChooser.addObject("Start Left", self.startingLeft) self.positionChooser.addObject("Start Right", self.startingRight) self.positionChooser.addObject("Start Middle", self.startingMiddle) self.positionChooser.addDefault("Start Middle", self.startingMiddle) self.smartDashboard.putData("Starting Position", self.positionChooser) # Create a timer for data logging self.timer = Timer() # Create the camera server CameraServer.launch() # Boom state start at the scale self.boomState = BOOM_STATE.Scale self.autonForward = AutonForward(self) self.autonMiddleStartLeftSwitch = AutonMiddleStartLeftSwitch(self) self.autonLeftStartLeftScale = AutonLeftStartLeftScale(self) # Output debug data to the smartdashboard if LOGGER_LEVEL == logging.DEBUG: #======================================================================================= # self.smartDashboard.putNumber("RightEncPos", 0.0) # self.smartDashboard.putNumber("RightActPos", 0.0) # self.smartDashboard.putNumber("RightEncVel", 0.0) # self.smartDashboard.putNumber("RightActVel", 0.0) # self.smartDashboard.putNumber("RightPrimaryTarget", 0.0) # self.smartDashboard.putNumber("RightPrimaryError", 0.0) # self.smartDashboard.putNumber("TimeStamp", 0.0) # self.smartDashboard.putNumber("LeftEncPos", 0.0) # self.smartDashboard.putNumber("LeftActPos", 0.0) # self.smartDashboard.putNumber("LeftEncVel", 0.0) # self.smartDashboard.putNumber("LeftActVel", 0.0) # self.smartDashboard.putNumber("LeftPrimaryTarget", 0.0) # self.smartDashboard.putNumber("LeftPrimaryError", 0.0) # self.smartDashboard.putNumber("RightTopBufferCount", 0.0) # self.smartDashboard.putNumber("LeftTopBufferCount", 0.0) # self.smartDashboard.putNumber("LeftBottomBufferCount", 0.0) # self.smartDashboard.putNumber("RightBottomBufferCount", 0.0) #======================================================================================= self.smartDashboard.putNumber("EncPos", 0.0) self.smartDashboard.putNumber("ActPos", 0.0) self.smartDashboard.putNumber("EncVel", 0.0) self.smartDashboard.putNumber("ActVel", 0.0) self.smartDashboard.putNumber("PrimaryTarget", 0.0) self.smartDashboard.putNumber("PrimaryError", 0.0) self.smartDashboard.putNumber("TimeStamp", 0.0)