def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(0)
self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)
self.motor = wpilib.Jaguar(4)
self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
self.position = wpilib.AnalogInput(2)
self.left_encoder = wpilib.Encoder(1, 2)
self.right_encoder = wpilib.Encoder(3, 4)
self.kinematics = DifferentialDriveKinematics(TRACK_WIDTH)
self.chassis_speeds = ChassisSpeeds()
self.chassis_speeds.vx = 0.0
self.chassis_speeds.omega = 0.0
if is_sim:
self.physics = physics.PhysicsEngine()
self.last_tm = time.time()
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)
self.motor = wpilib.Jaguar(4)
self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
self.position = wpilib.AnalogInput(2)
self.leftEncoder = wpilib.Encoder(0, 1)
self.leftEncoder.setDistancePerPulse(
(self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
self.leftEncoder.setSimDevice(0)
self.rightEncoder = wpilib.Encoder(3, 4)
self.rightEncoder.setDistancePerPulse(
(self.WHEEL_DIAMETER) / self.ENCODER_COUNTS_PER_REV)
def __init__(self): super().__init__() self.arm_motor = wpilib.Jaguar(4) self.claw = wpilib.Jaguar(5) self.max_sensor = wpilib.DigitalInput(6)
def __init__(self, robot, name=None):
'''Initialize'''
super().__init__(name=name)
self.robot = robot
self.gyro = wpilib.AnalogGyro(1)
self.left_motor = wpilib.Jaguar(1)
self.right_motor = wpilib.Jaguar(2)
self.robot_drive = wpilib.RobotDrive(self.left_motor, self.right_motor)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.robot_drive = wpilib.RobotDrive(0, 1, 2, 3)
self.cannon1 = wpilib.Jaguar(4)
self.cannon2 = wpilib.Jaguar(5)
self.stick = wpilib.Joystick(1)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.shootbot = wpilib.Jaguar(4)
self.spiderbot = wpilib.Jaguar(5)
self.spiderbot1 = wpilib.Jaguar(6)
self.robot_drive = wpilib.RobotDrive(0, 3)
self.stick = wpilib.Joystick(1)
self.brazito = wpilib.Jaguar(7)
def createObjects(self):
self.driveStick = xbox_controller.XboxController(0)
# If the robot is a simulation
if MyRobot.isSimulation():
# Change motors to default jaguars
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rf_motor = wpilib.Jaguar(3)
self.rr_motor = wpilib.Jaguar(4)
# Set up drive train
self.drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor,
self.rf_motor, self.rr_motor)
def robotInit(self):
"""Robot initialization function. The Low level is to use the brushless function on the controllers."""
self.sd = NetworkTables.getTable("SmartDashboard")
self.timer = wpilib.Timer()
#
# Communicate w/navX MXP via the MXP SPI Bus.
# - Alternatively, use the i2c bus.
# See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details
#
self.navx = navx.AHRS.create_spi()
# self.navx = navx.AHRS.create_i2c()
if wpilib.RobotBase.isSimulation():
self.frontLeftMotor = wpilib.Jaguar(self.frontLeftChannel)
self.rearLeftMotor = wpilib.Jaguar(self.rearLeftChannel)
self.frontRightMotor = wpilib.Jaguar(self.frontRightChannel)
self.rearRightMotor = wpilib.Jaguar(self.rearRightChannel)
else:
self.frontLeftMotor = rev.CANSparkMax(
self.frontLeftChannel,
rev.CANSparkMaxLowLevel.MotorType.kBrushless)
self.rearLeftMotor = rev.CANSparkMax(
self.rearLeftChannel,
rev.CANSparkMaxLowLevel.MotorType.kBrushless)
self.frontRightMotor = rev.CANSparkMax(
self.frontRightChannel,
rev.CANSparkMaxLowLevel.MotorType.kBrushless)
self.rearRightMotor = rev.CANSparkMax(
self.rearRightChannel,
rev.CANSparkMaxLowLevel.MotorType.kBrushless)
# invert the left side motors
self.rearRightMotor.setInverted(False)
# you may need to change or remove this to match your robot
self.rearLeftMotor.setInverted(False)
self.drive = MecanumDrive(
self.frontLeftMotor,
self.frontRightMotor,
self.rearLeftMotor,
self.rearRightMotor,
)
self.drive.setExpiration(0.1)
self.stick = wpilib.XboxController(self.joystickChannel)
def robotInit(self):
"""initialises robot as a mecanum drive bot w/ 2 joysticks and a camera"""
#want to change this to Xbox 360 controller eventually... probably sooner rather
#than later.
#
#This is for a USB camera. Uncomment it if we aren't using the Axis.
self.camera = wpilib.USBCamera()
self.camera.setExposureManual(50)
self.camera.setBrightness(80)
self.camera.updateSettings()
self.camera.setFPS(10)
self.camera.setSize(320, 240)
self.camera.setWhiteBalanceAuto()
#self.camera.setQuality(30)
server = wpilib.CameraServer.getInstance()
server.startAutomaticCapture(self.camera)
self.drive = wpilib.RobotDrive(3, 1, 2, 0)
self.drive.setExpiration(0.1)
self.stick_left = wpilib.Joystick(0)
self.stick_right = wpilib.Joystick(1)
self.drive.setInvertedMotor(self.drive.MotorType.kFrontRight, True)
self.drive.setInvertedMotor(self.drive.MotorType.kRearRight, True)
#self.gyro = wpilib.Gyro(0)
self.aux_left = wpilib.Jaguar(6)
self.aux_right = wpilib.Jaguar(4)
self.window_motor = wpilib.Jaguar(5)
self.smart_dashboard = NetworkTable.getTable("SmartDashboard")
self.mast_pot = wpilib.AnalogPotentiometer(0)
self.grabba_pot = wpilib.AnalogPotentiometer(1)
self.lift_pot = wpilib.AnalogPotentiometer(2)
def aux_combined(output):
"""use for PID control"""
self.aux_left.pidWrite(output)
self.aux_right.pidWrite(output)
self.grabba_pid = wpilib.PIDController(4, 0.07, 0, self.grabba_pot.pidGet, self.window_motor.pidWrite)
self.grabba_pid.disable()
self.lift_pid = wpilib.PIDController(4, 0.07, 0, self.lift_pot.pidGet, aux_combined)
self.lift_pid.disable()
def robotInit(self):
"""Robot-wide initialization code should go here."""
self.lstick = wpilib.Joystick(1)
self.motor = wpilib.Jaguar(3)
self.timer = wpilib.Timer()
self.loops = 0
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.lr_motor = wpilib.Jaguar(1)
self.rr_motor = wpilib.Jaguar(2)
self.lf_motor = wpilib.Jaguar(3)
self.rf_motor = wpilib.Jaguar(4)
self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor,
self.rf_motor, self.rr_motor)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def __init__(self, port, jaguar, slot=4):
print("speed_con obj on port " + str(port) + " active")
if jaguar == True:
self.vic = wpi.Jaguar(port)
print("is jaguar\n")
else:
self.vic = wpi.Victor(port)
print("is victor\n")
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rf_motor = wpilib.Jaguar(3)
self.rr_motor = wpilib.Jaguar(4)
l_motor = wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor)
r_motor = wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor)
self.drive = wpilib.drive.DifferentialDrive(l_motor, r_motor)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.stick = wpilib.Joystick(1)
self.drive = wpilib.RobotDrive(0, 1, 2, 3)
self.gyro = wpilib.Gyro(0)
self.lift1 = wpilib.Jaguar(4)
self.lift2 = wpilib.Jaguar(5)
#self.backclaw = wpilib.Jaguar(7)
self.encoder = wpilib.Encoder(1, 2)
self.encoder.setDistancePerPulse(0.333)
self.compressor = wpilib.Compressor()
self.squeeze = wpilib.DoubleSolenoid(0, 1)
self.RobotDrive.setInvertedMotor(2, True)
self.RobotDrive.setInvertedMotor(3, True)
def robotInit(self):
'''Robot-wide initialization code should go here'''
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
# Position gets automatically updated as robot moves
self.gyro = wpilib.ADXRS450_Gyro()
self.robot_drive = wpilib.RobotDrive(self.l_motor, self.r_motor)
self.motor = wpilib.Jaguar(4)
self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
self.position = wpilib.AnalogInput(2)
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)
self.motor = wpilib.Jaguar(4)
self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
self.position = wpilib.AnalogInput(2)
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
self.robot_drive = wpilib.RobotDrive(self.l_motor, self.r_motor)
self.motor = wpilib.Jaguar(4)
self.light_sensor_left = wpilib.DigitalInput(1)
self.light_sensor_middle = wpilib.DigitalInput(2)
self.light_sensor_right = wpilib.DigitalInput(3)
self.position = wpilib.AnalogInput(2)
def robotInit(self):
'''Robot-wide initialization code should go here'''
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)
self.lr_motor = wpilib.Jaguar(1)
self.rr_motor = wpilib.Jaguar(2)
self.lf_motor = wpilib.Jaguar(3)
self.rf_motor = wpilib.Jaguar(4)
self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor,
self.rf_motor, self.rr_motor)
# The output function of a mecanum drive robot is always
# +1 for all output wheels. However, traditionally wired
# robots will be -1 on the left, 1 on the right.
self.robot_drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontLeft, True)
self.robot_drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft, True)
# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.left_motor = wpilib.Spark(0) #pwm 0
self.right_motor = wpilib.Spark(1) #pwm 1
self.drive = wpilib.drive.DifferentialDrive(self.left_motor,
self.right_motor)
self.joystick = wpilib.Joystick(0)
self.timer = wpilib.Timer()
self.forwardLimitSwitch = wpilib.DigitalInput(3) #pwm 3
self.reverseLimitSwitch = wpilib.DigitalInput(4) #pwm 4
self.arm = wpilib.Spark(5, 6) #pwm 5 and 6
self.spinner1 = wpilib.Jaguar(2) #pwm 2
self.toggle = (self.joystick, 1)
class ShooterConfig(object):
motors = wpilib.Jaguar(3)
shoot_button = Button(rightJoy, 1)
manual_reset_button = Button(rightJoy, 4)
low_shot_preset_button = Button(rightJoy, 8)
high_shot_preset_button = Button(rightJoy, 7)
reset_hall_effect = HallEffect(wpilib.DigitalInput(6))
preset_hall_effect_counters = []
low_shot_hall_effect_counter = wpilib.Counter()
low_shot_hall_effect_counter.SetUpSource(7)
low_shot_hall_effect_counter.SetUpSourceEdge(False, True)
low_shot_hall_effect_counter.Start()
high_shot_hall_effect_counter = wpilib.Counter()
high_shot_hall_effect_counter.SetUpSource(8)
high_shot_hall_effect_counter.SetUpSourceEdge(False, True)
high_shot_hall_effect_counter.Start()
def __init__(self):
super().__init__()
self.drive_stick = wpilib.Joystick(1)
self.arm_stick = wpilib.Joystick(2)
self.front_right_motor = wpilib.Jaguar(2)
self.front_left_motor = wpilib.Jaguar(1)
self.back_left_motor = wpilib.Jaguar(3)
self.back_right_motor = wpilib.Jaguar(4)
self.intake_wheels_motor = wpilib.Jaguar(10)
self.intake_arm_motor = wpilib.Jaguar(6)
self.shooter_servo = wpilib.Servo(7)
self.shooter_motor = wpilib.Jaguar(5)
self.encoder = wpilib.Encoder(1, 2, True)
self.mecanum_drive = MecanumDrive(self.front_right_motor,
self.front_left_motor,
self.back_right_motor,
self.back_left_motor,
self.drive_stick)
self.intake = Intake(self.intake_wheels_motor, self.intake_arm_motor,
self.arm_stick)
self.shooter_service = ShooterService(self.shooter_motor,
self.shooter_servo,
self.arm_stick)
self.shooter = Shooter(self.shooter_motor, self.encoder,
self.shooter_servo, self.arm_stick,
self.shooter_service)
self.autonomous = Autonomous(self.shooter_service,
self.intake_arm_motor,
self.front_left_motor,
self.front_right_motor,
self.back_left_motor,
self.back_right_motor)
def robotInit(self):
#Motor controllers, joysticks, and setting up the drive type
self.motor1=wpilib.Jaguar(0)
self.motor2=wpilib.Jaguar(1)
self.slide_motor=wpilib.Jaguar(2)
self.non_existant_motor=wpilib.Jaguar(4)
self.tryit=wpilib.Jaguar(6)
self.red=wpilib.Jaguar(9)
self.blue=wpilib.Jaguar(8)
self.green=wpilib.Jaguar(7)
self.robot_drive = wpilib.RobotDrive(self.motor2,self.motor1)
self.stick1 = wpilib.Joystick(0)
self.joystick_button=wpilib.buttons.JoystickButton(self.stick1, 1)
self.lights=wpilib.buttons.JoystickButton(self.stick1, 2)
#All our clicky switches
self.clicky1=wpilib.DigitalInput(9)
self.clicky2=wpilib.DigitalInput(8)
self.clicky3=wpilib.DigitalInput(7)
wpilib.SmartDashboard.putBoolean("Clicky1",self.clicky1.get())
self.chooser=wpilib.SendableChooser()
self.chooser.addObject("Auto 1","1")
wpilib.SmartDashboard.putData('What Automous', self.chooser)
self.counter=0
def __init__(self):
super().__init__()
print("Matt the fantastic ultimate wonderful humble person")
wpilib.SmartDashboard.init()
#self.digitalInput=wpilib.DigitalInput(4)
self.CANJaguar = wpilib.CANJaguar(1)
self.gyro = wpilib.Gyro(1)
self.joystick = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
self.jaguar = wpilib.Jaguar(1)
self.accelerometer = wpilib.ADXL345_I2C(1,
wpilib.ADXL345_I2C.kRange_2G)
self.solenoid = wpilib.Solenoid(7)
self.solenoid2 = wpilib.Solenoid(8)
self.p = 1
self.i = 0
self.d = 0
wpilib.SmartDashboard.PutBoolean('Soleinoid 1', False)
wpilib.SmartDashboard.PutBoolean('Soleinoid 2', False)
#self.pid = wpilib.PIDController(self.p, self.i, self.d, self.gyro, self.jaguar)
self.sensor = wpilib.AnalogChannel(5)
self.ballthere = False
import wpilib
import math
lstick = wpilib.Joystick(1)
rstick = wpilib.Joystick(2)
lmotor2 = wpilib.Jaguar(1, 4)
lmotor = wpilib.Jaguar(1, 3)
rmotor = wpilib.Jaguar(1, 2)
rmotor2 = wpilib.Jaguar(1, 1)
#roboDR = wpilib.RobotDrive(lmotor,rmotor)
# victors 4 and 1 are burnt
def CheckRestart():
if lstick.GetRawButton(10):
raise RuntimeError("Restart")
class MyRobot(wpilib.IterativeRobot):
def DisabledContinuous(self):
wpilib.Wait(0.01)
def AutonomousContinuous(self):
wpilib.Wait(0.01)
def TeleopContinuous(self):
wpilib.Wait(0.01)
#lmotor.Set(lstick.GetY())
#rmotor.Set(-rstick.GetY())
#left=lstick.GetY()
def create_jaguar(channel):
return wpilib.Jaguar(channel)
def __init__ (self):
'''
Constructor.
'''
super().__init__()
print("Team 1418 robot code for 2014")
#################################################################
# THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL #
# TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! #
#################################################################
wpilib.SmartDashboard.init()
# Joysticks
self.joystick1 = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
# Motors
self.lf_motor = wpilib.Jaguar(1)
self.lf_motor.label = 'lf_motor'
self.lr_motor = wpilib.Jaguar(2)
self.lr_motor.label = 'lr_motor'
self.rr_motor = wpilib.Jaguar(3)
self.rr_motor.label = 'rr_motor'
self.rf_motor = wpilib.Jaguar(4)
self.rf_motor.label = 'rf_motor'
self.winch_motor = wpilib.CANJaguar(5)
self.winch_motor.label = 'winch'
self.intake_motor = wpilib.Jaguar(6)
self.intake_motor.label = 'intake'
# Catapult gearbox control
self.gearbox_solenoid=wpilib.DoubleSolenoid(2, 1)
self.gearbox_solenoid.label = 'gearbox'
# Arm up/down control
self.vent_bottom_solenoid = wpilib.Solenoid(3)
self.vent_bottom_solenoid.label = 'vent bottom'
self.fill_bottom_solenoid = wpilib.Solenoid(4)
self.fill_bottom_solenoid.label = 'fill bottom'
self.fill_top_solenoid = wpilib.Solenoid(5)
self.fill_top_solenoid.label = 'fill top'
self.vent_top_solenoid = wpilib.Solenoid(6)
self.vent_top_solenoid.label = 'vent top'
self.pass_solenoid = wpilib.Solenoid(7)
self.pass_solenoid.label = 'pass'
self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor, self.lf_motor, self.rf_motor)
self.robot_drive.SetSafetyEnabled(False)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor, True)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor, True)
# Sensors
self.gyro = wpilib.Gyro(1)
self.ultrasonic_sensor = wpilib.AnalogChannel(3)
self.ultrasonic_sensor.label = 'Ultrasonic'
self.arm_angle_sensor = wpilib.AnalogChannel(4)
self.arm_angle_sensor.label = 'Arm angle'
self.ball_sensor = wpilib.AnalogChannel(6)
self.ball_sensor.label = 'Ball sensor'
self.accelerometer = wpilib.ADXL345_I2C(1, wpilib.ADXL345_I2C.kRange_2G)
self.compressor = wpilib.Compressor(1,1)
#################################################################
# END SHARED CODE #
#################################################################
#
# Initialize robot components here
#
self.drive = drive.Drive(self.robot_drive, self.ultrasonic_sensor,self.gyro)
self.initSmartDashboard()
self.pushTimer=wpilib.Timer()
self.catapultTimer=wpilib.Timer()
self.catapult=catapult.Catapult(self.winch_motor,self.gearbox_solenoid,self.pass_solenoid,self.arm_angle_sensor,self.ball_sensor,self.catapultTimer)
self.intakeTimer=wpilib.Timer()
self.intake=intake.Intake(self.vent_top_solenoid,self.fill_top_solenoid,self.fill_bottom_solenoid,self.vent_bottom_solenoid,self.intake_motor,self.intakeTimer)
self.pulldowntoggle=False
self.components = {
'drive': self.drive,
'catapult': self.catapult,
'intake': self.intake
}
self.control_loop_wait_time = 0.025
self.autonomous = AutonomousModeManager(self.components)
def __init__(self):
''' initialize things'''
super().__init__()
print("Electrical test program -- don't use for competition!")
#################################################################
# THIS CODE IS SHARED BETWEEN THE MAIN ROBOT AND THE ELECTRICAL #
# TEST CODE. WHEN CHANGING IT, CHANGE BOTH PLACES! #
#################################################################
wpilib.SmartDashboard.init()
# Joysticks
self.joystick1 = wpilib.Joystick(1)
self.joystick2 = wpilib.Joystick(2)
# Motors
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rr_motor = wpilib.Jaguar(3)
self.rf_motor = wpilib.Jaguar(4)
self.winch_motor = wpilib.CANJaguar(5)
self.intake_motor = wpilib.Jaguar(6)
# Catapult gearbox control
self.gearbox_in_solenoid = wpilib.Solenoid(1)
self.gearbox_out_solenoid = wpilib.Solenoid(2)
# Arm up/down control
self.vent_bottom_solenoid = wpilib.Solenoid(3)
self.fill_bottom_solenoid = wpilib.Solenoid(4)
self.fill_top_solenoid = wpilib.Solenoid(5)
self.vent_top_solenoid = wpilib.Solenoid(6)
self.solenoid6 = wpilib.Solenoid(7)
self.ball_nudge_solenoid = wpilib.Solenoid(8)
self.robot_drive = wpilib.RobotDrive(self.lr_motor, self.rr_motor,
self.lf_motor, self.rf_motor)
self.robot_drive.SetSafetyEnabled(False)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kFrontLeftMotor,
True)
self.robot_drive.SetInvertedMotor(wpilib.RobotDrive.kRearLeftMotor,
True)
# Sensors
self.gyro = wpilib.Gyro(1)
self.ultrasonic_sensor = wpilib.AnalogChannel(3)
self.arm_angle_sensor = wpilib.AnalogChannel(4)
self.ball_sensor = wpilib.AnalogChannel(6)
self.accelerometer = wpilib.ADXL345_I2C(1,
wpilib.ADXL345_I2C.kRange_2G)
self.compressor = wpilib.Compressor(1, 1)
self.compressor.Start()
def robotInit(self):
"""Robot-wide initialization code should go here"""
self.lstick = wpilib.Joystick(1)
self.motor = wpilib.Jaguar(8)
