Пример #1
0
 def handle_hang_inputs(self, joystick: wpilib.Joystick,
                        gamepad: wpilib.XboxController) -> None:
     if gamepad.getStartButton() and gamepad.getBumper(Hand.kRightHand):
         self.kraken_controller.engage()
     if self.hang.fire_hook and (
             gamepad.getTriggerAxis(Hand.kLeftHand) > 0.9
             or gamepad.getTriggerAxis(Hand.kRightHand) > 0.9):
         self.hang.winch()
Пример #2
0
 def handle_hang_inputs(
     self, joystick: wpilib.Joystick, gamepad: wpilib.XboxController
 ) -> None:
     if gamepad.getStartButton() and gamepad.getBumper(GenericHID.Hand.kRightHand):
         self.hang.raise_hook()
     if self.hang.fire_hook and (
         gamepad.getTriggerAxis(GenericHID.Hand.kLeftHand) > 0.9
         or gamepad.getTriggerAxis(GenericHID.Hand.kRightHand) > 0.9
     ):
         self.hang.winch()
Пример #3
0
class _OI:
    def __init__(self):
        self.drive_gamepad = XboxController(0)
        self.op_gamepad = XboxController(1)

        self._action_listeners = []
        self._while_listeners = []

        self.arm_toggle = LambdaDebouncer(
            lambda: self.op_gamepad.getTriggerAxis(XboxController.Hand.kRight
                                                   ) > 0.75)

    # Utility
    def exec_while_condition(self, condition: Callable, cmd: Command):
        self._while_listeners.append((condition, cmd))

    def update(self):
        for condition, action in self._action_listeners:
            if condition():
                action()
        for condition, command in self._while_listeners:
            command = typing.cast(Command, command)
            cond_result = condition()
            if cond_result:
                if command.isRunning():
                    pass
                else:
                    command.start()
            else:
                command.cancel()

    def add_action_listener(self, condition, action):
        self._action_listeners.append((condition, action))

    # OpDrive
    def get_left_power(self):
        return -self.drive_gamepad.getY(XboxController.Hand.kLeft)

    def get_right_power(self):
        return -self.drive_gamepad.getY(XboxController.Hand.kRight)

    def get_turn_command(self):
        return -self.drive_gamepad.getX(XboxController.Hand.kRight)

    def get_fine_left_turn(self):
        return self.drive_gamepad.getXButton()

    def get_fine_right_turn(self):
        return self.drive_gamepad.getBButton()

    def get_fine_forward(self):
        return self.drive_gamepad.getPOV() == 0

    def get_fine_backward(self):
        return self.drive_gamepad.getPOV() == -180

    def get_spot_turn(self):
        return self.drive_gamepad.getBumper(XboxController.Hand.kLeft)

    # Intake

    def intake_is_active(self):
        return self.op_gamepad.getBumper(XboxController.Hand.kRight)

    def get_outtake_command(self):
        return self.op_gamepad.getY(XboxController.Hand.kRight)

    def toggle_arm(self):
        return self.arm_toggle

    def arm_is_open(self):
        return self.op_gamepad.getBumper(XboxController.Hand.kLeft)

    def rumble_op(self):
        rumble_val = 1
        self.op_gamepad.setRumble(XboxController.RumbleType.kLeftRumble,
                                  rumble_val)
        self.op_gamepad.setRumble(XboxController.RumbleType.kRightRumble,
                                  rumble_val)

    def unrumble_op(self):
        self.op_gamepad.setRumble(XboxController.RumbleType.kLeftRumble, 0)
        self.op_gamepad.setRumble(XboxController.RumbleType.kRightRumble, 0)

    # Elevator
    def get_elevator_manual_command(self):
        return -self.op_gamepad.getY(XboxController.Hand.kLeft)

    def elevator_is_manual_control(self):
        return self.op_gamepad.getTriggerAxis(XboxController.Hand.kLeft) > 0.75

    def elevator_move_to_top(self):
        return self.op_gamepad.getPOV() == 0

    def elevator_move_to_switch(self):
        return self.op_gamepad.getPOV() == 90

    def elevator_move_to_bottom(self):
        return self.op_gamepad.getPOV() == 180

    def elevator_zero(self):
        return False

    # Climber
    def do_drop_forks(self):
        return self.op_gamepad.getBackButton()

    def do_climb(self):
        return self.op_gamepad.getStartButton()
Пример #4
0
class XboxControllerPlus():
	def __init__(self, port):
		self._controller = XboxController(port)		
		self._a = False
		self._b = False
		self._x = False
		self._y = False
		self._lb = False
		self._rb = False
		self._lt = False
		self._rt = False
		self._ls = False
		self._rs = False
		self._start = False
		self._back = False
		self._dpad = -1
		
	def getAButton(self):
		a = self._a
		b = self._controller.getAButton()
		self._a = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getBButton(self):
		a = self._b
		b = self._controller.getBButton()
		self._b = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
	
	def getXButton(self):
		a = self._x
		b = self._controller.getXButton()
		self._x = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getYButton(self):
		a = self._y
		b = self._controller.getYButton()
		self._y = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getBumper(self, h):
		if h == kLeft:
			a = self._lb
		else:
			a = self._rb
		b = self._controller.getBumper(h)
		if h == kLeft:
			self._lb = b
		else:
			self._rb = b
			
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getTrigger(self, h):
		if h == kLeft:
			a = self._lt
		else:
			a = self._rt
		b = self._controller.getTriggerAxis(h) >= 0.5
		if h == kLeft:
			self._lt = b
		else:
			self._rt = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getStickButton(self, h):
		if h == kLeft:
			a = self._ls
		else:
			a = self._rs
		b = self._controller.getStickButton(h)
		if h == kLeft:
			self._ls = b
		else:
			self._rs = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getStartButton(self):
		a = self._start
		b = self._controller.getStartButton()
		self._start = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getBackButton(self):
		a = self._back
		b = self._controller.getBackButton()
		self._back = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def getDpad(self, value):
		a = self._dpad
		b = self._controller.getPOV(0)
		self._dpad = b
		if b != a:
			if b:
				return PRESSED
			else:
				return RELEASED
		elif b:
			return DOWN
		else:
			return UP
			
	def setRumble(self, type1, d):
		self._controller.setRumble(type1, d)

	def getX(self, hand):
		return self._controller.getX(hand)

	def getY(self, hand):
		return self._controller.getY(hand)