class MyRobot(wpilib.IterativeRobot):
'''Main robot class'''
def robotInit(self):
'''Robot-wide initialization code should go here'''
self.sd = NetworkTable.getTable('SmartDashboard')
self.i = 0
Robot.dt = Drive_train()
Robot.elevator = Elevator()
Robot.intake = Intake()
Robot.twstick = wpilib.Joystick(1)
Robot.hstick = wpilib.Joystick(2)
Robot.left_drive = Multi_motor(4)
Robot.right_drive = Multi_motor(3)
Robot.h_motor = Multi_motor(2)
Robot.elevator_motor = Multi_motor(5)
Robot.top_limitswitch = DigitalInput(2)
Robot.bottom_limitswitch = DigitalInput(1)
Robot.solenoid = wpilib.DoubleSolenoid(7, 0)
Robot.intake_motor = Multi_motor(0)
Robot.encoder = Encoder(3, 4)
self.autonomous_command = Auto_drive()
self.auto_steps = 0
def autonomousInit(self):
'''Called only at the beginning of autonomous mode'''
self.autonomous_command.start()
def autonomousPeriodic(self):
'''Called every 20ms in autonomous mode'''
wpilib.command.Scheduler.getInstance().run()
self.auto_steps += 1
def disabledInit(self):
'''Called only at the beginning of disabled mode'''
pass
def disabledPeriodic(self):
'''Called every 20ms in disabled mode'''
pass
def teleopInit(self):
'''Called only at the beginning of teleoperated mode'''
pass
def teleopPeriodic(self):
'''Called every 20ms in teleoperated mode'''
wpilib.command.Scheduler.getInstance().run()
if self.i % 100 == 0:
self.sd.putDouble('Gypro', Robot.dt.get_gyro_angle())
self.i += 1
def robotInit(self):
'''Robot-wide initialization code should go here'''
self.sd = NetworkTable.getTable('SmartDashboard')
self.i = 0
Robot.dt = Drive_train()
Robot.elevator = Elevator()
Robot.intake = Intake()
Robot.twstick = wpilib.Joystick(1)
Robot.hstick = wpilib.Joystick(2)
Robot.left_drive = Multi_motor(4)
Robot.right_drive = Multi_motor(3)
Robot.h_motor = Multi_motor(2)
Robot.elevator_motor = Multi_motor(5)
Robot.top_limitswitch = DigitalInput(2)
Robot.bottom_limitswitch = DigitalInput(1)
Robot.solenoid = wpilib.DoubleSolenoid(7, 0)
Robot.intake_motor = Multi_motor(0)
Robot.encoder = Encoder(3, 4)
self.autonomous_command = Auto_drive()
self.auto_steps = 0