示例#1
0
文件: robot.py 项目: 3299/2016
class MyRobot(wpilib.SampleRobot):
    def robotInit(self):
        self.C = Component() # Components inits all connected motors, sensors, and joysticks. See components.py.

        # Setup subsystems
        self.drive    = Chassis(self.C.driveTrain, self.C.gyroS)
        self.belt     = Belt(self.C.beltM)
        self.beltAxis = BeltAxis(self.C.beltAxisM)
        self.shoot    = Shooter(self.C.flipM, self.C.shootM)
        self.lift     = Lift(self.C.lift1M, self.C.lift2M)
        self.sonic    = Sonic(self.C.sonic)
        self.arduino  = Arduino(self.C.arduino)

        self.guide    = Guiding(self.sonic, self.drive)

        self.sd = SmartDashboard
        self.sd.putBoolean("autoMove", False)

        self.autoLoop = 0

    def operatorControl(self):
        self.C.driveTrain.setSafetyEnabled(True) # keeps robot from going crazy if connection with DS is lost

        while self.isOperatorControl() and self.isEnabled():
            distance = self.sonic.getAverage()
            print(distance)
            self.sd.putDouble('distance', distance)

            if (5.25 < distance and distance < 5.75):
                self.sd.putBoolean("Ready", True)
            else:
                self.sd.putBoolean("Ready", False)

            if (self.C.middleJ.getRawButton(1) == True):
                self.guide.guideSonic()

            # Drive
            self.drive.run(self.C.leftJ.getRawButton(1), self.C.leftJ.getY(), self.C.middleJ.getY())

            # Components
            self.belt.run(self.C.rightJ.getRawButton(4), self.C.rightJ.getRawButton(5))
            self.beltAxis.run(self.C.rightJ.getRawButton(3), self.C.rightJ.getY(), self.C.beltAxisTS.get(), self.C.beltAxisBS.get())
            self.lift.run(self.C.leftJ.getRawButton(1), self.C.leftJ.getY(), self.C.middleJ.getY())
            self.shoot.run(self.C.rightJ.getRawButton(2), self.C.beltAxisTS.get(), self.C.rightJ.getRawButton(1), self.C.flipS.get()) # weird argument in the middle makes sure shooter doesn't turn on when belt it up

            wpilib.Timer.delay(0.005) # wait for a motor update time

    def autonomous(self):
        """This function is called periodically during autonomous."""
        if (self.sd.getBoolean("autoMove") == True):
            distance = self.sonic.getAverage()

            while (self.autoLoop < 2000 and distance > 5):
                self.drive.set(-1, 0)
                wpilib.Timer.delay(0.005)
                self.autoLoop = self.autoLoop + 1


    def test(self):
        """This function is called periodically during test mode."""
示例#2
0
def test_control_methods():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.shooter_motor.set = MagicMock()

    shooter.shoot()
    shooter.shooter_motor.set.assert_called_with(-Shooter.max_speed*Shooter.shoot_percentage)

    shooter.backdrive()
    shooter.shooter_motor.set.assert_called_with(Shooter.max_speed*0.01)

    shooter.backdrive_recovery()
    shooter.shooter_motor.set.assert_called_with(Shooter.max_speed*1.0)

    shooter.stop()
    shooter.shooter_motor.set.assert_called_with(0.0)
示例#3
0
def test_up_to_speed():
    shooter = Shooter()
    shooter.shoter_motor = MagicMock()

    # test error condition
    shooter.shooter_motor.get = MagicMock(
        return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0) +
        1.0)
    shooter.shooter_motor.getSetpoint = MagicMock(
        return_value=Shooter.max_speed * Shooter.shoot_percentage)

    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.03 *
                                                         Shooter.max_speed)
    assert not shooter.up_to_speed()

    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02 *
                                                         Shooter.max_speed)
    assert shooter.up_to_speed()

    # test that we are at least half of setpoint
    shooter.shooter_motor.getSetpoint = MagicMock(
        return_value=Shooter.max_speed * Shooter.shoot_percentage)
    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02 *
                                                         Shooter.max_speed)

    shooter.shooter_motor.get = MagicMock(
        return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0))
    assert not shooter.up_to_speed()

    shooter.shooter_motor.get = MagicMock(
        return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0) +
        1.0)
    assert shooter.up_to_speed()
示例#4
0
def test_stop():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter._speed = 12345
    shooter.stop()
    shooter.execute()
    assert shooter._speed == 0.0
    assert shooter.shooter_motor.set.called
示例#5
0
def test_set_speed():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.start_shoot()
    shooter.execute()
    assert shooter._speed != 0.0
    shooter.shooter_motor.setFeedbackDevice.assert_called_once_with(CANTalon.FeedbackDevice.QuadEncoder)
    assert shooter.shooter_motor.set.called
示例#6
0
def test_changed_speed():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.start_shoot()
    shooter.execute()
    shooter.execute()
    # Setpoint for Talon SRX should only get called once
    assert shooter.shooter_motor.set.call_count == 1
示例#7
0
文件: robot.py 项目: frc2423/2014
 def __init__(self):
     wpilib.SimpleRobot.__init__(self)
     
         
     
     
     #create component instances
     '''ex self.my_feeder = Feeder(feeder_motor, 
     frisbee_sensor, 
     feeder_sensor)'''
     self.feeder = Feeder(feeder_servo)
     self.angle = Angle(angle_control)
     self.shooter = Shooter(shooter_wheel)
     self.robot_drive = wpilib.RobotDrive(l_drive, r_drive)
示例#8
0
文件: robot.py 项目: 3299/2016
    def robotInit(self):
        self.C = Component() # Components inits all connected motors, sensors, and joysticks. See components.py.

        # Setup subsystems
        self.drive    = Chassis(self.C.driveTrain, self.C.gyroS)
        self.belt     = Belt(self.C.beltM)
        self.beltAxis = BeltAxis(self.C.beltAxisM)
        self.shoot    = Shooter(self.C.flipM, self.C.shootM)
        self.lift     = Lift(self.C.lift1M, self.C.lift2M)
        self.sonic    = Sonic(self.C.sonic)
        self.arduino  = Arduino(self.C.arduino)

        self.guide    = Guiding(self.sonic, self.drive)

        self.sd = SmartDashboard
        self.sd.putBoolean("autoMove", False)

        self.autoLoop = 0
示例#9
0
def test_up_to_speed():
    shooter = Shooter()
    shooter.shoter_motor = MagicMock()

    # test error condition
    shooter.shooter_motor.get = MagicMock(return_value=(Shooter.max_speed*Shooter.shoot_percentage/2.0)+1.0)
    shooter.shooter_motor.getSetpoint = MagicMock(return_value=Shooter.max_speed*Shooter.shoot_percentage)

    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.03*Shooter.max_speed)
    assert not shooter.up_to_speed()

    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02*Shooter.max_speed)
    assert shooter.up_to_speed()

    # test that we are at least half of setpoint
    shooter.shooter_motor.getSetpoint = MagicMock(return_value=Shooter.max_speed*Shooter.shoot_percentage)
    shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02*Shooter.max_speed)

    shooter.shooter_motor.get = MagicMock(return_value=(Shooter.max_speed*Shooter.shoot_percentage/2.0))
    assert not shooter.up_to_speed()

    shooter.shooter_motor.get = MagicMock(return_value=(Shooter.max_speed*Shooter.shoot_percentage/2.0)+1.0)
    assert shooter.up_to_speed()
示例#10
0
文件: robot.py 项目: frc2423/2014
class MyRobot (wpilib.SimpleRobot):
    def __init__(self):
        wpilib.SimpleRobot.__init__(self)
        
            
        
        
        #create component instances
        '''ex self.my_feeder = Feeder(feeder_motor, 
        frisbee_sensor, 
        feeder_sensor)'''
        self.feeder = Feeder(feeder_servo)
        self.angle = Angle(angle_control)
        self.shooter = Shooter(shooter_wheel)
        self.robot_drive = wpilib.RobotDrive(l_drive, r_drive)
        
        
        
        
        
        #In the 2013 code we had a dictionary of autonomous mode components. I'm assuming we are keeping that.
        
        
        #initialize other needed SmartDashboard imputs if we use it. This would be real competition stuff.
        
        
    def RobotInit(self):
        pass
    
    def Disabled(self):
        print("MyRobot::Autonomous()")
        
        while self.IsDisabled():
            wpilib.Wait(CONTROL_LOOP_WAIT_TIME)
        
        
    def Autonomous(self):        
        print("MyRobot::Autonomous()")
        
        while self.IsOperatorControl() and self.IsEnabled():
            wpilib.Wait(CONTROL_LOOP_WAIT_TIME)
        #self.sd.PutNumber("Robot Mode", self.MODE_AUTONOMOUS)

        
    def OperatorControl(self):
        print("MyRobot::OperatorControl()")

        self.delay = PreciseDelay(CONTROL_LOOP_WAIT_TIME)

        # set the watch dog
        dog = self.GetWatchdog()
        dog.SetExpiration(0.25)
        dog.SetEnabled(True)

            
        while self.IsOperatorControl () and self.IsEnabled():
            
            #
            #angle
            #
            if joystick.GetRawButton(3):
                self.angle.set_speed(ANGLE_CONTROLLER_SPEED)
            elif joystick.GetRawButton(2):
                self.angle.set_speed(-ANGLE_CONTROLLER_SPEED)
            
            #
            #shooter
            #
            # gets the value of the throttle treating -1 as 0
            self.d_speed = (joystick.GetThrottle() + 1) / 2
            self.shooter.set_speed(self.d_speed)
    
            #
            #feeder
            #
            if joystick.GetTrigger():
                self.feeder.feed()
                
            #
            #update everything
            #    
            self.angle.update()
            self.feeder.update()
            self.shooter.update()
            
            #
            #Set the drive
            #
            self.robot_drive.ArcadeDrive(joystick.GetY(), joystick.GetX(), True)
            

            dog.Feed()
            
            self.delay.wait()
示例#11
0
def test_control_methods():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.shooter_motor.set = MagicMock()

    shooter.shoot()
    shooter.shooter_motor.set.assert_called_with(-Shooter.max_speed *
                                                 Shooter.shoot_percentage)

    shooter.backdrive()
    shooter.shooter_motor.set.assert_called_with(Shooter.max_speed * 0.01)

    shooter.backdrive_recovery()
    shooter.shooter_motor.set.assert_called_with(Shooter.max_speed * 1.0)

    shooter.stop()
    shooter.shooter_motor.set.assert_called_with(0.0)
示例#12
0
def test_backdrive():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.state = States.backdriving
    shooter.execute()
    assert shooter._speed >= 0.0
示例#13
0
def test_toggle():
    shooter = Shooter()
    shooter.shooter_motor = MagicMock()
    shooter.state = States.off
    shooter.changed_state = False
    shooter.toggle()
    shooter.execute()
    shooter.execute()
    assert shooter._speed != 0.0
    shooter.state = States.shooting
    shooter.changed_state = False
    shooter.execute()
    shooter.toggle()
    shooter.execute()
    shooter.execute()
    assert shooter._speed == 0.0
    assert shooter.shooter_motor.set.call_count == 2