class CargoEffector(Subsystem):
def __init__(self):
super().__init__()
self.cargo_motor = WPI_TalonSRX(RM.CARGO_MOTOR)
self.cargo_motor.enableVoltageCompensation(True)
self.cargo_motor.setInverted(True)
def initDefaultCommand(self):
self.setDefaultCommand(self.EatTheBallOrNot(self))
class Stopification(Command):
def __init__(self, cargo_effector):
super().__init__(subsystem=cargo_effector)
self._cargo_effector = cargo_effector
def isFinished(self):
return False
def initialize(self):
self._cargo_effector.cargo_motor.set(0.0)
class EatTheBallOrNot(Command):
def __init__(self, cargo_effector):
super().__init__(subsystem=cargo_effector)
self._cargo_effector = cargo_effector
self._deadband = 0.1
self.logger = logging.getLogger(self.__class__.__name__)
def isFinished(self):
return False
def execute(self):
left_trigger = Command.getRobot().oi.driveJoy.getTriggerAxis(
GenericHID.Hand.kLeft)
right_trigger = Command.getRobot().oi.driveJoy.getTriggerAxis(
GenericHID.Hand.kRight)
left_trigger = self.apply_deadband(left_trigger)
right_trigger = self.apply_deadband(right_trigger)
# self.logger.info("Left trigger: {}".format(left_trigger))
# self.logger.info("Right trigger: {}".format(right_trigger))
if left_trigger > 0:
self._cargo_effector.cargo_motor.set(left_trigger)
else:
self._cargo_effector.cargo_motor.set(-right_trigger)
def apply_deadband(self, value):
return value if abs(value) > self._deadband else 0.0
class EdibleRegurgitation(enum.IntEnum):
NOMMY = 0
PEWPEW = 1
def config_talon(talon: WPI_TalonSRX, motor_config: TalonMotorConfig):
# when deploying it might be a somewhat good idea to actually uncomment this next line
talon.configFactoryDefault()
talon.enableVoltageCompensation(True)
talon.configVoltageCompSaturation(motor_config.voltage_saturation)
talon.enableCurrentLimit(True)
talon.configPeakCurrentLimit(motor_config.peak_current)
talon.configContinuousCurrentLimit(motor_config.continuous_current)
talon.setNeutralMode(motor_config.default_mode)
talon.configNeutralDeadband(motor_config.deadband)
# talon.configOpenLoopRamp(motor_config.ramp_rate)
talon.setInverted(motor_config.reversed)
def config_talon(talon: WPI_TalonSRX, motor_config: MotorConfig) -> None:
talon.enableVoltageCompensation(True)
talon.configVoltageCompSaturation(motor_config.voltage_saturation)
talon.enableCurrentLimit(True)
talon.configPeakCurrentLimit(motor_config.peak_current)
talon.configContinuousCurrentLimit(motor_config.continuous_current)
talon.setNeutralMode(motor_config.default_mode)
talon.configNeutralDeadband(motor_config.deadband)
talon.configOpenLoopRamp(motor_config.ramp_rate)