def run(self, x, y, rotation):
'''Intended for use in telelop. Use .cartesian() for auto.'''
# Map joystick values to curve
x = self.curve(helpers.deadband(x, 0.1))
y = self.curve(helpers.deadband(y, 0.1))
rotation = helpers.deadband(-rotation * 0.5, 0.1)
# write manipulated values to motors
self.cartesian(-x, y, rotation)
def run(self, heightRate, runIn, open, runOut, bottom, angle, calibrate):
'''
Intended to be called with a periodic loop
and with button toggles.
'''
# if elevator is at limit switch
self.calibrateAsync()
if (runIn):
self.intakeM.set(-1)
elif (runOut):
self.intakeM.set(1)
else:
self.intakeM.set(0)
if (open):
self.jawsSol.set(self.jawsSol.Value.kForward)
else:
self.jawsSol.set(self.jawsSol.Value.kReverse)
if (bottom):
self.goToHeight(0)
else:
if (calibrate):
self.calibrateSync()
else:
self.setElevator(heightRate)
self.setJaws(helpers.deadband(angle, 0.1))
def curve(self, value):
"""Because this divides by sin(1), an input
in range [-1, 1] will always have an output
range of [-1, 1]. """
value = helpers.deadband(helpers.raiseKeepSign(value, 1), self.jDeadband)
return (math.sin(value) / math.sin(1));
def teleopPeriodic(self):
"""This function is called periodically during operator control."""
'''Components'''
# Rumble
averageDriveCurrent = self.power.getAverageCurrent([0, 1, 14, 15])
if (averageDriveCurrent > 8):
self.joystick.setRumble(0, 1)
else:
self.joystick.setRumble(0, 0)
#print(self.metabox.getEncoder())
'''
TODO: calibrate sparks
'''
# Drive
self.drive.run(self.joystick.getRawAxis(0),
self.joystick.getRawAxis(1),
self.joystick.getRawAxis(4))
# MetaBox
self.metabox.run(
self.leftJ.getY(), # elevator rate of change
self.leftJ.getRawButton(3), # run intake wheels in
self.leftJ.getRawButton(1), # open jaws
self.leftJ.getRawButton(2), # run intake wheels out
self.leftJ.getRawButton(4), # go to bottom
self.leftJ.getRawAxis(2), # set angle of jaws
self.leftJ.getRawButton(8), # calibrate elevator
self.leftJ.getRawButton(9)) #set intake wheels to pull in
'''
self.Frontlift.run(self.leftJ.getRawButton(6),
self.leftJ.getRawButton(7),
self.leftJ.getRawButton(11),
self.leftJ.getRawButton(10),
self.leftJ.getRawButton(8))
'''
# Lights
self.lights.setColor(self.driverStation.getAlliance())
if (self.driverStation.getMatchTime() < 30
and self.driverStation.getMatchTime() != -1):
self.lights.run({'effect': 'flash', 'fade': True, 'speed': 200})
elif (helpers.deadband(self.leftJ.getY(), 0.1) != 0):
self.lights.run({'effect': 'stagger'})
elif (self.leftJ.getRawButton(1) or self.leftJ.getRawButton(2)):
self.lights.run({'effect': 'flash', 'fade': False, 'speed': 20})
else:
self.lights.run({'effect': 'rainbow'})