class MyRobot(wpilib.TimedRobot):
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
wpilib.LiveWindow.getInstance().setEnabled(True)
def autonomousInit(self):
# schedule the autonomous command (example)
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
# This makes sure that the autonomous stops running when
# teleop starts running. If you want the autonomous to
# continue until interrupted by another command, remove
# this line or comment it out.
self.autonomousCommand.cancel()
def teleopPeriodic(self):
"""This function is called periodically during operator control"""
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
"""This function is called periodically during test mode"""
wpilib.LiveWindow.getInstance().updateValues()
def log(self):
"""The log method puts interesting information to the SmartDashboard."""
self.wrist.log()
self.elevator.log()
self.drivetrain.log()
self.claw.log()
class MyRobot(wpilib.IterativeRobot):
def robotInit(self):
'''This function is run when the robot is first started up and should be
used for any initialization code.'''
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def autonomousInit(self):
# schedule the autonomous command (example)
self.autonomousCommand.start()
def autonomousPeriodic(self):
'''This function is called periodically during autonomous'''
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
# This makes sure that the autonomous stops running when
# teleop starts running. If you want the autonomous to
# continue until interrupted by another command, remove
# this line or comment it out.
self.autonomousCommand.cancel()
def teleopPeriodic(self):
'''This function is called periodically during operator control'''
Scheduler.getInstance().run()
self.log()
def testPeriodic(self):
'''This function is called periodically during test mode'''
wpilib.LiveWindow.run()
def log(self):
'''The log method puts interesting information to the SmartDashboard.'''
self.wrist.log()
self.elevator.log()
self.drivetrain.log()
self.claw.log()
def robotInit(self):
"""This function is run when the robot is first started up and should be
used for any initialization code."""
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
def robotInit(self):
"""Initialises 'bot w/ all subsystems (winch needs testing) and joysticks"""
#Subsystem initialisation. Woo.
self.drivetrain = Drivetrain(self)
self.lift = Lift(self)
self.claw = Claw(self)
self.mast = Mast(self)
self.winch = Winch(self)
self.oi = OI(self)
#These are self-describing autonomouses. Waaaaaait... Autono-mouse?
self.ThreeToteAutonomousCommand = ThreeToteAutonomous(self)
self.CanAutonomousCommand = CanAutonomous(self)
self.CanNToteAutoCommand = PlayMacro(self, "macro_1.csv")
self.DriveAutonomousCommand = PlayMacro(self, "macro.csv")
self.ToteAutonomousCommand = ToteAutonomous(self)
self.PlayMacroCommand = PlayMacro(self, "autonomous.csv")
def robotInit(self):
'''Initialize all subsystems.'''
self.drivetrain = DriveTrain(self)
self.puncher = Puncher()
self.claw = Claw()
self.arm = Arm()
self.intake = Intake()
self.elevator = Elevator()
self.hatch = Hatch()
self.intake_winch = IntakeWinch()
self.oi = OI(self)
def robotInit(self):
'''This function is run when the robot is first started up and should be
used for any initialization code.'''
self.drivetrain = DriveTrain(self)
self.elevator = Elevator(self)
self.wrist = Wrist(self)
self.claw = Claw()
self.oi = OI(self)
# instantiate the command used for the autonomous period
self.autonomousCommand = Autonomous(self)
# Show what command your subsystem is running on the SmartDashboard
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.elevator)
wpilib.SmartDashboard.putData(self.wrist)
wpilib.SmartDashboard.putData(self.claw)
class Lopez_Jr(wpilib.SampleRobot):
def robotInit(self):
"""Initialises 'bot w/ all subsystems (winch needs testing) and joysticks"""
#Subsystem initialisation. Woo.
self.drivetrain = Drivetrain(self)
self.lift = Lift(self)
self.claw = Claw(self)
self.mast = Mast(self)
self.winch = Winch(self)
self.oi = OI(self)
#These are self-describing autonomouses. Waaaaaait... Autono-mouse?
self.ThreeToteAutonomousCommand = ThreeToteAutonomous(self)
self.CanAutonomousCommand = CanAutonomous(self)
self.CanNToteAutoCommand = PlayMacro(self, "macro_1.csv")
self.DriveAutonomousCommand = PlayMacro(self, "macro.csv")
self.ToteAutonomousCommand = ToteAutonomous(self)
self.PlayMacroCommand = PlayMacro(self, "autonomous.csv")
def autonomous(self):
"""Woo, auton code w/ 3 modes. Needs to be tested."""
#I'll probably change these out to different macro commands.
self.drivetrain.drive.setSafetyEnabled(False)
try:
if self.oi.smart_dashboard.getBoolean("3 Tote Auto"):
self.ThreeToteAutonomousCommand.start()
print("3 Tote Auto started")
elif self.oi.smart_dashboard.getBoolean("Can Auto"):
self.CanAutonomousCommand.start()
print("Can Auto started")
elif self.oi.smart_dashboard.getBoolean("Can/Tote Auto"):
self.CanNToteAutoCommand.start()
print("Can and Tote Auto started")
elif self.oi.smart_dashboard.getBoolean("Tote Auto"):
self.ToteAutonomousCommand.start()
print("Tote Auto started")
elif self.oi.smart_dashboard.getBoolean("Play Macro"):
self.PlayMacroCommand.start()
print("Macro replay started")
elif self.oi.smart_dashboard.getBoolean("Drive Auto"):
self.DriveAutonomousCommand.start()
print("Drive Auto started")
else:
pass
except KeyError:
self.PlayMacroCommand.start()
#pass
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) # don't burn up the cpu
def operatorControl(self):
"""Runs the 'bot with the fancy joystick and an awesome gamepad THAT IS AWESOME."""
#Cancel the autons - that could go badly otherwise.
self.ThreeToteAutonomousCommand.cancel()
self.CanAutonomousCommand.cancel()
self.DriveAutonomousCommand.cancel()
self.ToteAutonomousCommand.cancel()
self.PlayMacroCommand.cancel()
self.CanNToteAutoCommand.cancel()
#More stuff.
self.drivetrain.drive.setSafetyEnabled(True)
joystick = self.oi.getJoystickLeft()
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) # don't burn up the cpu
def disabled(self):
"""Stuff to do when the 'bot is disabled"""
#cancel the autons IN THE NAME OF SAFETY
self.ThreeToteAutonomousCommand.cancel()
self.CanAutonomousCommand.cancel()
self.DriveAutonomousCommand.cancel()
self.ToteAutonomousCommand.cancel()
self.PlayMacroCommand.cancel()
self.CanNToteAutoCommand.cancel()
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005)
def test(self):
"""There aren't any tests."""
pass
def log(self):
"""It's big, it's heavy, it's wood. Needs to be bigger."""
self.drivetrain.log()
self.lift.log()
self.claw.log()
self.mast.log()
self.winch.log()
