class OctoBot(wpilib.SampleRobot):
#Initialise the robot.
def robotInit(self):
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
def autonomous(self):
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005)
def operatorControl(self):
joystick = self.oi.getStick()
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005)
def disabled(self):
"""Stuff to do whilst disabled."""
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005)
def test(self):
"""No tests"""
pass
def log(self):
"""It's big, it's heavy, it's wood."""
self.drivetrain.log()
class DosPointOh(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
#Timeout value for the macros from the dashboard (default 15 sec).
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
Settings.num_macro_timeout = self.macroTimeout
def autonomous(self):
"""Auton code."""
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0,0)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def test(self):
"""Code for testing."""
pass
def log(self):
"""I know it doesn't log but if it does eventually it'll go here."""
#Log the things:
self.drivetrain.log()
class Mantis(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.oi = OI(self)
self.ears = Ears(self)
#Timeout value for the macros from the dashboard (default 15 sec).
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
Settings.num_macro_timeout = self.macroTimeout
#these are all actually really self explanatory. Wonder if they work.
# self.camera = wpilib.USBCamera()
# self.camera.setExposureManual(50)
# self.camera.setBrightness(80)
# self.camera.setFPS(30)
# self.camera.setSize(320, 240)
# self.camera.setWhiteBalanceAuto()
# self.camera.updateSettings() #update with the new settings so it actually does what we want it to
# server = wpilib.CameraServer.getInstance() #set up the camera server
# server.startAutomaticCapture(self.camera) #start the camera server
def autonomous(self):
"""Auton code."""
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.005) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0, False, False)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.005) #don't burn up the cpu
def test(self):
"""Code for testing."""
pass
def log(self):
"""I know it doesn't log but if it does eventually it'll go here."""
#Log the things:
self.drivetrain.log()
class Mantis(wpilib.SampleRobot):
"""Fluffy ears to scratch, lost his tail, cute little paws, likes to play fetch."""
def robotInit(self):
"""Initialise the robot."""
#Initialise the subsystems and the button mapping:
self.drivetrain = Drivetrain(self)
self.ears = Ears(self)
self.hat = Hat(self)
self.tilt = Tilt(self)
self.oi = OI(self)
#Initialise the macro shenanigans (should probably clean this up once I get the dashboard sorted)
self.macroTimeout = self.oi.smart_dashboard.getInt("Macro", 15)
self.macroName = self.oi.smart_dashboard.getString("Macro Name", "macro.csv")
Settings.str_macro_name = self.macroName
Settings.num_macro_timeout = self.macroTimeout
macro_string = str(Settings.num_macro_timeout)
print("Robot initialized with a macro timeout of " + macro_string)
self.simpleAutonCommand = PlayMacro(self, "macro.csv")
self.shooterAutonCommand = PlayMacro(self, "macro_launch.csv")
def autonomous(self):
"""Auton code."""
print("Autonomous mode activated")
try:
if self.oi.smart_dashboard.getBoolean("Play Macro"):
self.simpleAutonCommand.start()
elif self.oi.smart_dashboard.getBoolean("Shoot"):
self.shooterAutonCommand.start()
else:
print("No macro selected, waiting for teleop...")
except KeyError:
pass
#Logging loop
while self.isAutonomous() and self.isEnabled():
Scheduler.getInstance().run()
self.log()
wpilib.Timer.delay(.05) #don't burn up the cpu
def operatorControl(self):
"""Teleop code."""
print("Teleop activated")
self.simpleAutonCommand.cancel()
self.shooterAutonCommand.cancel()
#Make the joystick work for driving:
joystick = self.oi.getStick()
#Logging loop
while self.isOperatorControl() and self.isEnabled():
self.log()
Scheduler.getInstance().run()
wpilib.Timer.delay(.05) #don't burn up the cpu
def disabled(self):
"""Code to run when disabled."""
print("Robot disabled")
#Stop the drivetrain for safety's sake:
self.drivetrain.driveManual(0,0)
self.hat.manualSet(0)
self.ears.manualSet(0)
self.tilt.manualSet(0)
#Logging loop
while self.isDisabled():
self.log()
wpilib.Timer.delay(.05) #don't burn up the cpu
def test(self):
"""Code for testing."""
print("Test mode activated")
def log(self):
"""Log our subsystems."""
self.drivetrain.log()
self.ears.log()
self.hat.log()
self.tilt.log()
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()
