class Robot(wpilib.IterativeRobot):
"""This is the main class for running the PacGoat code."""
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot",
DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def autonomousInit(self):
self.autonomousCommand = self.autoChooser.getSelected()
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
"""This function is called at the beginning of operator control."""
#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.
if self.autonomousCommand is not None:
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 disabledInit(self):
self.shooter.unlatch()
def disabledPeriodic(self):
"""This function is called periodically while disabled."""
self.log()
def log(self):
self.pneumatics.writePressure()
wpilib.SmartDashboard.putNumber("Pivot Pot Value",
self.pivot.getAngle())
wpilib.SmartDashboard.putNumber(
"Left Distance",
self.drivetrain.getLeftEncoder().getDistance())
wpilib.SmartDashboard.putNumber(
"Right Distance",
self.drivetrain.getRightEncoder().getDistance())
class Robot(wpilib.IterativeRobot):
"""This is the main class for running the PacGoat code."""
def robotInit(self):
"""
This function is run when the robot is first started up and should be
used for any initialization code.
"""
# Initialize the subsystems
self.drivetrain = DriveTrain(self)
self.collector = Collector(self)
self.shooter = Shooter(self)
self.pneumatics = Pneumatics(self)
self.pivot = Pivot(self)
wpilib.SmartDashboard.putData(self.drivetrain)
wpilib.SmartDashboard.putData(self.collector)
wpilib.SmartDashboard.putData(self.shooter)
wpilib.SmartDashboard.putData(self.pneumatics)
wpilib.SmartDashboard.putData(self.pivot)
# This MUST be here. If the OI creates Commands (which it very likely
# will), constructing it during the construction of CommandBase (from
# which commands extend), subsystems are not guaranteed to be
# yet. Thus, their requires() statements may grab null pointers. Bad
# news. Don't move it.
self.oi = OI(self)
#instantiate the command used for the autonomous period
self.autoChooser = wpilib.SendableChooser()
self.autoChooser.addDefault("Drive and Shoot", DriveAndShootAutonomous(self))
self.autoChooser.addObject("Drive Forward", DriveForward(self))
wpilib.SmartDashboard.putData("Auto Mode", self.autoChooser)
self.autonomousCommand = None
# Pressurize the pneumatics
self.pneumatics.start()
def autonomousInit(self):
self.autonomousCommand = self.autoChooser.getSelected()
self.autonomousCommand.start()
def autonomousPeriodic(self):
"""This function is called periodically during autonomous"""
Scheduler.getInstance().run()
self.log()
def teleopInit(self):
"""This function is called at the beginning of operator control."""
#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.
if self.autonomousCommand is not None:
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 disabledInit(self):
self.shooter.unlatch()
def disabledPeriodic(self):
"""This function is called periodically while disabled."""
self.log()
def log(self):
self.pneumatics.writePressure()
wpilib.SmartDashboard.putNumber("Pivot Pot Value", self.pivot.getAngle())
wpilib.SmartDashboard.putNumber("Left Distance", self.drivetrain.getLeftEncoder().getDistance())
wpilib.SmartDashboard.putNumber("Right Distance", self.drivetrain.getRightEncoder().getDistance())
