def robotInit(self): '''Robot-wide initialization code should go here''' #start camera wpilib.CameraServer.launch() Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() #self.auto = autonomous.ForwardOnly() self.auto = autonomous.SwitchCommands() #self.auto = TurnRight(90) #self.auto = Wait9ThenForward() #self.auto = RightPosRightSwitchAuto() #self.auto = AutoEncodersTurnLeft(90) #self.auto = MiddlePosLeftSwitchAuto() self.elevatorSwitch = ElevatorSwitch() self.elevatorScale = ElevatorScale() self.elevatorIntake = ElevatorIntake() self.driveForward = driveForward.DriveForward(10)
def robotInit(self): '''Robot-wide initialization code should go here''' #start camera wpilib.CameraServer.launch() Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() self.joystick1 = getJoystick1() #self.auto = driveForward.DriveForward(16) #self.auto = AutoEncoders(20) #self.auto = ProfiledForward(10) self.auto = StateSpaceDriveCommand("straight3m.tra") #self.auto = autonomous.Autonomuscc() #self.auto = AutoEncoders() self.elevatorSwitch = ElevatorSwitch() self.elevatorScale = ElevatorScale() self.elevatorIntake = ElevatorIntake() self.driveForward = driveForward.DriveForward(10)
class Gneiss(CommandBasedRobot): '''Main robot class''' def robotInit(self): '''Robot-wide initialization code should go here''' #start camera wpilib.CameraServer.launch() Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() #self.auto = autonomous.ForwardOnly() self.auto = autonomous.SwitchCommands() #self.auto = TurnRight(90) #self.auto = Wait9ThenForward() #self.auto = RightPosRightSwitchAuto() #self.auto = AutoEncodersTurnLeft(90) #self.auto = MiddlePosLeftSwitchAuto() self.elevatorSwitch = ElevatorSwitch() self.elevatorScale = ElevatorScale() self.elevatorIntake = ElevatorIntake() self.driveForward = driveForward.DriveForward(10) def teleopInit(self): self.drivetrain.zeroEncoders() self.drivetrain.zeroNavx() buttonA = JoystickButton(self.joystick, 1) buttonB = JoystickButton(self.joystick, 2) buttonY = JoystickButton(self.joystick, 4) buttonA.whenPressed(self.elevatorIntake) buttonY.whenPressed(self.elevatorScale) buttonB.whenPressed(self.elevatorSwitch) def teleopPeriodic(self): super().teleopPeriodic() self.table.putString("Joystick", self.joystick.getName()) def autonomousInit(self): self.elevator.zeroEncoder() self.drivetrain.zeroEncoders() self.drivetrain.zeroNavx() self.auto.start() def disabledInit(self): '''Called only at the beginning of disabled mode''' pass
class Rockslide(CommandBasedRobot): '''Main robot class''' def robotInit(self): '''Robot-wide initialization code should go here''' #start camera wpilib.CameraServer.launch() Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() self.joystick1 = getJoystick1() #self.auto = driveForward.DriveForward(16) #self.auto = AutoEncoders(20) #self.auto = ProfiledForward(10) self.auto = StateSpaceDriveCommand("straight3m.tra") #self.auto = autonomous.Autonomuscc() #self.auto = AutoEncoders() self.elevatorSwitch = ElevatorSwitch() self.elevatorScale = ElevatorScale() self.elevatorIntake = ElevatorIntake() self.driveForward = driveForward.DriveForward(10) def teleopInit(self): self.drivetrain.zeroEncoders() self.drivetrain.zeroNavx() buttonA = JoystickButton(self.joystick1, 1) buttonY = JoystickButton(self.joystick1, 4) #buttonA.whenPressed(ElevatorTest2()) buttonA.whenPressed(self.elevatorIntake) buttonY.whenPressed(self.elevatorScale) def teleopPeriodic(self): super().teleopPeriodic() self.table.putString("Joystick", self.joystick.getName()) def autonomousInit(self): self.elevator.zeroEncoder() self.drivetrain.zeroEncoders() self.drivetrain.zeroNavx() self.auto.start() def disabledInit(self): '''Called only at the beginning of disabled mode''' pass
def robotInit(self): '''Robot-wide initialization code should go here''' Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() #self.angle = turnlikeistuesday.Turnlikeistuesday(90) self.angle = turn_profiled.TurnProfiled(90) self.DriveForward = driveForward.DriveForward() '''
class Gneiss(CommandBasedRobot): '''Main robot class''' def robotInit(self): '''Robot-wide initialization code should go here''' Command.getRobot = lambda x=0: self #Variables that are used by the code self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() #self.angle = turnlikeistuesday.Turnlikeistuesday(90) self.angle = turn_profiled.TurnProfiled(90) self.DriveForward = driveForward.DriveForward() ''' self.goToPickup = commands.elevatorPickupHeight() self.goToScale = commands.elevatorScaleHeight() self.goToSwitch = commands.elevatorSwitchHeight() self.goDown = commands.elevatorDownHeight() self.pullIn = commands.grabberPullIn() self.spitOut = commands.grabberSpitOut() ''' def autonomousInit(self): '''Called only at the beginning of autonomous mode''' self.elevator.setSolenoidState(true) #assumes true is open pass def disabledInit(self): '''Called only at the beginning of disabled mode''' pass def teleopInit(self): '''Called only at the beginning of teleoperated mode''' #How the buttons for the xbox controller are mapped self.drivetrain.init_logger() b = JoystickButton(self.joystick, 1) #A b2 = JoystickButton(self.joystick, 2) #B b.whenPressed(self.angle) b2.cancelWhenPressed(self.angle) b3 = JoystickButton(self.joystick, 3) #X b4 = JoystickButton(self.joystick, 4) #Y b3.whenPressed(self.DriveForward) b4.cancelWhenPressed(self.DriveForward) '''
def test_elevator(): motor = GetSet(0) elevator = Elevator(motor) elevator.go_up() assert motor.state == 1 elevator.go_up(speed=0.5) assert motor.state == 0.5 elevator.go_down() assert motor.state == -1 elevator.go_down(speed=0.5) assert motor.state == -0.5
def robotInit(self): '''Robot-wide initialization code should go here''' Command.getRobot = lambda x=0: self #Variables that are used by the code self.startSide = "l" #starting side self.gamecode = "rlr" #wpilib.DriverStation.getGameSpecificMessage() self.drivetrain = Drivetrain() self.elevator = Elevator() self.intake = Intake() self.table = networktables.NetworkTables.getTable("String") self.joystick = getJoystick() #self.angle = turnlikeistuesday.Turnlikeistuesday(90) self.angle = turn_profiled.TurnProfiled(90) self.auto = driveForward.DriveForward(10) '''self.elevatorZero = elevatorZero.elevatorZero()''' #self.driveForward = driveForward.DriveForward(10) self.driveForward = automous.Test() '''