def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(wpilib.Spark(robotMap.L1DRIVE),
wpilib.Spark(robotMap.L2DRIVE),
wpilib.Spark(robotMap.R1DRIVE),
wpilib.Spark(robotMap.R2DRIVE))
self.diabloDrive.frontLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.frontRightMotor.enableDeadbandElimination(True)
self.diabloDrive.rearLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.rearRightMotor.enableDeadbandElimination(True)
def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(wpilib.Spark(robotMap.L1DRIVE),
wpilib.Spark(robotMap.L2DRIVE),
wpilib.Spark(robotMap.R1DRIVE),
wpilib.Spark(robotMap.R2DRIVE))
print("Drive Has been created")
self.diabloDrive.frontLeftMotor.enableDeadbandElimination(True)
print("front left motor channel: {}\n".format(
self.diabloDrive.frontLeftMotor.getChannel()))
print("front left motor deadband elimination: {}\n".format(
hal.getPWMEliminateDeadband(
self.diabloDrive.frontLeftMotor.handle)))
self.diabloDrive.frontRightMotor.enableDeadbandElimination(True)
self.diabloDrive.rearLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.rearRightMotor.enableDeadbandElimination(True)
def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(ctre.CANTalon(1), ctre.CANTalon(3),
ctre.CANTalon(4), ctre.CANTalon(2))
def _init_components(self):
self._max_speed = self._config.getfloat(self._general_section,
Drivetrain._max_speed_key)
self._modifier_scaling = self._config.getfloat(
self._general_section, Drivetrain._modifier_scaling_key)
self._dpad_scaling = self._config.getfloat(
self._general_section, Drivetrain._dpad_scaling_key)
if self._config.getboolean(Drivetrain._left_encoder_section,
Drivetrain._enabled_key):
self._left_encoder_a_channel = self._config.getint(
self._left_encoder_section, Drivetrain._a_channel_key)
self._left_encoder_b_channel = self._config.getint(
self._left_encoder_section, Drivetrain._b_channel_key)
self._left_encoder_reversed = self._config.getboolean(
self._left_encoder_section, Drivetrain._reversed_key)
self._left_encoder_type = self._config.getint(
self._left_encoder_section, Drivetrain._type_key)
if self._left_encoder_a_channel and self._left_encoder_b_channel and self._left_encoder_type:
self._left_encoder = Encoder(self._left_encoder_a_channel,
self._left_encoder_b_channel,
self._left_encoder_reversed,
self._left_encoder_type)
if self._config.getboolean(Drivetrain._right_encoder_section,
Drivetrain._enabled_key):
self._right_encoder_a_channel = self._config.getint(
self._right_encoder_section, Drivetrain._a_channel_key)
self._right_encoder_b_channel = self._config.getint(
self._right_encoder_section, Drivetrain._b_channel_key)
self._right_encoder_reversed = self._config.getboolean(
self._right_encoder_section, Drivetrain._reversed_key)
self._right_encoder_type = self._config.getint(
self._right_encoder_section, Drivetrain._type_key)
if self._right_encoder_a_channel and self._right_encoder_b_channel and self._right_encoder_type:
self._right_encoder = Encoder(self._right_encoder_a_channel,
self._right_encoder_b_channel,
self._right_encoder_reversed,
self._right_encoder_type)
if self._config.getboolean(Drivetrain._gyro_section,
Drivetrain._enabled_key):
gyro_channel = self._config.getint(self._gyro_section,
Drivetrain._channel_key)
self._gyro = ADXRS450_Gyro(gyro_channel)
if self._config.getboolean(Drivetrain._left_motor_section,
Drivetrain._enabled_key):
self._left_motor = VictorSP(
self._config.getint(self._left_motor_section,
Drivetrain._channel_key))
if self._config.getboolean(Drivetrain._right_motor_section,
Drivetrain._enabled_key):
self._right_motor = VictorSP(
self._config.getint(self._right_motor_section,
Drivetrain._channel_key))
if self._left_motor and self._right_motor:
self._robot_drive = RobotDrive(self._left_motor, self._right_motor)
self._robot_drive.setSafetyEnabled(False)
self._robot_drive.setInvertedMotor(
RobotDrive.MotorType.kRearLeft,
self._config.getboolean(Drivetrain._left_motor_section,
Drivetrain._inverted_key))
self._robot_drive.setInvertedMotor(
RobotDrive.MotorType.kRearRight,
self._config.getboolean(Drivetrain._right_motor_section,
Drivetrain._inverted_key))
