-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathconfig.py
93 lines (61 loc) · 2.29 KB
/
config.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
"""
Config File for Robot
"""
from wpilib import Solenoid, Compressor, DriverStation, CANTalon
from grt.sensors.attack_joystick import Attack3Joystick
from grt.sensors.xbox_joystick import XboxJoystick
from grt.core import SensorPoller
from grt.mechanism.drivetrain import DriveTrain
from grt.mechanism.drivecontroller import ArcadeDriveController
from grt.sensors.encoder import Encoder
from grt.mechanism.mechcontroller import MechController
from grt.sensors.navx import NavX
from grt.macro.straight_macro import StraightMacro
from grt.mechanism.pickup import Pickup
from grt.mechanism.manual_shooter import ManualShooter
from queue import Queue
#Compressor initialization
c = Compressor()
c.start()
#Manual pickup Talons and Objects
pickup_achange_motor1 = CANTalon(45)
pickup_achange_motor2 = CANTalon(46)
pickup_achange_motor1.changeControlMode(CANTalon.ControlMode.Follower)
pickup_achange_motor1.set(47)
pickup_achange_motor1.reverseOutput(True)
pickup_roller_motor = CANTalon(8)
pickup = Pickup(pickup_achange_motor1, pickup_achange_motor2, pickup_roller_motor)
#Manual shooter Talons and Objects
flywheel_motor = CANTalon(44)
shooter_act = Solenoid(1)
turntable_motor = CANTalon(12)
manual_shooter = ManualShooter(flywheel_motor, shooter_act, turntable_motor)
#DT Talons and Objects
dt_right = CANTalon(1)
# dt_r2 = CANTalon(2)
# dt_r3 = CANTalon(3)
dt_left = CANTalon(10)
# dt_l2 = CANTalon(11)
# dt_l3 = CANTalon(12)
dt_shifter = Solenoid(0)
# dt_r2.changeControlMode(CANTalon.ControlMode.Follower)
# dt_r3.changeControlMode(CANTalon.ControlMode.Follower)
# dt_l2.changeControlMode(CANTalon.ControlMode.Follower)
# dt_l3.changeControlMode(CANTalon.ControlMode.Follower)
# dt_r2.set(1)
# dt_r3.set(1)
# dt_l2.set(4)
# dt_l3.set(4)
dt = DriveTrain(dt_left, dt_right, left_shifter=dt_shifter, left_encoder=None, right_encoder=None)
#Straight macro initialization
navx = NavX()
straight_macro = StraightMacro(dt, navx)
# Drive Controllers and sensor pollers
driver_stick = Attack3Joystick(0)
xbox_controller = XboxJoystick(1)
ac = ArcadeDriveController(dt, driver_stick, straight_macro)
hid_sp = SensorPoller((driver_stick, xbox_controller, navx))
# define MechController
mc = MechController(driver_stick, xbox_controller, pickup, manual_shooter)
# define DriverStation
ds = DriverStation.getInstance()