Added manual shooter mappings

py/.deploy_cfg

@@ -0,0 +1,3 @@
+[auth]
+hostname = roborio-192-frc.local
+

py/config.py

@@ -25,10 +25,12 @@
 #from grt.macro.new_turn_macro import NewTurnMacro
 from grt.macro.straight_macro import StraightMacro
 from grt.mechanism.pickup import Pickup
-from grt.mechansim.manual_turntable import ManualTurntable
+from grt.mechanism.manual_shooter import ManualShooter
 
 using_vision_server = False
 
+c = Compressor()
+c.start()
 
 #from vision.robot_vision_dynamic import Vision
 
@@ -40,26 +42,34 @@
 
 #DT Talons and Objects
 
-pickup_achange_motor1 = CANTalon(8)
-pickup_achange_motor2 = CANTalon(11)
-pickup_roller_motor = CANTalon(11)
+pickup_achange_motor1 = CANTalon(11)
+pickup_achange_motor2 = CANTalon(7)
+pickup_roller_motor = CANTalon(8)
 
 pickup = Pickup(pickup_achange_motor1, pickup_achange_motor2, pickup_roller_motor)
 
+flywheel_motor = CANTalon(10)
+shooter_act = Solenoid(1)
 turntable_motor = CANTalon(12)
 
-manual_turntable = ManualTurntable(turntable_motor)
+manual_shooter = ManualShooter(flywheel_motor, shooter_act, turntable_motor)
 
 dt_right = CANTalon(1)
-dt_r2 = CANTalon(2)
-dt_left = CANTalon(7)
-dt_l2 = CANTalon(8)
-
-
-dt_r2.changeControlMode(CANTalon.ControlMode.Follower)
-dt_l2.changeControlMode(CANTalon.ControlMode.Follower)
-dt_r2.set(1)
-dt_l2.set(7)
+#dt_r2 = CANTalon(2)
+#dt_r3 = CANTalon(3)
+dt_left = CANTalon(4)
+#dt_l2 = CANTalon(5)
+#dt_l3 = CANTalon(6)
+
+
+#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_encoder=None, right_encoder=None)
 
@@ -113,7 +123,7 @@
 # Mech Talons, objects, and controller
 
 # define MechController
-mc = MechController(driver_stick, xbox_controller, pickup, manual_turntable)
+mc = MechController(driver_stick, xbox_controller, pickup, manual_shooter)
 
 # define DriverStation
 ds = DriverStation.getInstance()

py/grt/mechanism/drivecontroller.py

@@ -27,7 +27,7 @@ def __init__(self, dt, l_joystick, straight_macro=None, r_joystick=None):
     def _joylistener(self, sensor, state_id, datum):
         if sensor in (self.l_joystick, self.r_joystick) and state_id in ('x_axis', 'y_axis'):
             if not self.straight_macro.enabled:
-                power = -self.l_joystick.y_axis
+                power = self.l_joystick.y_axis
                 turnval = self.l_joystick.x_axis#self.r_joystick.x_axis if self.r_joystick else self.l_joystick.x_axis
                 # get turn value from r_joystick if it exists, else get it from l_joystick
                 self.dt.set_dt_output(power + turnval,

py/grt/mechanism/manual_shooter.py

@@ -0,0 +1,17 @@
+class ManualShooter:
+
+	def __init__(self, flywheel_motor, shooter_act, turntable_motor):
+		self.flywheel_motor = flywheel_motor
+		self.shooter_act = shooter_act
+		self.turntable_motor = turntable_motor
+
+	def turn(self, power):
+		self.turntable_motor.set(power)
+
+	def spin_flywheel(self, power):
+		self.flywheel_motor.set(power)
+	def shooter_down(self):
+		self.shooter_act.set(True)
+	def shooter_up(self):
+		self.shooter_act.set(False)
+

py/grt/mechanism/mechcontroller.py

@@ -1,14 +1,14 @@
 class MechController:
 
-    def __init__(self, driver_joystick, xbox_controller, pickup, manual_turntable): # mechanisms belong in arguments
+    def __init__(self, driver_joystick, xbox_controller, pickup, manual_shooter): # mechanisms belong in arguments
         # define mechanisms here
 
 
         self.driver_joystick = driver_joystick
         self.xbox_controller = xbox_controller
 
         self.pickup = pickup
-        self.manual_turntable = manual_turntable
+        self.manual_shooter = manual_shooter
         driver_joystick.add_listener(self._driver_joystick_listener)
         xbox_controller.add_listener(self._xbox_controller_listener)
 
@@ -36,12 +36,28 @@ def _xbox_controller_listener(self, sensor, state_id, datum):
         if state_id == "r_shoulder":
             if datum:
                 self.pickup.roll(.8)
+            else:
+                self.pickup.stop()
         if state_id == "l_shoulder":
             if datum:
                 self.pickup.roll(-.8)
+            else:
+                self.pickup.stop()
         if state_id == "r_y_axis":
             if datum:
-                self.manual_turntable.turn(datum*.3)
+                self.manual_shooter.turn(datum*.3)
+        if state_id == "x_button":
+            if datum:
+                self.manual_shooter.spin_flywheel(1.0)
+        if state_id == "y_button":
+            if datum:
+                self.manual_shooter.spin_flywheel(0)
+        if state_id == "b_button":
+            if datum:
+                self.manual_shooter.shooter_down()
+            else:
+                self.manual_shooter.shooter_up()
+
 
 
 

py/grt/mechanism/pickup.py

@@ -10,4 +10,6 @@ def angle_change(self, power):
 		self.achange_motor_2.set(-power)
 
 	def roll(self, power):
-		self.roller_motor.set(power)
+		self.roller_motor.set(power)
+	def stop(self):
+		self.roller_motor.set(0)

py/grt/sensors/navx.py

@@ -1,26 +1,43 @@
-from robotpy_ext.common_drivers.navx.ahrs import AHRS
 from grt.core import Sensor
 
 
-class NavX(Sensor):
-    def __init__(self):
-        super().__init__()
+try:
+    from robotpy_ext.common_drivers.navx.ahrs import AHRS
+    class NavX(Sensor):
+        def __init__(self):
+            super().__init__()
 
-        self.ahrs = AHRS.create_spi()
+            self.ahrs = AHRS.create_spi()
 
-        self.pitch = None
-        self.yaw = None
-        self.roll = None
-        self.compass_heading = None
-        self.fused_heading = None
+            self.pitch = None
+            self.yaw = None
+            self.roll = None
+            self.compass_heading = None
+            self.fused_heading = None
 
-    def poll(self):
-        self.pitch = self.ahrs.getPitch()
+        def poll(self):
+            self.pitch = self.ahrs.getPitch()
 
-        self.yaw = self.ahrs.getYaw()
+            self.yaw = self.ahrs.getYaw()
 
-        self.roll = self.ahrs.getRoll()
+            self.roll = self.ahrs.getRoll()
 
-        self.compass_heading = self.ahrs.getCompassHeading()
+            self.compass_heading = self.ahrs.getCompassHeading()
 
-        self.fused_heading = self.ahrs.getFusedHeading()
+            self.fused_heading = self.ahrs.getFusedHeading()
+
+except ImportError:
+    class NavX(Sensor):
+        def __init__(self):
+            super().__init__()
+
+            self.ahrs = None
+
+            self.pitch = None
+            self.yaw = None
+            self.roll = None
+            self.compass_heading = None
+            self.fused_heading = None
+
+        def poll(self):
+            pass