TestBot/robot.py at master · BlueCrewRobotics/TestBot · GitHub

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#!/usr/bin/env python3

'''
    Blue Crew Robot Code for FIRST Power Up
    Codename: Kylo
'''

import wpilib
import wpilib.drive
import threading

from wpilib.buttons import JoystickButton
from magicbot import MagicRobot
from robotpy_ext.common_drivers import navx

from components.DriveTrain import DriveTrain
from components.CubeMech import CubeMech
from components.RampMech import RampMech

from common.driveControls import driveControls
from common.armMech import armMech
from common.shootMech import shootMech
from common.subsystemAux import subsystemAux
from common.driveAux import driveAux

from common.xbox import XboxController

class Kylo(MagicRobot):

    # Initialize Robot Components
    drivetrain = DriveTrain
    cubemech = CubeMech
    rampmech = RampMech

    def createObjects(self):

        # Define Driving Motors
        self.rightDrive = wpilib.VictorSP(0)
        self.leftDrive = wpilib.VictorSP(1)

        # Create Robot Drive
        self.robotDrive = wpilib.drive.DifferentialDrive(self.rightDrive, self.leftDrive)

        # Create Shifter Pneumatics
        self.shifterSolenoid = wpilib.DoubleSolenoid(0, 0, 1)

        # Joysticks and Controllers
        self.driveJoystick = wpilib.Joystick(0)
        self.driveController = XboxController(0)

        self.subsystemJoystick = wpilib.Joystick(1)
        self.subsystemController = XboxController(1)

        # Create NavX and Accel
        self.navX = navx.AHRS.create_spi()
        self.accel = wpilib.BuiltInAccelerometer()

        # Set Drivespeed
        self.driveSpeed = 0

        # Intake Motors
        self.intakeMotor = wpilib.VictorSP(2)

        # Intake Lifter
        self.intakeLifter = wpilib.Spark(6)

        # Create Cube Intake Pneumatics
        self.intakeSolenoid = wpilib.Solenoid(0, 2)

        # Create Ramp Motors
        self.rightRamp = wpilib.Spark(5)
        self.leftRamp = wpilib.Spark(4)

        # Create Ramp Deploy Pneumatics
        self.rampSolenoid = wpilib.Solenoid(0, 3)

        # Create Timer (For Making Timed Events)
        self.timer = wpilib.Timer()

        # Initialize Compressor
        self.compressor = wpilib.Compressor()

        # Create CameraServer
        wpilib.CameraServer.launch("common/multipleCameras.py:main")

        # Set Gear in Dashboard
        wpilib.SmartDashboard.putString("Shift State", "Low Gear")
        wpilib.SmartDashboard.putString("Cube State", "Unclamped")

    def teleopInit(self):

        # Init Drive Controls
        DriverController = driveControls("DriveController", self.driveController, self.drivetrain, self.cubemech, self.rampmech, self.driveJoystick, .05)
        DriveAux = driveAux("DriveAux", self.driveController, self.drivetrain, self.cubemech, self.rampmech, self.driveJoystick, .05)

        # Init Subsystem Controls
        ArmMech = armMech("ArmMech", self.subsystemController, self.driveJoystick, self.cubemech, self.rampmech, .1)
        ShootMech = shootMech("ShootMech", self.subsystemController, self.driveJoystick, self.cubemech, self.rampmech, .1)
        SubsystemAux = subsystemAux("SubsystemAux", self.subsystemController, self.driveJoystick, self.cubemech, self.rampmech, .1)

        # Start Drive Controls
        DriveAux.start()
        DriverController.start()

        # Start Subsystem Controls
        ArmMech.start()
        ShootMech.start()
        SubsystemAux.start()

        # Start and Reset Timer
        self.timer.reset()
        self.timer.start()

    def teleopPeriodic(self):

        # Pressurize Throughout Teleop
        self.compressor.start()

        # Rumble Controller
        if (self.timer.get() > 75 and self.timer.get() < 105):
            self.driveController.rumble(1, 1)
        else:
            self.driveController.rumble(0, 0)

if __name__ == '__main__':
    wpilib.run(Kylo)