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oi.py
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oi.py
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"""
Ctrl-Z FRC Team 4096
FIRST Robotics Competition 2018
Code for robot "Atla-Z"
contact@team4096.org
"""
import wpilib
# Subsystems
import subsystems.drivetrain
# Commands
import commands.elevator
import commands.intake
import commands.drivetrain
import commands.climber
# Controls
from controls.joystick_pov import Joystick_POV
from controls.xbox_button import Xbox_Button
from controls.xbox_trigger import Xbox_Trigger
from commands.command_call import Command_Call
import controls.xbox_controller
from common.smartdashboard_update_trigger import SmartDashboard_Update_Trigger
import const
## CONSTANTS ##
# Joystick Axes
JOY_AXIS_LEFT_X = 0
JOY_AXIS_LEFT_Y = 1
JOY_AXIS_LEFT_SLIDER = 3
JOY_AXIS_RIGHT_X = 0
JOY_AXIS_RIGHT_Y = 1
JOY_AXIS_RIGHT_SLIDER = 3
# Invert any axes?
INVERT_JOY_LEFT_X = True
INVERT_JOY_LEFT_Y = True
INVERT_JOY_RIGHT_X = True
INVERT_JOY_RIGHT_Y = True
# Deadband
JOY_DEAD_BAND = 0.15
# Joystick Buttons
JOY_BTN_1 = 1
JOY_BTN_2 = 2
JOY_BTN_3 = 3
JOY_BTN_4 = 4
JOY_BTN_5 = 5
JOY_BTN_6 = 6
JOY_BTN_7 = 7
JOY_BTN_8 = 8
JOY_BTN_9 = 9
JOY_BTN_10 = 10
JOY_BTN_11 = 11
JOY_BTN_12 = 12
JOY_BTN_13 = 13
JOY_BTN_14 = 14
# Gamepad Axes
GP_AXIS_LEFT_X = 0
GP_AXIS_LEFT_Y = 1
GP_AXIS_RIGHT_X = 2
GP_AXIS_RIGHT_Y = 3
# Gamepad Buttons
GP_BTN_X = 1
GP_BTN_A = 2
GP_BTN_B = 3
GP_BTN_Y = 4
GP_BTN_BUMPER_L = 5
GP_BTN_BUMPER_R = 6
GP_BTN_TRIGGER_L = 7
GP_BTN_TRIGGER_R = 8
GP_BTN_BACK = 9
GP_BTN_START = 10
GP_BTN_STICK_L = 11
GP_BTN_STICK_R = 12
# Xbox Controller
# Buttons
XBOX_BTN_A = 1
XBOX_BTN_B = 2
XBOX_BTN_X = 3
XBOX_BTN_Y = 4
XBOX_BTN_LEFT_BUMPER = 5
XBOX_BTN_RIGHT_BUMPER = 6
XBOX_BTN_BACK = 7
XBOX_BTN_START = 8
# Axes
XBOX_AXIS_LEFT_X = 0
XBOX_AXIS_LEFT_Y = 1
XBOX_AXIS_RIGHT_X = 4
XBOX_AXIS_RIGHT_Y = 5
XBOX_BTN_LEFT_TRIGGER = 2
XBOX_BTN_RIGHT_TRIGGER = 3
# D-Pad
JOY_POV_NONE = -1
JOY_POV_UP = 0
JOY_POV_UP_RIGHT = 45
JOY_POV_RIGHT = 90
JOY_POV_DOWN_RIGHT = 135
JOY_POV_DOWN = 180
JOY_POV_DOWN_LEFT = 225
JOY_POV_LEFT = 270
JOY_POV_UP_LEFT = 315
INVERT_XBOX_LEFT_X = True
INVERT_XBOX_LEFT_Y = False
INVERT_XBOX_RIGHT_X = True
INVERT_XBOX_RIGHT_Y = True
class OI:
"""
Operator Input - This class ties together controls and commands.
"""
def __init__(self, robot):
self.robot = robot
# Controllers
# Xbox
self.xbox_controller_1 = controls.xbox_controller.Xbox_Controller(0)
self.xbox_controller_2 = controls.xbox_controller.Xbox_Controller(1)
### COMMANDS ###
# Drive Commands
self.drive_command = commands.drivetrain.Drive_With_Tank_Values(
self.robot,
self._get_axis(self.xbox_controller_1, controls.xbox_controller.XBOX_AXIS_RIGHT_X, inverted = INVERT_XBOX_RIGHT_X),
self._get_axis(self.xbox_controller_1, controls.xbox_controller.XBOX_AXIS_LEFT_Y, inverted = INVERT_XBOX_LEFT_Y),
)
# Elevator
self.elevator_command = commands.elevator.Run_Elevator(self.robot,
self._get_axis(self.xbox_controller_2, controls.xbox_controller.XBOX_AXIS_LEFT_Y)
)
# Intake
self.intake_command = commands.intake.Run_Intake_Controller(self.robot,
self._get_axis(self.xbox_controller_2, controls.xbox_controller.XBOX_BTN_LEFT_TRIGGER),
self._get_axis(self.xbox_controller_2, controls.xbox_controller.XBOX_BTN_RIGHT_TRIGGER)
)
# Set default commands
self.robot.drive.setDefaultCommand(self.drive_command)
self.robot.elevator.setDefaultCommand(self.elevator_command)
self.robot.intake.setDefaultCommand(self.intake_command)
# PID tuning triggers for SD
enc_trigger = SmartDashboard_Update_Trigger('ENC Autocorrect constant ', const.DRIVE_CORRECTION_PROPORTION_FORWARD_ENC)
enc_trigger.whenActive(
Command_Call(lambda : const.update_enc_const(enc_trigger.get_key_value()))
)
drive_corr_trigger = SmartDashboard_Update_Trigger('Drive Correction', const.DRIVE_CORRECTION_ENABLED)
drive_corr_trigger.whenActive(
Command_Call(lambda : const.update_auto_correct(drive_corr_trigger.get_key_value()))
)
# Autonomous Modes
self.robot.auto_choose.addObject('Test', commands.autonomous.Test(self.robot))
self.robot.auto_choose.addObject('Do Nothing', commands.autonomous.Do_Nothing(self.robot))
self.robot.auto_choose.addDefault('Cross Baseline', commands.autonomous.Cross_Baseline(self.robot))
self.robot.auto_choose.addObject('Center to Switch', commands.autonomous.Center_To_Switch_Right(self.robot))
self.robot.auto_choose.addObject('Right to Switch', commands.autonomous.Right_To_Switch_Right(self.robot))
self.robot.auto_choose.addObject('Right to Scale', commands.autonomous.Right_To_Scale_Right(self.robot))
self.robot.auto_choose.addObject('Left to Switch', commands.autonomous.Left_To_Switch_Right(self.robot))
self.robot.auto_choose.addObject('Left to Scale', commands.autonomous.Left_To_Scale_Left(self.robot))
# Controller 1
self.button_set_gear_low = Xbox_Button(self.xbox_controller_1, XBOX_BTN_RIGHT_BUMPER)
self.button_set_gear_low.whenPressed(commands.drivetrain.Set_Gear_State(self.robot, const.ID_LOW_GEAR))
self.button_set_gear_low.whenReleased(commands.drivetrain.Set_Gear_State(self.robot, const.ID_HIGH_GEAR))
self.reset_elevator_encoder = Xbox_Button(self.xbox_controller_1, XBOX_BTN_START)
self.reset_elevator_encoder.whenPressed(commands.elevator.Reset_Encoder(self.robot))
self.toggle_correction = Xbox_Button(self.xbox_controller_1, XBOX_BTN_BACK)
self.toggle_correction.whenPressed(commands.drivetrain.Toggle_Correction(self.robot))
self.quick_turn = Xbox_Button(self.xbox_controller_1, XBOX_BTN_LEFT_BUMPER)
self.quick_turn.whenPressed(commands.drivetrain.Set_Quick_Turn(self.robot, True))
self.quick_turn.whenReleased(commands.drivetrain.Set_Quick_Turn(self.robot, False))
self.climber_deploy_2 = Xbox_Button(self.xbox_controller_1, XBOX_BTN_BACK)
self.climber_deploy_2.whenPressed(commands.climber.Climber_Deploy(self.robot))
self.current_intake_test = Xbox_Button(self.xbox_controller_1, XBOX_BTN_Y)
self.current_intake_test.whenPressed(commands.intake.Run_Intake_Current(self.robot, 1.0))
self.current_intake_test.whenReleased(commands.intake.Set_Cube_State(self.robot, True))
self.climber_up = Joystick_POV(self.xbox_controller_1, JOY_POV_UP)
self.climber_up.whenPressed(commands.climber.Run(self.robot, -1))
self.climber_up.whenReleased(commands.climber.Stop(self.robot))
# Controller 2
self.button_rotate_up = Xbox_Button(self.xbox_controller_2, XBOX_BTN_Y)
self.button_rotate_up.whenPressed(commands.intake.Set_Rotation_Speed(self.robot, speed = -0.5))
self.button_rotate_up.whenReleased(commands.intake.Set_Rotation_Speed(self.robot, speed = -0.1))
self.button_rotate_down = Xbox_Button(self.xbox_controller_2, XBOX_BTN_A)
self.button_rotate_down.whenPressed(commands.intake.Stop_Rotation(self.robot))
self.elevator_distance = Xbox_Button(self.xbox_controller_2, XBOX_BTN_X)
self.elevator_distance.whenPressed(commands.intake.Run_Intake_Timeout(self.robot, 0.8, 0.5))
self.elevator_full_down = Joystick_POV(self.xbox_controller_2, JOY_POV_DOWN)
self.elevator_full_down.whenPressed(commands.elevator.Move_Distance(self.robot, 0, setpoint = True))
self.elevator_no_drag = Joystick_POV(self.xbox_controller_2, JOY_POV_RIGHT)
self.elevator_no_drag.whenPressed(commands.elevator.Move_Distance(self.robot, 1, setpoint = True))
self.elevator_switch = Joystick_POV(self.xbox_controller_2, JOY_POV_LEFT)
self.elevator_switch.whenPressed(commands.elevator.Move_Distance(self.robot, 2, setpoint = True))
self.elevator_scale = Joystick_POV(self.xbox_controller_2, JOY_POV_UP)
self.elevator_scale.whenPressed(commands.elevator.Move_Distance(self.robot, 3, setpoint = True))
#self.elevator_up_level = Xbox.Joystick_POV(self.xbox_controller_2, JOY_POV_UP)
#self.elevator_up_level.whenPressed(commands.elevator.Move_Level(self.robot, 1))
#self.elevator_down_level = Xbox.Joystick_POV(self.xbox_controller_2, JOY_POV_DOWN)
#self.elevator_down_level.whenPressed(commands.elevator.Move_Level(self.robot, -1))
self.button_intake_pistons = Xbox_Button(self.xbox_controller_2, XBOX_BTN_B)
self.button_intake_pistons.whenPressed(commands.intake.Set_Intake_Compression(self.robot, False))
self.button_intake_pistons.whenReleased(commands.intake.Set_Intake_Compression(self.robot, True))
def _get_axis(self, joystick, axis, inverted = False):
"""
Handles inverted joy axes and dead band.
"""
def axis_func():
val = joystick.getAxis(axis)
if abs(val) < JOY_DEAD_BAND:
val = 0
if inverted:
val *= -1
return val
return axis_func