mirror of
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dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
89 lines
3.5 KiB
Python
89 lines
3.5 KiB
Python
#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import commands2
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from commands2.button import CommandNiDsXboxController, Trigger
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from constants import AutoConstants, OIConstants, ShooterConstants
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from subsystems.drive import Drive
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from subsystems.intake import Intake
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from subsystems.pneumatics import Pneumatics
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from subsystems.shooter import Shooter
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from subsystems.storage import Storage
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class RapidReactCommandBot:
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"""This class is where the bulk of the robot should be declared. Since Command-based is a
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"declarative" paradigm, very little robot logic should actually be handled in the
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:class:`.Robot` periodic methods (other than the scheduler calls). Instead, the structure of
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the robot (including subsystems, commands, and button mappings) should be declared here.
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"""
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def __init__(self) -> None:
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# The robot's subsystems
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self.drive = Drive()
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self.intake = Intake()
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self.storage = Storage()
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self.shooter = Shooter()
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self.pneumatics = Pneumatics()
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# The driver's controller
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self.driverController = CommandNiDsXboxController(
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OIConstants.kDriverControllerPort
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)
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def configureBindings(self) -> None:
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"""Use this method to define bindings between conditions and commands. These are useful for
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automating robot behaviors based on button and sensor input.
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Should be called in the robot class constructor.
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Event binding methods are available on the :class:`.Trigger` class.
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"""
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# Automatically run the storage motor whenever the ball storage is not full,
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# and turn it off whenever it fills. Uses subsystem-hosted trigger to
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# improve readability and make inter-subsystem communication easier.
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self.storage.hasCargo.whileFalse(self.storage.runCommand())
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# Automatically disable and retract the intake whenever the ball storage is full.
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self.storage.hasCargo.onTrue(self.intake.retractCommand())
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# Control the drive with split-stick arcade controls
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self.drive.setDefaultCommand(
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self.drive.arcadeDriveCommand(
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lambda: -self.driverController.getLeftY(),
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lambda: -self.driverController.getRightX(),
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)
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)
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# Deploy the intake with the X button
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self.driverController.x().onTrue(self.intake.intakeCommand())
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# Retract the intake with the Y button
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self.driverController.y().onTrue(self.intake.retractCommand())
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# Fire the shooter with the A button
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self.driverController.a().onTrue(
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commands2.cmd.parallel(
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self.shooter.shootCommand(ShooterConstants.kShooterTargetRPS),
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self.storage.runCommand(),
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).withName("Shoot")
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)
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# Toggle compressor with the Start button
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self.driverController.start().toggleOnTrue(
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self.pneumatics.disableCompressorCommand()
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)
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def getAutonomousCommand(self) -> commands2.Command:
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"""Use this to define the command that runs during autonomous.
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Scheduled during :meth:`.Robot.autonomousInit`.
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"""
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# Drive forward for 2 meters at half velocity with a 3 second timeout
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return self.drive.driveDistanceCommand(
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AutoConstants.kDriveDistance, AutoConstants.kDriveVelocity
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).withTimeout(AutoConstants.kTimeout)
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