mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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`
37 lines
1.1 KiB
Python
37 lines
1.1 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 wpilib
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from constants import IntakeConstants
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class Intake:
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def __init__(self) -> None:
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self.motor = wpilib.PWMSparkMax(IntakeConstants.MOTOR_PORT)
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self.piston = wpilib.DoubleSolenoid(
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0,
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wpilib.PneumaticsModuleType.CTRE_PCM,
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IntakeConstants.PISTON_FWD_CHANNEL,
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IntakeConstants.PISTON_REV_CHANNEL,
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)
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def deploy(self) -> None:
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self.piston.setThrottle(wpilib.DoubleSolenoid.Value.FORWARD)
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def retract(self) -> None:
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self.piston.setThrottle(wpilib.DoubleSolenoid.Value.REVERSE)
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self.motor.setThrottle(0) # turn off the motor
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def activate(self, velocity: float) -> None:
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if self.isDeployed():
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self.motor.setThrottle(velocity)
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else: # if piston isn't open, do nothing
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self.motor.setThrottle(0)
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def isDeployed(self) -> bool:
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return self.piston.get() == wpilib.DoubleSolenoid.Value.FORWARD
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