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40 lines
1.3 KiB
Python
40 lines
1.3 KiB
Python
#!/usr/bin/env python3
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#
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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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import constants
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from subsystems.intake import Intake
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class MyRobot(wpilib.TimedRobot):
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"""The methods in this class are called automatically corresponding to each mode, as
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described in the TimedRobot documentation. If you change the name of this class or the
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package after creating this project, you must also update the Main.java file in the
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project.
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"""
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def __init__(self) -> None:
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super().__init__()
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self.intake = Intake()
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self.joystick = wpilib.Joystick(constants.kJoystickIndex)
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def teleopPeriodic(self) -> None:
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"""This function is called periodically during operator control."""
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# Activate the intake while the trigger is held
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if self.joystick.getTrigger():
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self.intake.activate(constants.IntakeConstants.kIntakeSpeed)
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else:
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self.intake.activate(0)
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# Toggle deploying the intake when the top button is pressed
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if self.joystick.getTop():
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if self.intake.isDeployed():
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self.intake.retract()
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else:
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self.intake.deploy()
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