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`
44 lines
1.4 KiB
Python
44 lines
1.4 KiB
Python
#
|
|
# Copyright (c) FIRST and other WPILib contributors.
|
|
# Open Source Software; you can modify and/or share it under the terms of
|
|
# the WPILib BSD license file in the root directory of this project.
|
|
#
|
|
|
|
from commands2 import Command, Subsystem
|
|
import wpilib
|
|
|
|
from constants import IntakeConstants
|
|
|
|
|
|
class Intake(Subsystem):
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
self.motor = wpilib.PWMSparkMax(IntakeConstants.kMotorPort)
|
|
|
|
# Double solenoid connected to two channels of a PCM with the default CAN ID
|
|
self.pistons = wpilib.DoubleSolenoid(
|
|
0,
|
|
wpilib.PneumaticsModuleType.CTRE_PCM,
|
|
IntakeConstants.kSolenoidPorts[0],
|
|
IntakeConstants.kSolenoidPorts[1],
|
|
)
|
|
|
|
def intakeCommand(self) -> Command:
|
|
"""Returns a command that deploys the intake, and then runs the intake motor
|
|
indefinitely.
|
|
"""
|
|
return (
|
|
self.runOnce(lambda: self.pistons.set(wpilib.DoubleSolenoid.Value.FORWARD))
|
|
.andThen(self.run(lambda: self.motor.set(1.0)))
|
|
.withName("Intake")
|
|
)
|
|
|
|
def retractCommand(self) -> Command:
|
|
"""Returns a command that turns off and retracts the intake."""
|
|
return self.runOnce(
|
|
lambda: (
|
|
self.motor.disable(),
|
|
self.pistons.set(wpilib.DoubleSolenoid.Value.REVERSE),
|
|
)
|
|
).withName("Retract")
|