mirror of
https://github.com/wpilibsuite/allwpilib
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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`
34 lines
974 B
Python
34 lines
974 B
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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import commands2
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import commands2.cmd
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import constants
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class HatchSubsystem(commands2.Subsystem):
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def __init__(self) -> None:
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self.hatchSolenoid = wpilib.DoubleSolenoid(
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constants.kHatchSolenoidModule,
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constants.kHatchSolenoidModuleType,
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*constants.kHatchSolenoidPorts
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)
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def grabHatch(self) -> commands2.Command:
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"""Grabs the hatch"""
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return commands2.cmd.runOnce(
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lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.FORWARD), self
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)
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def releaseHatch(self) -> commands2.Command:
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"""Releases the hatch"""
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return commands2.cmd.runOnce(
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lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.REVERSE), self
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)
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