Committing some more work

17 - Pneumatics/robot.py

@@ -0,0 +1,51 @@
+import wpilib
+import wpilib.drive
+import ctre
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        self.leftFront = ctre.WPI_VictorSPX(0)
+        self.leftRear = ctre.WPI_VictorSPX(1)
+        self.rightFront = ctre.WPI_VictorSPX(2)
+        self.rightRear = ctre.WPI_VictorSPX(3)
+
+        self.left = wpilib.MotorControllerGroup(self.leftFront, self.leftRear)
+        self.right = wpilib.MotorControllerGroup(self.rightFront, self.rightRear)
+        self.right.setInverted(True)
+
+        self.drivetrain = wpilib.drive.DifferentialDrive(self.left, self.right)
+
+        self.primary = wpilib.XboxController(0)
+
+        self.compressor = wpilib.Compressor(0, wpilib.PneumaticsModuleType.REVPH)
+        # self.compressor.enableDigital()
+        self.compressor.enableAnalog(75, 115)
+
+        self.singleActionMechanism = wpilib.Solenoid(0, wpilib.PneumaticsModuleType.REVPH, 0)
+        self.doubleActionMechanism = wpilib.DoubleSolenoid(0, wpilib.PneumaticsModuleType.REVPH, 1, 2)
+
+    def autonomousInit(self):
+        pass
+
+    def autonomousPeriodic(self):
+        pass
+
+    def teleopInit(self):
+        pass
+
+    def teleopPeriodic(self):
+        self.drivetrain.arcadeDrive(self.primary.getLeftY(), self.primary.getLeftX())
+
+        if self.primary.getAButtonPressed():
+            self.singleActionMechanism.set(not self.singleActionMechanism.get())
+
+        if self.primary.getBButtonPressed():
+            if self.doubleActionMechanism.get() == wpilib.DoubleSolenoid.Value.kForward:
+                self.doubleActionMechanism.set(wpilib.DoubleSolenoid.Value.kReverse)
+            elif self.doubleActionMechanism.get() == wpilib.DoubleSolenoid.Value.kReverse:
+                self.doubleActionMechanism.set(wpilib.DoubleSolenoid.Value.kForward)
+            else:
+                self.doubleActionMechanism.set(wpilib.DoubleSolenoid.Value.kReverse)
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)