More python fun
This commit is contained in:
Mike Silva
parent
705bd5d75b
commit
48855bf656
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@ -0,0 +1,7 @@
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#from .drivetrain import DriveTrain
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from .controller import XboxController
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__all__ = [
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#"DriveTrain",
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"XboxController",
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]
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@ -0,0 +1,706 @@
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import wpilib
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class PlayStationController:
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CORRECT_FOR_DEADBAND: bool
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DEADBAND: float
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PORT: int
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VERSION: int = 4
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def execute(self) -> None:
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pass
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def setup(self) -> None:
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"""
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Setup the PlayStation controller.
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This method is called once when the robot is initialized.
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"""
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if self.VERSION == 5:
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self.this_controller = wpilib.PS5Controller(self.PORT)
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else:
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self.this_controller = wpilib.PS4Controller(self.PORT)
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self.button_was_pressed = {
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"Cross": False,
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"Circle": False,
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"Square": False,
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"Triangle": False,
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"DPad_Up": False,
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"DPad_Down": False,
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"DPad_Left": False,
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"DPad_Right": False,
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"L1": False,
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"R1": False,
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"L2": False,
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"R2": False,
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"Options": False,
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"Share": False,
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}
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self.button_is_pressed = {
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"Cross": False,
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"Circle": False,
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"Square": False,
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"Triangle": False,
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"DPad_Up": False,
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"DPad_Down": False,
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"DPad_Left": False,
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"DPad_Right": False,
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"L1": False,
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"R1": False,
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"L2": False,
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"R2": False,
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"Options": False,
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"Share": False,
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}
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def _button_pressed(self, button_name: str, pressed: bool) -> bool:
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"""
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Generic method to check if a button is pressed.
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:param button_name: The name of the button to check.
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:param pressed: The current state of the button (True if pressed, False otherwise).
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"""
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if pressed:
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self.button_is_pressed[button_name] = True
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else:
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if self.button_is_pressed[button_name]:
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self.button_was_pressed[button_name] = True
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self.button_is_pressed[button_name] = False
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return pressed
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def _button_was_pressed(self, button_name: str) -> bool:
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"""
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Generic method to check if a button was pressed since the last check.
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:param button_name: The name of the button to check.
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:return: True if the button was pressed since the last check, False otherwise.
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"""
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if self.button_was_pressed[button_name]:
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self.button_was_pressed[button_name] = False
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return True
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return False
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def _corrected_joystick_value(self, raw_value: float) -> float:
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"""
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Apply deadband correction to a joystick value.
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:param raw_value: The raw joystick value.
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:return: The corrected joystick value.
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"""
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if self.CORRECT_FOR_DEADBAND:
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if abs(raw_value) < self.DEADBAND:
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return 0.0
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return (raw_value / abs(raw_value)) * (
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(abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND)
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)
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return raw_value
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def capture_button_presses(self) -> None:
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"""
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Capture the current state of all buttons to track presses.
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This method should be called at the end of each control loop iteration.
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"""
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self.cross_button_pressed()
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self.circle_button_pressed()
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self.square_button_pressed()
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self.triangle_button_pressed()
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self.dpad_up_pressed()
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self.dpad_down_pressed()
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self.dpad_left_pressed()
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self.dpad_right_pressed()
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self.l1_button_pressed()
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self.r1_button_pressed()
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self.l2_button_pressed()
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self.r2_button_pressed()
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self.options_button_pressed()
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self.share_button_pressed()
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def get_joysticks(self) -> tuple[float, float, float, float]:
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"""
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Get the joystick values from the Xbox controller.
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:return: A tuple containing the left joystick x, left joystick y, right joystick x, and right joystick y values.
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"""
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return (
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self._corrected_joystick_value(self.this_controller.getLeftX()),
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self._corrected_joystick_value(self.this_controller.getLeftY()),
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self._corrected_joystick_value(self.this_controller.getRightX()),
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self._corrected_joystick_value(self.this_controller.getRightY()),
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)
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def cross_button_pressed(self) -> bool:
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"""
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Check if the Croiss button is pressed.
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:return: True if the Cross button is pressed, False otherwise.
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"""
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return self._button_pressed("Cross", self.this_controller.getCrossButton())
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def cross_button_was_pressed(self) -> bool:
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"""
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Check if the Cross button was pressed since the last check.
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:return: True if the Cross button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Cross")
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def circle_button_pressed(self) -> bool:
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"""
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Check if the Circle button is pressed.
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:return: True if the Circle button is pressed, False otherwise.
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"""
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return self._button_pressed("Circle", self.this_controller.getCircleButton())
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def circle_button_was_pressed(self) -> bool:
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"""
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Check if the Circle button was pressed since the last check.
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:return: True if the Circle button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Circle")
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def square_button_pressed(self) -> bool:
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"""
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Check if the Square button is pressed.
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:return: True if the Square button is pressed, False otherwise.
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"""
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return self._button_pressed("Square", self.this_controller.getSquareButton())
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def square_button_was_pressed(self) -> bool:
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"""
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Check if the Square button was pressed since the last check.
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:return: True if the Square button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Square")
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def triangle_button_pressed(self) -> bool:
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"""
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Check if the Triangle button is pressed.
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:return: True if the Triangle button is pressed, False otherwise.
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"""
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return self._button_pressed(
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"Triangle", self.this_controller.getTriangleButton()
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)
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def triangle_button_was_pressed(self) -> bool:
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"""
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Check if the Triangle button was pressed since the last check.
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:return: True if the Triangle button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Triangle")
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def dpad_up_pressed(self) -> bool:
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"""
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Check if the D-pad is pressed up.
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:return: True if the D-pad is pressed up, False otherwise.
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"""
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return self._button_pressed("DPad_Up", self.this_controller.getPOV() == 0)
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def dpad_up_was_pressed(self) -> bool:
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"""
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Check if the D-pad was pressed up since the last check.
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:return: True if the the D-pad was pressed up since the last check, False otherwise.
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"""
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return self._button_was_pressed("DPad_Up")
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def dpad_down_pressed(self) -> bool:
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"""
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Check if the D-pad is pressed down.
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:return: True if the D-pad is pressed down, False otherwise.
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"""
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return self._button_pressed("DPad_Down", self.this_controller.getPOV() == 180)
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def dpad_down_was_pressed(self) -> bool:
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"""
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Check if the D-pad was pressed down since the last check.
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:return: True if the the D-pad was pressed down since the last check, False otherwise.
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"""
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return self._button_was_pressed("DPad_Down")
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def dpad_left_pressed(self) -> bool:
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"""
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Check if the D-pad is pressed left.
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:return: True if the D-pad is pressed left, False otherwise.
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"""
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return self._button_pressed("DPad_Left", self.this_controller.getPOV() == 270)
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def dpad_left_was_pressed(self) -> bool:
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"""
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Check if the D-pad was pressed left since the last check.
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:return: True if the the D-pad was pressed left since the last check, False otherwise.
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"""
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return self._button_was_pressed("DPad_Left")
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def dpad_right_pressed(self) -> bool:
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"""
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Check if the D-pad is pressed right.
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:return: True if the D-pad is pressed right, False otherwise.
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"""
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return self._button_pressed("DPad_Right", self.this_controller.getPOV() == 90)
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def dpad_right_was_pressed(self) -> bool:
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"""
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Check if the D-pad was pressed right since the last check.
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:return: True if the the D-pad was pressed right since the last check, False otherwise.
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"""
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return self._button_was_pressed("DPad_Right")
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def r1_button_pressed(self) -> bool:
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"""
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Check if the R1 button is pressed.
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:return: True if the R1 button is pressed, False otherwise.
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"""
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return self._button_pressed("R1", self.this_controller.getR1Button())
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def r1_button_was_pressed(self) -> bool:
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"""
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Check if the R1 button was pressed since the last check.
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:return: True if the R1 button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("R1")
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def r2_button_pressed(self) -> bool:
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"""
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Check if the R2 button is pressed.
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:return: True if the R2 button is pressed, False otherwise.
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"""
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return self._button_pressed("R2", self.this_controller.getR2Button())
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def r2_button_was_pressed(self) -> bool:
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"""
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Check if the R2 button was pressed since the last check.
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:return: True if the R2 button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("R2")
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def l1_button_pressed(self) -> bool:
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"""
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Check if the L1 button is pressed.
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:return: True if the L1 button is pressed, False otherwise.
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"""
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return self._button_pressed("L1", self.this_controller.getL1Button())
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def l1_button_was_pressed(self) -> bool:
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"""
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Check if the L1 button was pressed since the last check.
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:return: True if the L1 button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("L1")
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def l2_button_pressed(self) -> bool:
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"""
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Check if the L2 button is pressed.
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:return: True if the L2 button is pressed, False otherwise.
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"""
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return self._button_pressed("L2", self.this_controller.getL2Button())
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def l2_button_was_pressed(self) -> bool:
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"""
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Check if the L2 button was pressed since the last check.
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:return: True if the L2 button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("L2")
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def options_button_pressed(self) -> bool:
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"""
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Check if the Options button is pressed.
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:return: True if the Options button is pressed, False otherwise.
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"""
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return self._button_pressed("Options", self.this_controller.getOptionsButton())
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def options_button_was_pressed(self) -> bool:
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"""
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Check if the Options button was pressed since the last check.
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:return: True if the Options button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Options")
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def share_button_pressed(self) -> bool:
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"""
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Check if the Share button is pressed.
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:return: True if the Share button is pressed, False otherwise.
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"""
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if self.VERSION == 4:
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return self._button_pressed("Share", self.this_controller.getShareButton())
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else:
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return self._button_pressed("Share", False)
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def share_button_was_pressed(self) -> bool:
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"""
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Check if the Share button was pressed since the last check.
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:return: True if the Share button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("Share")
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class XboxController:
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CORRECT_FOR_DEADBAND: bool
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DEADBAND: float
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PORT: int
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def execute(self) -> None:
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pass
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def setup(self) -> None:
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"""
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Setup the Xbox controller.
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This method is called once when the robot is initialized.
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"""
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self.this_controller = wpilib.XboxController(self.PORT)
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self.button_was_pressed = {
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"A": False,
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"B": False,
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"X": False,
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"Y": False,
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"DPad_Up": False,
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"DPad_Down": False,
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"DPad_Left": False,
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"DPad_Right": False,
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"Left_Bumper": False,
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"Right_Bumper": False,
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"Left_Trigger": False,
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"Right_Trigger": False,
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"Start": False,
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"Back": False,
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}
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self.button_is_pressed = {
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"A": False,
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"B": False,
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"X": False,
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"Y": False,
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"DPad_Up": False,
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"DPad_Down": False,
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"DPad_Left": False,
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"DPad_Right": False,
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"Left_Bumper": False,
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"Right_Bumper": False,
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"Left_Trigger": False,
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"Right_Trigger": False,
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"Start": False,
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"Back": False,
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}
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def _button_pressed(self, button_name: str, pressed: bool) -> bool:
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"""
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Generic method to check if a button is pressed.
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:param button_name: The name of the button to check.
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:param pressed: The current state of the button (True if pressed, False otherwise).
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"""
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if pressed:
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self.button_is_pressed[button_name] = True
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else:
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if self.button_is_pressed[button_name]:
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self.button_was_pressed[button_name] = True
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self.button_is_pressed[button_name] = False
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return pressed
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def _button_was_pressed(self, button_name: str) -> bool:
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"""
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Generic method to check if a button was pressed since the last check.
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:param button_name: The name of the button to check.
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:return: True if the button was pressed since the last check, False otherwise.
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"""
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if self.button_was_pressed[button_name]:
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self.button_was_pressed[button_name] = False
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return True
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return False
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def _corrected_joystick_value(self, raw_value: float) -> float:
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"""
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Apply deadband correction to a joystick value.
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:param raw_value: The raw joystick value.
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:return: The corrected joystick value.
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"""
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if self.CORRECT_FOR_DEADBAND:
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if abs(raw_value) < self.DEADBAND:
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return 0.0
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return (raw_value / abs(raw_value)) * (
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(abs(raw_value) - self.DEADBAND) / (1 - self.DEADBAND)
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)
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return raw_value
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def capture_button_presses(self) -> None:
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"""
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Capture the current state of all buttons to track presses.
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This method should be called at the end of each control loop iteration.
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"""
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self.a_button_pressed()
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self.b_button_pressed()
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self.x_button_pressed()
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self.y_button_pressed()
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self.dpad_up_pressed()
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self.dpad_down_pressed()
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self.dpad_left_pressed()
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self.dpad_right_pressed()
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self.left_bumper_pressed()
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self.right_bumper_pressed()
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self.left_trigger_pressed()
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self.right_trigger_pressed()
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self.start_button_pressed()
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self.back_button_pressed()
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def get_joysticks(self) -> tuple[float, float, float, float]:
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"""
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Get the joystick values from the Xbox controller.
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:return: A tuple containing the left joystick x, left joystick y, right joystick x, and right joystick y values.
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"""
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return (
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self._corrected_joystick_value(self.this_controller.getLeftX()),
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self._corrected_joystick_value(self.this_controller.getLeftY()),
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self._corrected_joystick_value(self.this_controller.getRightX()),
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self._corrected_joystick_value(self.this_controller.getRightY()),
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)
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def a_button_pressed(self) -> bool:
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"""
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Check if the A button is pressed.
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:return: True if the A button is pressed, False otherwise.
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"""
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return self._button_pressed("A", self.this_controller.getAButton())
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def a_button_was_pressed(self) -> bool:
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"""
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Check if the A button was pressed since the last check.
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:return: True if the A button was pressed since the last check, False otherwise.
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"""
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return self._button_was_pressed("A")
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def b_button_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the B button is pressed.
|
||||
:return: True if the B button is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("B", self.this_controller.getBButton())
|
||||
|
||||
def b_button_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the B button was pressed since the last check.
|
||||
|
||||
:return: True if the B button was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("B")
|
||||
|
||||
def x_button_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the X button is pressed.
|
||||
|
||||
:return: True if the X button is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("X", self.this_controller.getXButton())
|
||||
|
||||
def x_button_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the X button was pressed since the last check.
|
||||
|
||||
:return: True if the X button was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("X")
|
||||
|
||||
def y_button_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the Y button is pressed.
|
||||
|
||||
:return: True if the Y button is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("Y", self.this_controller.getYButton())
|
||||
|
||||
def y_button_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the Y button was pressed since the last check.
|
||||
|
||||
:return: True if the Y button was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Y")
|
||||
|
||||
def dpad_up_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad is pressed up.
|
||||
|
||||
:return: True if the D-pad is pressed up, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("DPad_Up", self.this_controller.getPOV() == 0)
|
||||
|
||||
def dpad_up_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad was pressed up since the last check.
|
||||
|
||||
:return: True if the the D-pad was pressed up since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("DPad_Up")
|
||||
|
||||
def dpad_down_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad is pressed down.
|
||||
|
||||
:return: True if the D-pad is pressed down, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("DPad_Down", self.this_controller.getPOV() == 180)
|
||||
|
||||
def dpad_down_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad was pressed down since the last check.
|
||||
|
||||
:return: True if the the D-pad was pressed down since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("DPad_Down")
|
||||
|
||||
def dpad_left_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad is pressed left.
|
||||
|
||||
:return: True if the D-pad is pressed left, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("DPad_Left", self.this_controller.getPOV() == 270)
|
||||
|
||||
def dpad_left_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad was pressed left since the last check.
|
||||
|
||||
:return: True if the the D-pad was pressed left since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("DPad_Left")
|
||||
|
||||
def dpad_right_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad is pressed right.
|
||||
|
||||
:return: True if the D-pad is pressed right, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("DPad_Right", self.this_controller.getPOV() == 90)
|
||||
|
||||
def dpad_right_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the D-pad was pressed right since the last check.
|
||||
|
||||
:return: True if the the D-pad was pressed right since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("DPad_Right")
|
||||
|
||||
def left_bumper_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the left bumper is pressed.
|
||||
|
||||
:return: True if the left bumper is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("Left_Bumper", self.this_controller.getLeftBumper())
|
||||
|
||||
def left_bumper_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the left bumper was pressed since the last check.
|
||||
|
||||
:return: True if the left bumper was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Left_Bumper")
|
||||
|
||||
def right_bumper_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the right bumper is pressed.
|
||||
|
||||
:return: True if the right bumper is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed(
|
||||
"Right_Bumper", self.this_controller.getRightBumper()
|
||||
)
|
||||
|
||||
def right_bumper_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the right bumper was pressed since the last check.
|
||||
|
||||
:return: True if the right bumper was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Right_Bumper")
|
||||
|
||||
def left_trigger_pressed(self) -> float:
|
||||
"""
|
||||
Get the value of the left trigger.
|
||||
|
||||
:return: The value of the left trigger, ranging from 0.0 to 1.0.
|
||||
"""
|
||||
self._button_pressed(
|
||||
"Left_Trigger", self.this_controller.getLeftTriggerAxis() >= 0.5
|
||||
)
|
||||
return self.this_controller.getLeftTriggerAxis()
|
||||
|
||||
def left_trigger_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the left trigger was pressed since the last check.
|
||||
|
||||
:return: True if the left trigger was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Left_Trigger")
|
||||
|
||||
def right_trigger_pressed(self) -> float:
|
||||
"""
|
||||
Get the value of the right trigger.
|
||||
|
||||
:return: The value of the right trigger, ranging from 0.0 to 1.0.
|
||||
"""
|
||||
self._button_pressed(
|
||||
"Right_Trigger", self.this_controller.getRightTriggerAxis() >= 0.5
|
||||
)
|
||||
return self.this_controller.getRightTriggerAxis()
|
||||
|
||||
def right_trigger_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the right trigger was pressed since the last check.
|
||||
|
||||
:return: True if the right trigger was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Right_Trigger")
|
||||
|
||||
def start_button_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the start button is pressed.
|
||||
|
||||
:return: True if the start button is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("Start", self.this_controller.getStartButton())
|
||||
|
||||
def start_button_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the start button was pressed since the last check.
|
||||
|
||||
:return: True if the start button was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Start")
|
||||
|
||||
def back_button_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the back button is pressed.
|
||||
|
||||
:return: True if the back button is pressed, False otherwise.
|
||||
"""
|
||||
return self._button_pressed("Back", self.this_controller.getBackButton())
|
||||
|
||||
def back_button_was_pressed(self) -> bool:
|
||||
"""
|
||||
Check if the back button was pressed since the last check.
|
||||
|
||||
:return: True if the back button was pressed since the last check, False otherwise.
|
||||
"""
|
||||
return self._button_was_pressed("Back")
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
# Should we apply deadband correction to the controller inputs?
|
||||
CONTROLLER_CORRECT_FOR_DEADBAND = True
|
||||
# The deadband for the controller joysticks
|
||||
CONTROLLER_DEADBAND = 0.3
|
||||
# The port the controller is connected to
|
||||
CONTROLLER_PORT = 0
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
import commands2
|
||||
import magicbot
|
||||
|
||||
|
||||
class GenieRobot(magicbot.MagicRobot):
|
||||
def robotPeriodic(self) -> None:
|
||||
commands2.CommandScheduler.getInstance().run()
|
||||
return super().robotPeriodic()
|
||||
|
||||
def scheduleCommand(self, command: commands2.Command) -> None:
|
||||
"""
|
||||
Schedule a command to run. This is a wrapper around
|
||||
:meth:`CommandScheduler.add` that allows you to
|
||||
schedule commands.
|
||||
|
||||
:param command: The command to schedule
|
||||
"""
|
||||
inst = commands2.CommandScheduler.getInstance()
|
||||
inst.schedule(command)
|
||||
|
||||
def disabledPeriodic(self):
|
||||
pass
|
||||
|
|
@ -13,7 +13,7 @@ robotpy_version = "2026.2.1"
|
|||
components = [
|
||||
#"all",
|
||||
"apriltag",
|
||||
# "commands2",
|
||||
"commands2",
|
||||
# "cscore",
|
||||
# "romi",
|
||||
# "sim",
|
||||
|
|
|
|||
15
robot.py
15
robot.py
|
|
@ -1,15 +1,20 @@
|
|||
import magicbot
|
||||
import wpilib
|
||||
import components
|
||||
import constants
|
||||
import genie
|
||||
|
||||
class MyRobot(magicbot.MagicRobot):
|
||||
class MyRobot(genie.GenieRobot):
|
||||
CONTROLLER: components.XboxController
|
||||
|
||||
def createObjects(self):
|
||||
'''Create motors and stuff here'''
|
||||
pass
|
||||
# Controller stuff here
|
||||
self.CONTROLLER_CORRECT_FOR_DEADBAND = constants.CONTROLLER_CORRECT_FOR_DEADBAND
|
||||
self.CONTROLLER_DEADBAND = constants.CONTROLLER_DEADBAND
|
||||
self.CONTROLLER_PORT = constants.CONTROLLER_PORT
|
||||
|
||||
def teleopInit(self):
|
||||
'''Called when teleop starts; optional'''
|
||||
|
||||
def teleopPeriodic(self):
|
||||
'''Called periodically during teleop'''
|
||||
pass
|
||||
self.CONTROLLER.capture_button_presses()
|
||||
Loading…
Reference in New Issue