Heightened resonsibility of ConfigurationManager

components/breakSensors.py

@@ -10,6 +10,8 @@ class State:
 
 class Sensors:
 
+    compatString = ["doof"]
+
     digitalInput_breaksensors: dict
 
     def on_enable(self):

components/buttonManager.py

@@ -22,6 +22,8 @@ class ButtonManager(object):
     use any registered buttons directly.
     """
 
+    compatString = ["all"]
+
     def setup(self):
         """
         Sets up Button manager.

components/driveTrain.py

@@ -1,7 +1,8 @@
 import wpilib.drive
 from enum import Enum, auto
-
 from magicbot import tunable
+
+
 class ControlMode(Enum):
     """
     Drive Train Control Modes
@@ -14,8 +15,12 @@ class ControlMode(Enum):
 class DriveTrain():
     # Note - The way we will want to do this will be to give this component motor description dictionaries from robotmap and then creating the motors with motorhelper. After that, we simply call wpilib' differential drive
     motors_driveTrain: dict
+    controllers: dict
     driveMotorsMultiplier = tunable(.5)
-    gyros_system: dict
+    sensitivityExponent = tunable(1.8)
+    #gyros_system: dict
+
+    compatString = ["all"]
 
     def setup(self):
         self.tankLeftSpeed = 0
@@ -26,9 +31,24 @@ def setup(self):
         self.controlMode = ControlMode.kDisabled
         self.leftMotor = self.motors_driveTrain["leftMotor"]
         self.rightMotor = self.motors_driveTrain["rightMotor"]
+        self.drive = self.controllers['drive']
         self.driveTrain = wpilib.drive.DifferentialDrive(self.leftMotor, self.rightMotor)
         self.logger.info("DriveTrain setup completed")
-
+
+    def expScale(self, initVal, exp):
+        """
+        Applies an exponent exp to a value initVal and returns value.
+        Will work whether initVal is positive or negative or zero.
+        """
+
+        val = initVal
+        if val > 0:
+            val = val ** exp
+        if val < 0:
+            val *= -1
+            val = val ** exp
+            val *= -1
+        return val
 
     def getLeft(self):
         return self.leftMotor.get()
@@ -71,9 +91,14 @@ def getMeasuredSpeed(self):
         pass
 
     def execute(self):
+
+        driveLeft = self.expScale(self.drive.leftY, self.sensitivityExponent) * self.driveMotorsMultiplier
+        driveRight = self.expScale(self.drive.rightY, self.sensitivityExponent) * self.driveMotorsMultiplier
+
+        self.setTank(driveLeft, driveRight)
+
         if self.controlMode == ControlMode.kTankDrive:
             self.driveTrain.tankDrive(self.tankLeftSpeed, self.tankRightSpeed, False)
 
         elif self.controlMode == ControlMode.kArcadeDrive:
             self.driveTrain.arcadeDrive(self.arcadeSpeed, self.arcadeRotation, False)
-

components/elevator.py

@@ -1,6 +1,9 @@
 from magicbot import tunable
 
 class Elevator:
+
+    compatString = ["doof"]
+
     motors_loader: dict
     downSpeed = tunable(-.4)
     upSpeed = tunable(.4)

components/feederMap.py

@@ -1,4 +1,4 @@
-from robotMap import XboxMap
+#from robotMap import XboxMap
 from components.shooterMotors import ShooterMotorCreation, Direction
 from enum import Enum, auto
 from magicbot import tunable
@@ -15,38 +15,42 @@ class FeederMap:
     compatString = ["doof"]
 
     shooterMotors: ShooterMotorCreation
-    xboxMap: XboxMap
+    #xboxMap: XboxMap
     logger: logging
 
+    controllers: dict
+
     loaderMotorSpeed = tunable(.4)
     intakeMotorSpeed = tunable(.7)
 
     def on_enable(self):
-        pass
-        # self.logger.setLevel(logging.DEBUG)
+
+        self.mech = self.controllers['mech']
+
+        self.logger.setLevel(logging.DEBUG)
 
     def run(self, loaderFunc):
         """Called when execution of a feeder element is desired."""
         if loaderFunc == Type.kIntake:
-            if self.xboxMap.getMechRightTrig() > 0 and self.xboxMap.getMechLeftTrig() == 0:
+            if self.mech.rightTrigger > 0 and self.mech.leftTrigger == 0:
                 self.shooterMotors.runIntake(self.intakeMotorSpeed, Direction.kForwards)
-                self.logger.debug("right trig intake", self.xboxMap.getMechRightTrig())
+                self.logger.debug(f"right trig intake {self.mech.rightTrigger}")
 
-            elif self.xboxMap.getMechLeftTrig() > 0 and self.xboxMap.getMechRightTrig() == 0:
+            elif self.mech.leftTrigger > 0 and self.mech.rightTrigger == 0:
                 self.shooterMotors.runIntake(self.intakeMotorSpeed, Direction.kBackwards)
-                self.logger.debug("left trig intake", self.xboxMap.getMechLeftTrig())
+                self.logger.debug(f"left trig intake {self.mech.leftTrigger}")
 
             else:
                 self.shooterMotors.stopIntake()
 
         if loaderFunc == Type.kLoader:
-            if self.xboxMap.getMechRightTrig() > 0 and self.xboxMap.getMechLeftTrig() == 0:
+            if self.mech.rightTrigger > 0 and self.mech.leftTrigger == 0:
                 self.shooterMotors.runLoader(self.loaderMotorSpeed, Direction.kForwards)
-                self.logger.debug("right trig manual", self.xboxMap.getMechRightTrig())
+                self.logger.debug(f"right trig manual {self.mech.rightTrigger}")
 
-            elif self.xboxMap.getMechLeftTrig() > 0 and self.xboxMap.getMechRightTrig() == 0:
+            elif self.mech.leftTrigger > 0 and self.mech.rightTrigger == 0:
                 self.shooterMotors.runLoader(self.loaderMotorSpeed, Direction.kBackwards)
-                self.logger.debug("left trig manual", self.xboxMap.getMechLeftTrig())
+                self.logger.debug(f"left trig manual {self.mech.leftTrigger}")
 
             else:
                 self.shooterMotors.stopLoader()

components/loaderLogic.py

@@ -1,4 +1,3 @@
-from robotMap import XboxMap
 from components.shooterMotors import ShooterMotorCreation, Direction
 from components.breakSensors import Sensors, State
 from components.feederMap import FeederMap, Type
@@ -7,14 +6,14 @@
 
 class LoaderLogic(StateMachine):
     """StateMachine-based loader. Has both automatic and manual modes."""
+
     compatString = ["doof"]
 
     # Component/module related things
     shooterMotors: ShooterMotorCreation
     feeder: FeederMap
     logger: logging
     sensors: Sensors
-    xboxMap: XboxMap
 
     # Tunable
     automaticLoaderSpeed = tunable(.4)

components/pneumatics.py

@@ -3,6 +3,8 @@
 import logging
 
 class Pneumatics:
+
+    compatString = ["doof"]
 
     compressors_pneumatics: dict
     solenoids_pneumatics: dict
@@ -24,7 +26,7 @@ def getLoaderDeployed(self):
         """
         returns the "value" of the solenoid. Boolean, is it on or off?
         """
-        return True if self.solenloaderSolenoidoid.get() == dsPos.kForward else False
+        return True if self.loaderSolenoid.get() == dsPos.kForward else False
 
     def deployLoader(self):
         """

components/scorpionLoader.py

@@ -1,18 +1,22 @@
-from robotMap import XboxMap
 from magicbot import tunable
 
 class ScorpionLoader:
+
     compatString = ["scorpion"]
+
+    controllers: dict
+
     motors_shooter: dict
     motors_loader: dict
-    xboxMap: XboxMap
     shooterSpeed = tunable(-0.4)
 
 
     def setup(self):
         self.intakeSpeed = 0
         self.loaderSpeed = 0
         self.shooterSpeed = 0
+
+        self.mech = self.controllers['mech']
 
         self.loaderMotor = self.motors_loader["loaderMotor"]
         self.intakeMotor = self.motors_loader["intakeMotor"]
@@ -36,10 +40,13 @@ def isLoaderActive(self):
         return self.loader
 
     def checkController(self):
-        self.runIntake(self.shooterSpeed if self.xboxMap.mechLeft < -.2 else 0)
-        self.runLoader(self.xboxMap.mechRight)
+        self.runIntake(self.shooterSpeed if self.mech.leftTrigger < -.2 else 0)
+        self.runLoader(self.mech.rightTrigger)
 
     def execute(self):
+
+        self.checkController()
+
         if self.intake:
             self.intakeMotor.set(self.intakeSpeed)
         elif self.intake == False:

components/shooterLogic.py

@@ -1,4 +1,3 @@
-from robotMap import XboxMap
 from components.shooterMotors import ShooterMotorCreation, Direction
 from components.breakSensors import Sensors, State
 from components.feederMap import FeederMap, Type
@@ -7,16 +6,18 @@
 
 class ShooterLogic(StateMachine):
     """StateMachine-based shooter. Has both manual and automatic modes."""
+
     compatString = ["doof"]
 
     # Component/module related things
     shooterMotors: ShooterMotorCreation
     feeder: FeederMap
     logger: logging
     sensors: Sensors
-    xboxMap: XboxMap
     speedTolerance = tunable(50)
 
+    controllers: dict
+
     # Tunables
     shootingLoaderSpeed = tunable(.4)
     autoShootingSpeed = tunable(4800)
@@ -32,6 +33,8 @@ def on_enable(self):
         self.isAutonomous = False
         self.isSetup = True
 
+        self.mech = self.controllers['mech'].controller
+
     def autonomousEnabled(self):
         """Indicates if the robot is in autonomous mode."""
         self.isAutonomous = True
@@ -64,8 +67,8 @@ def isShooterUpToSpeed(self):
         rumble  = 0
         if atSpeed and not self.isAutonomous:
             rumble = .3
-        self.xboxMap.mech.setRumble(self.xboxMap.mech.RumbleType.kLeftRumble, rumble)
-        self.xboxMap.mech.setRumble(self.xboxMap.mech.RumbleType.kRightRumble, rumble)
+        self.mech.setRumble(self.mech.RumbleType.kLeftRumble, rumble)
+        self.mech.setRumble(self.mech.RumbleType.kRightRumble, rumble)
         return atSpeed
 
     @state

components/shooterMotors.py

@@ -11,6 +11,7 @@ class ShooterMotorCreation:
     """
     Allows you to run motors in the shooter
     """
+
     compatString = ["doof"]
 
     logger: logging

components/winch.py

@@ -1,14 +1,19 @@
 
 class Winch:
+
     compatString = ["doof"]
+
     motors_winch: dict
 
+    controllers: dict
+
     def on_enable(self):
         """
         Sets up the winch
         """
         self.upSpeed = 0
         self.winchMotor = self.motors_winch["winchMotor"]
+        self.mech = self.controllers['mech']
 
         self.logger.info("Lifter Component Created")
 
@@ -25,4 +30,10 @@ def stop(self):
         self.upSpeed = 0
 
     def execute(self):
+
+        if self.mech.pov == 0:
+            self.setRaise()
+        else:
+            self.stop()
+
         self.winchMotor.set(self.upSpeed)