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Clean up LiveWindow #130

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Clean up LiveWindow #130

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5c17d10
Group turret indexes on LiveWindow
auscompgeek Feb 29, 2020
dfee44e
shooter: Group piston and sensor in LiveWindow
auscompgeek Feb 29, 2020
92f47d7
Group indexer objects in LiveWindow
auscompgeek Feb 29, 2020
dea54be
Group hang objects in LiveWindow
auscompgeek Mar 1, 2020
8c749e1
shooter: Add motors to LiveWindow group
auscompgeek May 2, 2021
acc6378
turret: Add motor to LiveWindow group
auscompgeek May 2, 2021
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4 changes: 4 additions & 0 deletions components/hang.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,10 @@ def __init__(self) -> None:
def setup(self) -> None:
self.winch_motor.setInverted(True)

sendable_reg = wpilib.SendableRegistry.getInstance()
for dev in (self.winch_motor, self.kracken_hook_latch):
sendable_reg.setSubsystem(dev, "Hang")

def on_disable(self) -> None:
# stop motors
self.winch_motor.stopMotor()
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9 changes: 9 additions & 0 deletions components/indexer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,15 @@ def setup(self):
ctre.LimitSwitchNormal.NormallyOpen,
)

sendable_reg = wpilib.SendableRegistry.getInstance()
for dev in (self.intake_arm_piston, self.intake_main_motor):
sendable_reg.setSubsystem(dev, "Intake")

sendable_reg.setSubsystem(self.injector_motor, "Shooter")

for motor in self.indexer_motors:
sendable_reg.setSubsystem(motor, "Indexer")

self.intake_left_motor.setInverted(False)
self.intake_right_motor.setInverted(True)

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5 changes: 5 additions & 0 deletions components/shooter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,15 @@ def __init__(self):
self.disabled = False

def setup(self) -> None:
sendable_reg = wpilib.SendableRegistry.getInstance()
for dev in (self.loading_piston, self.piston_switch):
sendable_reg.setSubsystem(dev, "Shooter")

self.outer_motor.setInverted(True)
self.centre_motor.setInverted(False)

for motor in self.outer_motor, self.centre_motor:
sendable_reg.setSubsystem(dev, "Shooter")
motor.configVelocityMeasurementPeriod(ctre.VelocityMeasPeriod.Period_1Ms)
motor.configVelocityMeasurementWindow(16)
motor.setNeutralMode(ctre.NeutralMode.Coast)
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4 changes: 4 additions & 0 deletions components/turret.py
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Expand Up @@ -116,6 +116,10 @@ class Turret:
index_found = magicbot.tunable(False)

def setup(self) -> None:
sendable_reg = wpilib.SendableRegistry.getInstance()
for dev in (self.centre_index, self.right_index, self.left_index, self.motor):
sendable_reg.setSubsystem(dev, "Turret")

self._setup_motor()
self._setup_position()
self.current_state = self.SLEWING
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