robot_systems.py

import subsystem
import sensors
import wpilib, config, constants, utils


class Robot:
    wrist: subsystem.Wrist = subsystem.Wrist()
    intake: subsystem.Intake = subsystem.Intake()
    elevator: subsystem.Elevator = subsystem.Elevator()
    drivetrain: subsystem.Drivetrain = subsystem.Drivetrain()
    flywheel: subsystem.Flywheel = subsystem.Flywheel()


class Pneumatics:
    pass


class Sensors:
    limelight_intake = sensors.Limelight(config.LimelightPosition.init_elevator_front, 'limelight-i')
    limelight_back = sensors.Limelight(config.LimelightPosition.init_elevator_back, 'limelight-b')

    limelight_front = sensors.Limelight(config.LimelightPosition.init_elevator_front)


class LEDs:
    leds = sensors.ALeds(config.leds_id, config.leds_size)


class PowerDistribution:
    pd = wpilib.PowerDistribution(30, wpilib.PowerDistribution.ModuleType.kRev)


class Field:
    odometry = sensors.FieldOdometry(
        Robot.drivetrain,
        sensors.LimelightController([Sensors.limelight_front, Sensors.limelight_back], Robot.drivetrain.gyro),
        constants.field_width,
        constants.field_length
        )
    calculations = sensors.TrajectoryCalculator(odometry, Robot.elevator, Robot.flywheel)
    POI = utils.POI()