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pneumatic_intake.py
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pneumatic_intake.py
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import wpilib
MODULE_ID = 0
SOLENOID_FORWARD_CHANNEL = 0
SOLENOID_REVERSE_CHANNEL = 1
class PneumaticIntake:
def __init__(self):
self.is_open = False
self.pcm = wpilib.PneumaticsControlModule(MODULE_ID)
self.solenoid = self.pcm.makeDoubleSolenoid(SOLENOID_FORWARD_CHANNEL, SOLENOID_REVERSE_CHANNEL)
self.compressor = self.pcm.makeCompressor()
def init(self):
pass
def open_intake(self):
self.solenoid.set(wpilib.DoubleSolenoid.Value.kReverse)
def close_intake(self):
self.solenoid.set(wpilib.DoubleSolenoid.Value.kForward)
def toggle(self):
if self.is_open:
self.close_intake()
else:
self.open_intake()
self.is_open = not self.is_open
def enable_compressor(self):
self.compressor.enableDigital()
def disable_compressor(self):
self.compressor.disable()
def toggle_compressor(self):
if self.compressor.isEnabled():
self.disable_compressor()
else:
self.enable_compressor()
def get_is_full(self):
return self.compressor.getPressureSwitchValue()