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robotconfig.py
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robotconfig.py
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{
# Ports for motors
# If doing drive test, treat this as the left side of the drivetrain
"motorPorts": [0],
# Only if you are doing drive (leave empty "[]" if not)
"rightMotorPorts": [1],
# Class names of motor controllers used.
# Options:
# 'Spark'
# 'Victor'
# 'VictorSP'
# 'PWMTalonSRX'
# 'PWMVictorSPX'
# If doing drive test, treat this as the left side of the drivetrain
"controllerTypes": ['Spark'],
# Only if you are doing drive (leave empty "[]" if not)
"rightControllerTypes": ['Spark'],
# Set motors to inverted or not
# If doing drive test, treat this as the left side of the drivetrain
"motorsInverted": [False],
# Only if you are doing drive (leave empty "[]" if not)
"rightMotorsInverted": [False],
# Encoder edges-per-revolution (*NOT* cycles per revolution!)
# For the AMT 103-V, use 8192 (2048 * 4)
"encoderEPR": 1440,
# Gearing accounts for the gearing between the encoder and the output shaft
"gearing": 1,
# Encoder ports
# If doing drive test, treat this as the left side of the drivetrain
"encoderPorts": [4, 5],
# Only if you are doing drive (leave empty "[]" if not)
"rightEncoderPorts": [6, 7],
# Set to True if encoders need to be inverted
# If doing drive test, treat this as the left side of the drivetrain
"encoderInverted": False,
# Only if you are doing drive (set to False if not needed)
"rightEncoderInverted": False,
# ** The following is only if you are using a gyro for the DriveTrain test**
# Gyro type (one of "NavX", "Pigeon", "ADXRS450", "AnalogGyro", or "None")
"gyroType": "RomiGyro",
# Whatever you put into the constructor of your gyro
# Could be:
# "SPI.Port.kMXP" (MXP SPI port for NavX or ADXRS450),
# "SerialPort.Port.kMXP" (MXP Serial port for NavX),
# "I2C.Port.kOnboard" (Onboard I2C port for NavX),
# "0" (Pigeon CAN ID or AnalogGyro channel),
# "new WPI_TalonSRX(3)" (Pigeon on a Talon SRX),
# "" (NavX using default SPI, ADXRS450 using onboard CS0, or no gyro)
"gyroPort": "",
}