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from magicbot.state_machine import AutonomousStateMachine, state | ||
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from components.chassis import Chassis | ||
from components.climb import Climber | ||
from components.intake import Intake | ||
from components.shooter import Shooter | ||
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# Add controllers for intake and shooter when available | ||
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class Autonomous(AutonomousStateMachine): | ||
from wpimath.geometry import Pose2d | ||
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from dataclasses import dataclass | ||
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@dataclass | ||
class NotePaths: | ||
pick_up_path: tuple[Pose2d, ...] | ||
shoot_path: tuple[Pose2d, ...] | ||
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class AutoBase(AutonomousStateMachine): | ||
chassis: Chassis | ||
climb: Climber | ||
intake: Intake | ||
shooter: Shooter | ||
# Add controllers for intake and shooter when available | ||
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def __init__(self) -> None: | ||
pass | ||
self.note_paths: list[NotePaths] = [] | ||
self.has_initial_note: bool = True | ||
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@state(first=True) | ||
def initialize(self) -> None: | ||
pass | ||
def initialise(self) -> None: | ||
# We always start ready to shoot, so fire straight away | ||
self.has_initial_note = True | ||
self.next_state("shoot_note") | ||
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@state | ||
def driveto_note(self) -> None: | ||
pass | ||
def shoot_note(self, initial_call: bool) -> None: | ||
if initial_call: | ||
# Call the shooter state machine | ||
pass | ||
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@state | ||
def pickup_note(self) -> None: | ||
pass | ||
if True: | ||
# This needs to check if the state machine has finished firing | ||
if len(self.note_paths) == 0: | ||
# Just shot the last note | ||
self.done() | ||
else: | ||
self.next_state("drive_to_pick_up") | ||
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@state | ||
def driveto_target(self) -> None: | ||
pass | ||
def drive_to_pick_up(self, initial_call: bool) -> None: | ||
if initial_call: | ||
self.calculate_trajectory(self.note_paths[0].pick_up_path) | ||
# Also deploy the intake | ||
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if True: | ||
# Check if we have a note collected | ||
self.next_state("drive_to_shoot") | ||
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@state | ||
def score_note(self) -> None: | ||
def drive_to_shoot(self, initial_call) -> None: | ||
if initial_call: | ||
self.calculate_trajectory(self.note_paths[0].shoot_path) | ||
# Do some driving... | ||
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if True: | ||
# If we are in position, remove this note from the list and shoot it | ||
self.note_paths.pop(0) | ||
self.next_state("shoot_note") | ||
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def calculate_trajectory(self, path: tuple[Pose2d, ...]) -> None: | ||
# Driving to notes or to shoot is the same | ||
# Abstract trajectory generation into a function | ||
pass | ||
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class PreloadOnly(AutoBase): | ||
MODE_NAME = "Preload only" | ||
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class Front2Note(AutoBase): | ||
MODE_NAME = "Front of speaker 2 note" | ||
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def setup(self) -> None: | ||
self.note_paths = [ | ||
NotePaths( | ||
pick_up_path=(Pose2d(1.0, 1.0, 0.0),), | ||
shoot_path=(Pose2d(1.0, 1.0, 0.0),), | ||
) | ||
] |