def conveyer_forward():
CONVEYER.spin(FORWARD)
def conveyer_reverse():
CONVEYER.spin(REVERSE)
def conveyer_stop():
CONVEYER.stop()
def lift_forward():
LIFT.spin(FORWARD)
def lift_reverse():
LIFT.spin(REVERSE)
def lift_stop():
LIFT.stop()
def threebar_forward():
THREEBAR.spin(FORWARD)
def threebar_reverse():
THREEBAR.spin(REVERSE)
def threebar_stop():
THREEBAR.stop()
def spinner_forward():
SPINNER.spin(FORWARD)
def spinner_reverse():
SPINNER.spin(REVERSE)
def spinner_stop():
SPINNER.stop()
controller_1.buttonL1.pressed(conveyer_forward)
controller_1.buttonL1.released(conveyer_stop)
controller_1.buttonL2.pressed(conveyer_reverse)
controller_1.buttonL2.released(conveyer_stop)
controller_1.buttonR1.pressed(lift_forward)
controller_1.buttonR1.released(lift_stop)
controller_1.buttonR2.pressed(lift_reverse)
controller_1.buttonR2.released(lift_stop)
controller_1.buttonY.pressed(threebar_forward)
controller_1.buttonY.released(threebar_stop)
controller_1.buttonB.pressed(threebar_reverse)
controller_1.buttonB.released(threebar_stop)
controller_1.buttonRight.pressed(spinner_forward)
controller_1.buttonRight.released(spinner_stop)
controller_1.buttonDown.pressed(spinner_reverse)
controller_1.buttonDown.released(spinner_stop)
drivetrain.set_drive_velocity(100,PERCENT)
drivetrain.set_stopping(COAST)
CONVEYER.set_velocity(75,PERCENT)
CONVEYER.set_stopping(COAST)
LIFT.set_velocity(100,PERCENT)
LIFT.set_stopping(BRAKE)
THREEBAR.set_velocity(100,PERCENT)
THREEBAR.set_stopping(BRAKE)
SPINNER.set_velocity(100,PERCENT)
SPINNER.set_stopping(BRAKE)
def autonomous():
drivetrain.set_drive_velocity(75,PERCENT)
drivetrain.set_turn_velocity(100,PERCENT)
CONVEYER.set_velocity(100,PERCENT)
LIFT.set_velocity(100,PERCENT)
THREEBAR.set_velocity(100,PERCENT)
SPINNER.set_velocity(100,PERCENT)
drivetrain.set_stopping(BRAKE)
CONVEYER.set_stopping(COAST)
LIFT.set_stopping(BRAKE)
THREEBAR.set_stopping(BRAKE)
SPINNER.set_stopping(BRAKE)
INERTIAL.calibrate()
LIFT.spin_for(FORWARD,DEGREES)
CONVEYER.spin_for(FORWARD,SECONDS)
LIFT.spin_for(REVERSE,DEGREES)
drivetrain.drive_for(REVERSE,INCHES)
drivetrain.turn_for(LEFT,90,DEGREES)
drivetrain.drive_for(FORWARD,INCHES)
drivetrain.turn_for(RIGHT,90,DEGREES)
drivetrain.drive_for(FORWARD,INCHES)
LIFT.spin_for(FORWARD,DEGREES)
CONVEYER.spin_for(FORWARD,SECONDS)
drivetrain.drive_for(REVERSE,INCHES)
LIFT.spin_for(REVERSE,DEGREES)
drivetrain.drive_for(REVERSE,INCHES)