Merge pull request #396 from thedropbears/will-reset-to

Add will_reset_to's

Author: LeanMeanBeanMachine4774

components/injector.py

@@ -1,13 +1,16 @@
 import math
 
-from magicbot import feedback, tunable
+from magicbot import feedback, tunable, will_reset_to
 from rev import SparkMax, SparkMaxConfig
 from wpilib import DigitalInput
 
 from ids import DioChannel, SparkId
 
 
 class InjectorComponent:
+    desired_injector_voltage = will_reset_to(0.0)
+    should_measure = will_reset_to(False)
+
     INJECTOR_INJECT_VOLTAGE = tunable(12.0)
     INJECTOR_INTAKE_VOLTAGE = tunable(-2.0)
     INJECTOR_BACKDRIVE_VOLTAGE = tunable(-0.5)
@@ -50,10 +53,6 @@ def __init__(self) -> None:
 
         self.has_seen_algae: bool = False
 
-        self.should_measure = False
-
-        self.desired_injector_voltage = 0.0
-
     def on_enable(self) -> None:
         self.has_seen_algae = False
 
@@ -106,6 +105,3 @@ def execute(self) -> None:
         else:
             self.injector_1.setVoltage(self.desired_injector_voltage)
             self.injector_2.setVoltage(self.desired_injector_voltage)
-
-        self.should_measure = False
-        self.desired_injector_voltage = 0.0

components/intake.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 import wpilib
-from magicbot import feedback, tunable
+from magicbot import feedback, tunable, will_reset_to
 from phoenix5 import ControlMode, TalonSRX
 from rev import (
     SparkMax,
@@ -23,6 +23,7 @@
 
 class IntakeComponent:
     intake_output = tunable(0.9)
+    desired_output = will_reset_to(0.0)
 
     # Offset is measured in the vertical position
     VERTICAL_ENCODER_VALUE = 4.592024
@@ -42,8 +43,6 @@ def __init__(self, intake_mech_root: wpilib.MechanismRoot2d) -> None:
         self.intake_motor = TalonSRX(TalonId.INTAKE)
         self.intake_motor.setInverted(True)
 
-        self.desired_output = 0.0
-
         self.arm_motor = SparkMax(SparkId.INTAKE_ARM, SparkMax.MotorType.kBrushless)
         self.encoder = DutyCycleEncoder(DioChannel.INTAKE_ENCODER, math.tau, 0)
         configure_through_bore_encoder(self.encoder)
@@ -210,8 +209,6 @@ def on_enable(self) -> None:
     def execute(self) -> None:
         self.intake_motor.set(ControlMode.PercentOutput, self.desired_output)
 
-        self.desired_output = 0.0
-
         self.tracked_state = self.motion_profile.calculate(
             wpilib.Timer.getFPGATimestamp() - self.last_setpoint_update_time,
             self.initial_state,

components/shooter.py

@@ -1,7 +1,7 @@
 import math
 
 import wpilib
-from magicbot import feedback, tunable
+from magicbot import feedback, tunable, will_reset_to
 from phoenix6.configs import (
     ClosedLoopRampsConfigs,
     FeedbackConfigs,
@@ -17,6 +17,9 @@
 
 
 class ShooterComponent:
+    top_desired_flywheel_speed = will_reset_to(0.0)
+    bottom_desired_flywheel_speed = will_reset_to(0.0)
+
     FLYWHEEL_INTAKE_SPEED = tunable(-20.0)
     FLYWHEEL_RPS_TOLERANCE = 1.0
     FLYWHEEL_RAMP_TIME = 1
@@ -71,9 +74,6 @@ def __init__(self) -> None:
         bottom_flywheel_config.apply(flywheel_gear_ratio)
         bottom_flywheel_config.apply(flywheel_closed_loop_ramp_config)
 
-        self.top_desired_flywheel_speed = 0.0
-        self.bottom_desired_flywheel_speed = 0.0
-
         self._algae_size = 16.25
         self.has_measured = True
 
@@ -146,6 +146,3 @@ def execute(self) -> None:
                 self.bottom_desired_flywheel_speed, override_brake_dur_neutral=True
             )
         )
-
-        self.top_desired_flywheel_speed = 0.0
-        self.bottom_desired_flywheel_speed = 0.0