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39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
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from constants import Constants
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from subsystems.arm import Arm
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class MyRobot(wpilib.TimedRobot):
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"""This is a sample program to demonstrate the use of arm simulation with existing code."""
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def __init__(self) -> None:
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super().__init__()
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self.arm = Arm()
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self.joystick = wpilib.Joystick(Constants.kJoystickPort)
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def simulationPeriodic(self) -> None:
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self.arm.simulationPeriodic()
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def teleopInit(self) -> None:
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self.arm.loadPreferences()
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def teleopPeriodic(self) -> None:
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if self.joystick.getTrigger():
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# Here, we run PID control like normal.
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self.arm.reachSetpoint()
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else:
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# Otherwise, we disable the motor.
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self.arm.stop()
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def disabledInit(self) -> None:
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# This just makes sure that our simulation code knows that the motor's off.
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self.arm.stop()
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