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71 lines
2.3 KiB
Python
71 lines
2.3 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 commands2
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import wpilib
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from rapidreactcommandbot import RapidReactCommandBot
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class MyRobot(commands2.TimedCommandRobot):
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"""The methods in this class are called automatically corresponding to each mode, as
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described in the TimedRobot documentation. If you change the name of this class or the
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package after creating this project, you must also update the Main.java file in the
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project.
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"""
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def __init__(self) -> None:
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"""This function is run when the robot is first started up and should be used for any
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initialization code.
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"""
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super().__init__()
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self.autonomousCommand = None
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self.robot = RapidReactCommandBot()
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# Configure default commands and condition bindings on robot startup
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self.robot.configureBindings()
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# Initialize data logging.
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wpilib.DataLogManager.start()
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def disabledInit(self) -> None:
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"""This function is called once each time the robot enters Disabled mode."""
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pass
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def disabledPeriodic(self) -> None:
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pass
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def autonomousInit(self) -> None:
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self.autonomousCommand = self.robot.getAutonomousCommand()
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if self.autonomousCommand is not None:
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self.autonomousCommand.schedule()
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def autonomousPeriodic(self) -> None:
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"""This function is called periodically during autonomous."""
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pass
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def teleopInit(self) -> None:
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# This makes sure that the autonomous stops running when
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# teleop starts running. If you want the autonomous to
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# continue until interrupted by another command, remove
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# this line or comment it out.
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if self.autonomousCommand is not None:
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self.autonomousCommand.cancel()
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def teleopPeriodic(self) -> None:
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"""This function is called periodically during operator control."""
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pass
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def testInit(self) -> None:
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# Cancels all running commands at the start of test mode.
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commands2.CommandScheduler.getInstance().cancelAll()
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def testPeriodic(self) -> None:
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"""This function is called periodically during test mode."""
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pass
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