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[examples] Clean up examples (#8674)
Move various "examples" into snippets. Several examples that were less than a full mechanism or robot were moved to snippets. `arcadedrive` and `tankdrive` were removed in favor of their Gamepad variants. `hidrumble` was removed due to being too simple. `potentiometerpid` was removed because of low utility. `gyromecanum` replaced `mecanumdrive` for deduplication and because very few teams run holonomic drivetrains without gyros.
This commit is contained in:
Gold856
@@ -1,50 +0,0 @@
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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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class MyRobot(wpilib.TimedRobot):
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"""
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This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
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in relation to the starting orientation of the robot (field-oriented controls).
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"""
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kFrontLeftChannel = 0
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kRearLeftChannel = 1
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kFrontRightChannel = 2
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kRearRightChannel = 3
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kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
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kJoystickPort = 0
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def __init__(self) -> None:
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"""Robot initialization function"""
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super().__init__()
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self.imu = wpilib.OnboardIMU(self.kIMUMountOrientation)
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self.joystick = wpilib.Joystick(self.kJoystickPort)
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frontLeft = wpilib.PWMSparkMax(self.kFrontLeftChannel)
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rearLeft = wpilib.PWMSparkMax(self.kRearLeftChannel)
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frontRight = wpilib.PWMSparkMax(self.kFrontRightChannel)
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rearRight = wpilib.PWMSparkMax(self.kRearRightChannel)
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frontRight.setInverted(True)
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rearRight.setInverted(True)
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self.robotDrive = wpilib.MecanumDrive(
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frontLeft, rearLeft, frontRight, rearRight
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)
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def teleopPeriodic(self) -> None:
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self.robotDrive.driveCartesian(
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-self.joystick.getY(),
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-self.joystick.getX(),
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-self.joystick.getZ(),
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self.imu.getRotation2d(),
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)
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@@ -1,30 +0,0 @@
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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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class MyRobot(wpilib.TimedRobot):
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"""
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This is a demo program showing the use of GenericHID's rumble feature.
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"""
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def __init__(self):
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"""Robot initialization function"""
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super().__init__()
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self.hid = wpilib.NiDsXboxController(0)
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def autonomousInit(self):
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# Turn on rumble at the start of auto
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self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kLeftRumble, 1.0)
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self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kRightRumble, 1.0)
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def disabledInit(self):
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# Stop the rumble when entering disabled
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self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kLeftRumble, 0.0)
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self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kRightRumble, 0.0)
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@@ -5,47 +5,46 @@
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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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class MyRobot(wpilib.TimedRobot):
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"""
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This is a demo program showing how to use Mecanum control with the
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MecanumDrive class.
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This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
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in relation to the starting orientation of the robot (field-oriented controls).
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"""
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# Channels on the roboRIO that the motor controllers are plugged in to
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kFrontLeftChannel = 2
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kRearLeftChannel = 3
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kFrontRightChannel = 1
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kRearRightChannel = 0
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kFrontLeftChannel = 0
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kRearLeftChannel = 1
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kFrontRightChannel = 2
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kRearRightChannel = 3
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kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
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kJoystickPort = 0
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# The channel on the driver station that the joystick is connected to
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kJoystickChannel = 0
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def __init__(self):
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def __init__(self) -> None:
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"""Robot initialization function"""
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super().__init__()
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self.frontLeft = wpilib.PWMSparkMax(self.kFrontLeftChannel)
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self.rearLeft = wpilib.PWMSparkMax(self.kRearLeftChannel)
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self.frontRight = wpilib.PWMSparkMax(self.kFrontRightChannel)
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self.rearRight = wpilib.PWMSparkMax(self.kRearRightChannel)
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# invert the right side motors
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# you may need to change or remove this to match your robot
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self.frontRight.setInverted(True)
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self.rearRight.setInverted(True)
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self.imu = wpilib.OnboardIMU(self.kIMUMountOrientation)
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self.joystick = wpilib.Joystick(self.kJoystickPort)
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frontLeft = wpilib.PWMSparkMax(self.kFrontLeftChannel)
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rearLeft = wpilib.PWMSparkMax(self.kRearLeftChannel)
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frontRight = wpilib.PWMSparkMax(self.kFrontRightChannel)
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rearRight = wpilib.PWMSparkMax(self.kRearRightChannel)
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frontRight.setInverted(True)
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rearRight.setInverted(True)
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self.robotDrive = wpilib.MecanumDrive(
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self.frontLeft, self.rearLeft, self.frontRight, self.rearRight
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frontLeft, rearLeft, frontRight, rearRight
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)
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self.stick = wpilib.Joystick(self.kJoystickChannel)
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def teleopPeriodic(self):
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# Use the joystick X axis for lateral movement, Y axis for forward
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# movement, and Z axis for rotation.
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def teleopPeriodic(self) -> None:
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self.robotDrive.driveCartesian(
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-self.stick.getY(),
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-self.stick.getX(),
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-self.stick.getZ(),
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-self.joystick.getY(),
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-self.joystick.getX(),
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-self.joystick.getZ(),
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self.imu.getRotation2d(),
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)
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@@ -1,66 +0,0 @@
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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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import wpimath
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class MyRobot(wpilib.TimedRobot):
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"""
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This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to
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reach and maintain position setpoints on an elevator mechanism.
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"""
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kPotChannel = 1
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kMotorChannel = 7
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kJoystickChannel = 3
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# The elevator can move 1.5 meters from top to bottom
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kFullHeightMeters = 1.5
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# Bottom, middle, and top elevator setpoints
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kSetpointMeters = [0.2, 0.8, 1.4]
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# proportional, integral, and derivative velocity constants
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# DANGER: when tuning PID constants, high/inappropriate values for kP, kI,
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# and kD may cause dangerous, uncontrollable, or undesired behavior!
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kP = 0.7
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kI = 0.35
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kD = 0.25
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def __init__(self):
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super().__init__()
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self.pidController = wpimath.PIDController(self.kP, self.kI, self.kD)
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# Scaling is handled internally
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self.potentiometer = wpilib.AnalogPotentiometer(
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self.kPotChannel, self.kFullHeightMeters
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)
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self.elevatorMotor = wpilib.PWMSparkMax(self.kMotorChannel)
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self.joystick = wpilib.Joystick(self.kJoystickChannel)
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def teleopInit(self):
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# Move to the bottom setpoint when teleop starts
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self.index = 0
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self.pidController.setSetpoint(self.kSetpointMeters[self.index])
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def teleopPeriodic(self):
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# Read from the sensor
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position = self.potentiometer.get()
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# Run the PID Controller
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pidOut = self.pidController.calculate(position)
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# Apply PID output
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self.elevatorMotor.setDutyCycle(pidOut)
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# when the button is pressed once, the selected elevator setpoint is incremented
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if self.joystick.getTriggerPressed():
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# index of the elevator setpoint wraps around.
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self.index = (self.index + 1) % len(self.kSetpointMeters)
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print(f"index = {self.index}")
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self.pidController.setSetpoint(self.kSetpointMeters[self.index])
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@@ -21,10 +21,8 @@ PROJECTS = [
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"FlywheelBangBangController",
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"GettingStarted",
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"Gyro",
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"GyroMecanum",
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"HatchbotInlined",
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"HatchbotTraditional",
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"HidRumble",
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"HttpCamera",
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"I2CCommunication",
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"IntermediateVision",
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@@ -33,7 +31,6 @@ PROJECTS = [
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"MecanumDrivePoseEstimator",
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"Mechanism2d",
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"MotorControl",
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"PotentiometerPID",
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"QuickVision",
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"RapidReactCommandBot",
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"RomiReference",
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@@ -22,10 +22,8 @@ base = [
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"FlywheelBangBangController",
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"GettingStarted",
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"Gyro",
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"GyroMecanum",
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"HatchbotInlined",
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"HatchbotTraditional",
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"HidRumble",
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"HttpCamera",
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"I2CCommunication",
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"IntermediateVision",
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@@ -34,7 +32,6 @@ base = [
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"MecanumDrivePoseEstimator",
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"Mechanism2d",
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"MotorControl",
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"PotentiometerPID",
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"QuickVision",
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"RapidReactCommandBot",
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"RomiReference",
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