mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
50 lines
1.7 KiB
Python
Executable File
50 lines
1.7 KiB
Python
Executable File
#!/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 demonstrating how to communicate to a light controller from the robot
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code using the roboRIO's DIO ports.
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"""
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# define ports for digitalcommunication with light controller
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kAlliancePort = 0
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kEnabledPort = 1
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kAutonomousPort = 2
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kAlertPort = 3
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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.allianceOutput = wpilib.DigitalOutput(self.kAlliancePort)
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self.enabledOutput = wpilib.DigitalOutput(self.kEnabledPort)
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self.autonomousOutput = wpilib.DigitalOutput(self.kAutonomousPort)
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self.alertOutput = wpilib.DigitalOutput(self.kAlertPort)
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def robotPeriodic(self):
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setAlliance = False
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alliance = wpilib.MatchState.getAlliance()
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if alliance:
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setAlliance = alliance == wpilib.Alliance.RED
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# pull alliance port high if on red alliance, pull low if on blue alliance
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self.allianceOutput.set(setAlliance)
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# pull enabled port high if enabled, low if disabled
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self.enabledOutput.set(wpilib.RobotState.isEnabled())
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# pull auto port high if in autonomous, low if in teleop (or disabled)
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self.autonomousOutput.set(wpilib.RobotState.isAutonomous())
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# pull alert port high if match time remaining is between 30 and 25 seconds
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matchTime = wpilib.MatchState.getMatchTime()
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self.alertOutput.set(30 >= matchTime >= 25)
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