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`
68 lines
2.7 KiB
Python
68 lines
2.7 KiB
Python
#
|
|
# Copyright (c) FIRST and other WPILib contributors.
|
|
# Open Source Software; you can modify and/or share it under the terms of
|
|
# the WPILib BSD license file in the root directory of this project.
|
|
#
|
|
|
|
import enum
|
|
import commands2
|
|
|
|
|
|
class RobotContainer:
|
|
"""This class is where the bulk of the robot should be declared. Since Command-based is a
|
|
"declarative" paradigm, very little robot logic should actually be handled in the :class:`.Robot`
|
|
periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
|
|
subsystems, commands, and button mappings) should be declared here.
|
|
"""
|
|
|
|
# The enum used as keys for selecting the command to run.
|
|
class CommandSelector(enum.Enum):
|
|
ONE = enum.auto()
|
|
TWO = enum.auto()
|
|
THREE = enum.auto()
|
|
|
|
# An example selector method for the selectcommand.
|
|
def select(self) -> CommandSelector:
|
|
"""Returns the selector that will select which command to run.
|
|
Can base this choice on logical conditions evaluated at runtime.
|
|
"""
|
|
return self.CommandSelector.ONE
|
|
|
|
def __init__(self) -> None:
|
|
# An example selectcommand. Will select from the three commands based on the value returned
|
|
# by the selector method at runtime. Note that selectcommand takes a generic type, so the
|
|
# selector does not have to be an enum; it could be any desired type (string, integer,
|
|
# boolean, double...)
|
|
self.example_select_command = commands2.SelectCommand(
|
|
# Maps selector values to commands
|
|
{
|
|
self.CommandSelector.ONE: commands2.PrintCommand(
|
|
"Command one was selected!"
|
|
),
|
|
self.CommandSelector.TWO: commands2.PrintCommand(
|
|
"Command two was selected!"
|
|
),
|
|
self.CommandSelector.THREE: commands2.PrintCommand(
|
|
"Command three was selected!"
|
|
),
|
|
},
|
|
self.select,
|
|
)
|
|
|
|
# Configure the button bindings
|
|
self.configureButtonBindings()
|
|
|
|
def configureButtonBindings(self) -> None:
|
|
"""Use this method to define your button->command mappings. Buttons can be created by
|
|
instantiating a {GenericHID} or one of its subclasses
|
|
({org.wpilib.driverstation.Joystick} or {XboxController}), and then calling passing it to a
|
|
{org.wpilib.command2.button.JoystickButton}.
|
|
"""
|
|
|
|
def getAutonomousCommand(self) -> commands2.Command:
|
|
"""Use this to pass the autonomous command to the main {Robot} class.
|
|
|
|
:returns: the command to run in autonomous
|
|
"""
|
|
return self.example_select_command
|