mirror of
https://github.com/wpilibsuite/allwpilib
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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`
90 lines
3.2 KiB
Python
90 lines
3.2 KiB
Python
#
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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 commands2.cmd
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import commands2.button
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import constants
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import subsystems.drivesubsystem
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class RobotContainer:
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"""
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This class is where the bulk of the robot should be declared. Since Command-based is a
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"declarative" paradigm, very little robot logic should actually be handled in the :class:`.Robot`
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periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
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subsystems, commands, and button mappings) should be declared here.
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"""
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def __init__(self):
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# The robot's subsystems
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self.robotDrive = subsystems.drivesubsystem.DriveSubsystem()
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# Retained command references
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self.driveFullVelocity = commands2.cmd.runOnce(
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lambda: self.robotDrive.setMaxOutput(1), self.robotDrive
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)
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self.driveHalfVelocity = commands2.cmd.runOnce(
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lambda: self.robotDrive.setMaxOutput(0.5), self.robotDrive
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)
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# The driver's controller
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self.driverController = commands2.button.CommandNiDsXboxController(
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constants.OIConstants.kDriverControllerPort
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)
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# Configure the button bindings
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self.configureButtonBindings()
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# Configure default commands
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# Set the default drive command to split-stick arcade drive
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self.robotDrive.setDefaultCommand(
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# A split-stick arcade command, with forward/backward controlled by the left
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# hand, and turning controlled by the right.
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commands2.cmd.run(
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lambda: self.robotDrive.arcadeDrive(
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-self.driverController.getLeftY(),
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-self.driverController.getRightX(),
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),
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self.robotDrive,
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)
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)
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def configureButtonBindings(self):
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"""
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Use this method to define your button->command mappings. Buttons can be created via the button
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factories on commands2.button.CommandGenericHID or one of its
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subclasses (commands2.button.CommandJoystick or command2.button.CommandNiDsXboxController).
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"""
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# Configure your button bindings here
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# We can bind commands while retaining references to them in RobotContainer
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# Drive at half velocity when the bumper is held
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self.driverController.rightBumper().onTrue(self.driveHalfVelocity).onFalse(
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self.driveFullVelocity
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)
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# Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds
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self.driverController.a().onTrue(
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self.robotDrive.profiledDriveDistance(3).withTimeout(10)
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)
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# Do the same thing as above when the 'B' button is pressed, but defined inline
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self.driverController.b().onTrue(
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self.robotDrive.dynamicProfiledDriveDistance(3).withTimeout(10)
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)
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def getAutonomousCommand(self) -> commands2.Command:
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"""
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Use this to pass the autonomous command to the main :class:`.Robot` class.
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:returns: the command to run in autonomous
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"""
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return commands2.cmd.none()
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