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https://github.com/wpilibsuite/allwpilib
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57 lines
2.0 KiB
Python
Executable File
57 lines
2.0 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 I2C port.
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"""
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PORT = wpilib.I2C.Port.kPort0
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DEVICE_ADDRESS = 4
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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.arduino = wpilib.I2C(self.PORT, self.DEVICE_ADDRESS)
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def writeString(self, s: str):
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# Creates a char array from the input string
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chars = s.encode("ascii")
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# Writes bytes over I2C
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self.arduino.writeBulk(chars)
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def robotPeriodic(self):
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# Creates a string to hold current robot state information, including
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# alliance, enabled state, operation mode, and match time. The message
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# is sent in format "AEM###" where A is the alliance color, (R)ed or
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# (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
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# operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
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# time remaining in the match.
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#
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# For example, "RET043" would indicate that the robot is on the red
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# alliance, enabled in teleop mode, with 43 seconds left in the match.
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allianceString = "U"
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alliance = wpilib.DriverStation.getAlliance()
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if alliance is not None:
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allianceString = (
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"R" if alliance == wpilib.DriverStation.Alliance.RED else "B"
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)
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enabledString = "E" if wpilib.DriverStation.isEnabled() else "D"
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autoString = "A" if wpilib.DriverStation.isAutonomous() else "T"
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matchTime = wpilib.DriverStation.getMatchTime()
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stateMessage = f"{allianceString}{enabledString}{autoString}{matchTime:03f}"
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self.writeString(stateMessage)
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