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ab00aac960
The "Utility" name better matches its intended generic use case and avoids overloaded terminology with unit testing (e.g. the need to name the opmode annotation `@TestOpMode`). The driver station will also be updated to reflect this change.
98 lines
2.9 KiB
Python
98 lines
2.9 KiB
Python
#!/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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#
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# Example that shows how to connect to a ROMI from RobotPy
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#
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# Requirements
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# ------------
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#
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# You must have the robotpy-halsim-ws package installed. This is best done via:
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#
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# # Windows
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# py -3 -m pip install robotpy[commands2,sim]
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#
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# # Linux/macOS
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# pip3 install robotpy[commands2,sim]
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#
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# Run the program
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# ---------------
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#
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# Use the dedicated ROMI command:
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#
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# # Windows
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# py -3 -m robotpy run-romi
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#
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# # Linux/macOS
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# python -m robotpy run-romi
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#
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# If your ROMI isn't at the default address, use --host/--port:
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#
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# python -m robotpy run-romi --host 10.0.0.2 --port 3300
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#
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# By default the WPILib simulation GUI will be displayed. To disable the display
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# you can add the --nogui option.
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#
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import typing
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import wpilib
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import commands2
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from robotcontainer import RobotContainer
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class MyRobot(commands2.TimedCommandRobot):
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"""
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Command v2 robots are encouraged to inherit from TimedCommandRobot, which
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has an implementation of robotPeriodic which runs the scheduler for you
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"""
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autonomousCommand: typing.Optional[commands2.Command] = None
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def __init__(self) -> None:
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"""
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This function is run when the robot is first started up and should be used for any
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initialization code.
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"""
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super().__init__()
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# Instantiate our RobotContainer. This will perform all our button bindings, and put our
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# autonomous chooser on the dashboard.
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self.container = RobotContainer()
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def disabledInit(self) -> None:
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"""This function is called once each time the robot enters Disabled mode."""
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def disabledPeriodic(self) -> None:
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"""This function is called periodically when disabled"""
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def autonomousInit(self) -> None:
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"""This autonomous runs the autonomous command selected by your RobotContainer class."""
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self.autonomousCommand = self.container.getAutonomousCommand()
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if self.autonomousCommand:
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self.autonomousCommand.schedule()
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def autonomousPeriodic(self) -> None:
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"""This function is called periodically during autonomous"""
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def teleopInit(self) -> None:
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# This makes sure that the autonomous stops running when
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# teleop starts running. If you want the autonomous to
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# continue until interrupted by another command, remove
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# this line or comment it out.
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if self.autonomousCommand:
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self.autonomousCommand.cancel()
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def teleopPeriodic(self) -> None:
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"""This function is called periodically during operator control"""
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def utilityInit(self) -> None:
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# Cancels all running commands at the start of utility mode
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commands2.CommandScheduler.getInstance().cancelAll()
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