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https://github.com/wpilibsuite/allwpilib
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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.
75 lines
2.6 KiB
Python
75 lines
2.6 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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import typing
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import wpilib
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import commands2
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import commands2.cmd
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import robotcontainer
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"""
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The VM is configured to automatically run this class, and to call the functions corresponding to
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each mode, as described in the TimedRobot documentation. If you change the name of this class or
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the package after creating this project, you must also update the build.gradle file in the
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project.
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"""
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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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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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self.autonomousCommand: typing.Optional[commands2.Command] = None
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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.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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# schedule the autonomous command (example)
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if self.autonomousCommand is not None:
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self.autonomousCommand.schedule()
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else:
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print("no auto command?")
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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 is not None:
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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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