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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.
67 lines
2.2 KiB
Python
67 lines
2.2 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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from commands2 import CommandScheduler, TimedCommandRobot
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from sysidroutinebot import SysIdRoutineBot
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class MyRobot(TimedCommandRobot):
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"""
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The methods in this class are called automatically corresponding to each mode,
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as described in the TimedRobot documentation.
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"""
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def __init__(self) -> None:
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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.robot = SysIdRoutineBot()
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# Configure default commands and condition bindings on robot startup
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self.robot.configureBindings()
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self.autonomous_command = None
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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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pass
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def disabledPeriodic(self) -> None:
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pass
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def autonomousInit(self) -> None:
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self.autonomous_command = self.robot.getAutonomousCommand()
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if self.autonomous_command is not None:
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CommandScheduler.getInstance().schedule(self.autonomous_command)
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def autonomousPeriodic(self) -> None:
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"""This function is called periodically during autonomous."""
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pass
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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.autonomous_command is not None:
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self.autonomous_command.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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pass
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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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CommandScheduler.getInstance().cancelAll()
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def utilityPeriodic(self) -> None:
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"""This function is called periodically during utility mode."""
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pass
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