Add XrpReference example

XrpReference/commands/arcadedrive.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import typing
+import commands2
+from subsystems.drivetrain import Drivetrain
+
+
+class ArcadeDrive(commands2.Command):
+    def __init__(
+        self,
+        drive: Drivetrain,
+        xaxisSpeedSupplier: typing.Callable[[], float],
+        zaxisRotateSupplier: typing.Callable[[], float],
+    ) -> None:
+        """Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
+        lambdas. This command does not terminate.
+
+        :param drivetrain:  The drivetrain subsystem on which this command will run
+        :param xaxisSpeedSupplier:     Callable supplier of forward/backward speed
+        :param zaxisRotateSupplier:    Callable supplier of rotational speed
+        """
+        super().__init__()
+
+        self.drive = drive
+        self.xaxisSpeedSupplier = xaxisSpeedSupplier
+        self.zaxisRotateSupplier = zaxisRotateSupplier
+
+        self.addRequirements(self.drive)
+
+    def execute(self) -> None:
+        self.drive.arcadeDrive(self.xaxisSpeedSupplier(), self.zaxisRotateSupplier())

XrpReference/commands/autonomous_distance.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import commands2
+
+from commands.drivedistance import DriveDistance
+from commands.turndegrees import TurnDegrees
+from subsystems.drivetrain import Drivetrain
+
+
+class AutonomousDistance(commands2.SequentialCommandGroup):
+    def __init__(self, drive: Drivetrain) -> None:
+        """Creates a new Autonomous Drive based on distance. This will drive out for a specified distance,
+        turn around and drive back.
+
+        :param drivetrain: The drivetrain subsystem on which this command will run
+        """
+        super().__init__()
+
+        self.addCommands(
+            DriveDistance(-0.5, 10, drive),
+            TurnDegrees(-0.5, 180, drive),
+            DriveDistance(-0.5, 10, drive),
+            TurnDegrees(0.5, 180, drive),
+        )

XrpReference/commands/autonomous_time.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import commands2
+
+from commands.drivetime import DriveTime
+from commands.turntime import TurnTime
+from subsystems.drivetrain import Drivetrain
+
+
+class AutonomousTime(commands2.SequentialCommandGroup):
+    def __init__(self, drive: Drivetrain) -> None:
+        """Creates a new Autonomous Drive based on time. This will drive out for a period of time, turn
+        around for time (equivalent to time to turn around) and drive forward again. This should mimic
+        driving out, turning around and driving back.
+
+        :param drivetrain: The drive subsystem on which this command will run
+
+        """
+        super().__init__()
+
+        self.addCommands(
+            DriveTime(-0.6, 2.0, drive),
+            TurnTime(-0.5, 1.3, drive),
+            DriveTime(-0.6, 2.0, drive),
+            TurnTime(0.5, 1.3, drive),
+        )

XrpReference/commands/drivedistance.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import commands2
+
+from subsystems.drivetrain import Drivetrain
+
+
+class DriveDistance(commands2.Command):
+    def __init__(self, speed: float, inches: float, drive: Drivetrain) -> None:
+        """Creates a new DriveDistance. This command will drive your your robot for a desired distance at
+        a desired speed.
+
+        :param speed:  The speed at which the robot will drive
+        :param inches: The number of inches the robot will drive
+        :param drive:  The drivetrain subsystem on which this command will run
+        """
+        super().__init__()
+
+        self.distance = inches
+        self.speed = speed
+        self.drive = drive
+        self.addRequirements(drive)
+
+    def initialize(self) -> None:
+        """Called when the command is initially scheduled."""
+        self.drive.arcadeDrive(0, 0)
+        self.drive.resetEncoders()
+
+    def execute(self) -> None:
+        """Called every time the scheduler runs while the command is scheduled."""
+        self.drive.arcadeDrive(self.speed, 0)
+
+    def end(self, interrupted: bool) -> None:
+        """Called once the command ends or is interrupted."""
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        """Returns true when the command should end."""
+        # Compare distance travelled from start to desired distance
+        return abs(self.drive.getAverageDistanceInch()) >= self.distance

XrpReference/commands/drivetime.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import commands2
+import wpilib
+
+from subsystems.drivetrain import Drivetrain
+
+
+class DriveTime(commands2.Command):
+    """Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
+
+    def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
+        """Creates a new DriveTime. This command will drive your robot for a desired speed and time.
+
+        :param speed: The speed which the robot will drive. Negative is in reverse.
+        :param time:  How much time to drive in seconds
+        :param drive: The drivetrain subsystem on which this command will run
+        """
+        super().__init__()
+
+        self.speed = speed
+        self.duration = time
+        self.drive = drive
+        self.addRequirements(drive)
+
+        self.startTime = 0.0
+
+    def initialize(self) -> None:
+        """Called when the command is initially scheduled."""
+        self.startTime = wpilib.Timer.getFPGATimestamp()
+        self.drive.arcadeDrive(0, 0)
+
+    def execute(self) -> None:
+        """Called every time the scheduler runs while the command is scheduled."""
+        self.drive.arcadeDrive(self.speed, 0)
+
+    def end(self, interrupted: bool) -> None:
+        """Called once the command ends or is interrupted."""
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        """Returns true when the command should end"""
+        return wpilib.Timer.getFPGATimestamp() - self.startTime >= self.duration

XrpReference/commands/turndegrees.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import math
+import commands2
+
+from subsystems.drivetrain import Drivetrain
+
+
+class TurnDegrees(commands2.Command):
+    def __init__(self, speed: float, degrees: float, drive: Drivetrain) -> None:
+        """Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
+        degrees) and rotational speed.
+
+        :param speed:   The speed which the robot will drive. Negative is in reverse.
+        :param degrees: Degrees to turn. Leverages encoders to compare distance.
+        :param drive:   The drive subsystem on which this command will run
+        """
+        super().__init__()
+
+        self.degrees = degrees
+        self.speed = speed
+        self.drive = drive
+        self.addRequirements(drive)
+
+    def initialize(self) -> None:
+        """Called when the command is initially scheduled."""
+        # Set motors to stop, read encoder values for starting point
+        self.drive.arcadeDrive(0, 0)
+        self.drive.resetEncoders()
+
+    def execute(self) -> None:
+        """Called every time the scheduler runs while the command is scheduled."""
+        self.drive.arcadeDrive(0, self.speed)
+
+    def end(self, interrupted: bool) -> None:
+        """Called once the command ends or is interrupted."""
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        """Returns true when the command should end."""
+
+        # Need to convert distance travelled to degrees. The Standard
+        # XRP Chassis found here, https://www.sparkfun.com/products/22230,
+        # has a wheel placement diameter (163 mm) - width of the wheel (8 mm) = 155 mm
+        # or 6.102 inches. We then take into consideration the width of the tires.
+        inchPerDegree = math.pi * 6.102 / 360
+
+        # Compare distance travelled from start to distance based on degree turn
+        return self._getAverageTurningDistance() >= inchPerDegree * self.degrees
+
+    def _getAverageTurningDistance(self) -> float:
+        leftDistance = abs(self.drive.getLeftDistanceInch())
+        rightDistance = abs(self.drive.getRightDistanceInch())
+        return (leftDistance + rightDistance) / 2.0

XrpReference/commands/turntime.py

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+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import commands2
+import wpilib
+
+from subsystems.drivetrain import Drivetrain
+
+
+class TurnTime(commands2.Command):
+    """Creates a new TurnTime command. This command will turn your robot for a
+    desired rotational speed and time.
+    """
+
+    def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
+        """Creates a new TurnTime.
+
+        :param speed: The speed which the robot will turn. Negative is in reverse.
+        :param time:  How much time to turn in seconds
+        :param drive: The drive subsystem on which this command will run
+        """
+        super().__init__()
+
+        self.rotationalSpeed = speed
+        self.duration = time
+        self.drive = drive
+        self.addRequirements(drive)
+
+        self.startTime = 0.0
+
+    def initialize(self) -> None:
+        """Called when the command is initially scheduled."""
+        self.startTime = wpilib.Timer.getFPGATimestamp()
+        self.drive.arcadeDrive(0, 0)
+
+    def execute(self) -> None:
+        """Called every time the scheduler runs while the command is scheduled."""
+        self.drive.arcadeDrive(0, self.rotationalSpeed)
+
+    def end(self, interrupted: bool) -> None:
+        """Called once the command ends or is interrupted."""
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        """Returns true when the command should end"""
+        return wpilib.Timer.getFPGATimestamp() - self.startTime >= self.duration

XrpReference/robot.py

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+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+#
+# Example that shows how to connect to a XRP from RobotPy
+#
+# Requirements
+# ------------
+#
+# You must have the robotpy-xrp package installed. This is best done via:
+#
+#    # Windows
+#    py -3 -m pip install robotpy[commands2,sim,xrp]
+#
+#    # Linux/macOS
+#    pip3 install robotpy[commands2,sim,xrp]
+#
+# Run the program
+# ---------------
+#
+# To run the program you will need to explicitly use the XRP option:
+#
+#    # Windows
+#    py -3 robotpy sim --xrp
+#
+#    # Linux/macOS
+#    python robotpy sim --xrp
+#
+# By default the WPILib simulation GUI will be displayed. To disable the display
+# you can add the --nogui option
+#
+
+import os
+import typing
+
+import wpilib
+import commands2
+
+from robotcontainer import RobotContainer
+
+# If your ROMI isn't at the default address, set that here
+os.environ["HALSIMXRP_HOST"] = "192.168.42.1"
+os.environ["HALSIMXRP_PORT"] = "3540"
+
+
+class MyRobot(commands2.TimedCommandRobot):
+    """
+    Command v2 robots are encouraged to inherit from TimedCommandRobot, which
+    has an implementation of robotPeriodic which runs the scheduler for you
+    """
+
+    autonomousCommand: typing.Optional[commands2.Command] = None
+
+    def robotInit(self) -> None:
+        """
+        This function is run when the robot is first started up and should be used for any
+        initialization code.
+        """
+
+        # Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+        # autonomous chooser on the dashboard.
+        self.container = RobotContainer()
+
+    def disabledInit(self) -> None:
+        """This function is called once each time the robot enters Disabled mode."""
+
+    def disabledPeriodic(self) -> None:
+        """This function is called periodically when disabled"""
+
+    def autonomousInit(self) -> None:
+        """This autonomous runs the autonomous command selected by your RobotContainer class."""
+        self.autonomousCommand = self.container.getAutonomousCommand()
+
+        if self.autonomousCommand:
+            self.autonomousCommand.schedule()
+
+    def autonomousPeriodic(self) -> None:
+        """This function is called periodically during autonomous"""
+
+    def teleopInit(self) -> None:
+        # This makes sure that the autonomous stops running when
+        # teleop starts running. If you want the autonomous to
+        # continue until interrupted by another command, remove
+        # this line or comment it out.
+        if self.autonomousCommand:
+            self.autonomousCommand.cancel()
+
+    def teleopPeriodic(self) -> None:
+        """This function is called periodically during operator control"""
+
+    def testInit(self) -> None:
+        # Cancels all running commands at the start of test mode
+        commands2.CommandScheduler.getInstance().cancelAll()