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Tyler-DuckworthTyler Duckworth
Tyler-Duckworth
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Tyler Duckworth
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Add non-PWM examples (#22)
* init * added black formatting * fixed errors * Fixed errors and added black formatting * Uncommented lines that led to erroneous testing * Tweaked velocity-pid example * Added can-tank-drive example * Fixed SmartDashboard configuration * Fixed testing environment configuration. * Removed unnecessary imports * Removed unnecessary imports * Fixed enum changes in get-set-params * Reformatted get-set-params to pass black CI check Co-authored-by: Tyler Duckworth <[email protected]>
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‎examples/can-arcade-drive/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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# ----------------------------------------------------------------------------
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import rev
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import wpilib
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from wpilib.drive import DifferentialDrive
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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# SPARK MAX controllers are intialized over CAN by constructing a
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# CANSparkMax object
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#
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# The CAN ID, which can be configured using the SPARK MAX Client, is passed
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# as the first parameter
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#
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# The motor type is passed as the second parameter.
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# Motor type can either be:
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# rev.MotorType.kBrushless
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# rev.MotorType.kBrushed
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#
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# The example below initializes four brushless motors with CAN IDs
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# 1, 2, 3, 4. Change these parameters to match your setup
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self.leftLeadMotor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
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self.rightLeadMotor = rev.CANSparkMax(3, rev.MotorType.kBrushless)
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self.leftFollowMotor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
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self.rightFollowMotor = rev.CANSparkMax(4, rev.MotorType.kBrushless)
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# Passing in the lead motors into DifferentialDrive allows any
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# commmands sent to the lead motors to be sent to the follower motors.
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self.driveTrain = DifferentialDrive(self.leftLeadMotor, self.rightLeadMotor)
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self.joystick = wpilib.Joystick(0)
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# The RestoreFactoryDefaults method can be used to reset the
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# configuration parameters in the SPARK MAX to their factory default
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# state. If no argument is passed, these parameters will not persist
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# between power cycles
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self.leftLeadMotor.restoreFactoryDefaults()
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self.rightLeadMotor.restoreFactoryDefaults()
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self.leftFollowMotor.restoreFactoryDefaults()
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self.rightFollowMotor.restoreFactoryDefaults()
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# In CAN mode, one SPARK MAX can be configured to follow another. This
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# is done by calling the follow() method on the SPARK MAX you want to
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# configure as a follower, and by passing as a parameter the SPARK MAX
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# you want to configure as a leader.
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#
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# This is shown in the example below, where one motor on each side of
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# our drive train is configured to follow a lead motor.
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self.leftFollowMotor.follow(self.leftLeadMotor)
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self.rightFollowMotor.follow(self.rightLeadMotor)
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def teleopPeriodic(self):
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# Drive with arcade style
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self.driveTrain.arcadeDrive(-self.joystick.getY(), self.joystick.getX())
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if __name__ == "__main__":
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wpilib.run(Robot)

‎examples/can-tank-drive/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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# ----------------------------------------------------------------------------
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import rev
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import wpilib
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from wpilib.drive import DifferentialDrive
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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# SPARK MAX controllers are intialized over CAN by constructing a
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# CANSparkMax object
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#
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# The CAN ID, which can be configured using the SPARK MAX Client, is passed
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# as the first parameter
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#
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# The motor type is passed as the second parameter.
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# Motor type can either be:
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# rev.MotorType.kBrushless
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# rev.MotorType.kBrushed
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#
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# The example below initializes two brushless motors with CAN IDs
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# 1 and 2. Change these parameters to match your setup
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self.leftMotor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
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self.rightMotor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
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# The RestoreFactoryDefaults method can be used to reset the
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# configuration parameters in the SPARK MAX to their factory default
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# state. If no argument is passed, these parameters will not persist
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# between power cycles
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self.leftMotor.restoreFactoryDefaults()
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self.rightMotor.restoreFactoryDefaults()
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self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
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self.l_stick = wpilib.Joystick(0)
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self.r_stick = wpilib.Joystick(1)
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def teleopPeriodic(self):
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# Create tank drive
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self.driveTrain.tankDrive(self.l_stick.getY(), self.r_stick.getY())
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if __name__ == "__main__":
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wpilib.run(Robot)

‎examples/get-set-params/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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# ----------------------------------------------------------------------------
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import rev
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import wpilib
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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# Create motor
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self.motor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
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self.joystick = wpilib.Joystick(0)
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# The restoreFactoryDefaults method can be used to reset the
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# configuration parameters in the SPARK MAX to their factory default
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# state. If no argument is passed, these parameters will not persist
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# between power cycles
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self.motor.restoreFactoryDefaults()
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# Parameters can be set by calling the appropriate set() method on the
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# CANSparkMax object whose properties you want to change
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#
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# Set methods will return one of three CANError values which will let
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# you know if the parameter was successfully set:
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# CANError.kOk
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# CANError.kError
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# CANError.kTimeout
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if self.motor.setIdleMode(rev.IdleMode.kCoast) is not rev.CANError.kOk:
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wpilib.SmartDashboard.putString("Idle Mode", "Error")
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# Similarly, parameters will have a get() method which allows you to
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# retrieve their values from the controller
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if self.motor.getIdleMode() is rev.IdleMode.kCoast:
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wpilib.SmartDashboard.putString("Idle Mode", "Coast")
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else:
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wpilib.SmartDashboard.putString("Idle Mode", "Brake")
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# Set ramp rate to 0
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if self.motor.setOpenLoopRampRate(0) is not rev.CANError.kOk:
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wpilib.SmartDashboard.putString("Ramp Rate", "Error")
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# Read back ramp value
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wpilib.SmartDashboard.putString(
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"Ramp Rate", str(self.motor.getOpenLoopRampRate())
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)
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def teleopPeriodic(self):
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# Pair motor and the joystick's Y Axis
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self.motor.set(self.joystick.getY())
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# Put Voltage, Temperature, and Motor Output onto SmartDashboard
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wpilib.SmartDashboard.putNumber("Voltage", self.motor.getBusVoltage())
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wpilib.SmartDashboard.putNumber("Temperature", self.motor.getMotorTemperature())
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wpilib.SmartDashboard.putNumber("Output", self.motor.getAppliedOutput())
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if __name__ == "__main__":
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wpilib.run(Robot)

‎examples/limit-switch/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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# ----------------------------------------------------------------------------
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import rev
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import wpilib
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# Before Running:
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# Open Shuffleboard, select File->Load Layout and select the
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# shuffleboard.json that is in the root directory of this example
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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# Create motor
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self.motor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
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self.joystick = wpilib.Joystick(0)
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# A CANDigitalInput object is constructed using the
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# GetForwardLimitSwitch() or
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# GetReverseLimitSwitch() method on an existing CANSparkMax object,
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# depending on which direction you would like to limit
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#
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# Limit switches can be configured to one of two polarities:
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# rev.CANDigitalInput.LimitSwitchPolarity.kNormallyOpen
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# rev.CANDigitalInput.LimitSwitchPolarity.kNormallyClosed
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self.forwardLimit = self.motor.getForwardLimitSwitch(
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rev.LimitSwitchPolarity.kNormallyClosed
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)
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self.reverseLimit = self.motor.getReverseLimitSwitch(
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rev.LimitSwitchPolarity.kNormallyClosed
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)
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self.forwardLimit.enableLimitSwitch(False)
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self.reverseLimit.enableLimitSwitch(False)
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wpilib.SmartDashboard.putBoolean(
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"Forward Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
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)
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wpilib.SmartDashboard.putBoolean(
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"Reverse Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
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)
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def teleopPeriodic(self):
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# Pair motor and the joystick's Y Axis
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self.motor.set(self.joystick.getY())
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# enable/disable limit switches based on value read from SmartDashboard
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self.forwardLimit.enableLimitSwitch(
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wpilib.SmartDashboard.getBoolean("Forward Limit Enabled", False)
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)
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self.reverseLimit.enableLimitSwitch(
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wpilib.SmartDashboard.getBoolean("Reverse Limit Enabled", False)
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)
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# The get() method can be used on a CANDigitalInput object to read the
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# state of the switch.
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#
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# In this example, the polarity of the switches are set to normally
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# closed. In this case, get() will return true if the switch is
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# pressed. It will also return true if you do not have a switch
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# connected. get() will return false when the switch is released.
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wpilib.SmartDashboard.putBoolean(
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"Forward Limit Switch", self.forwardLimit.get()
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)
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wpilib.SmartDashboard.putBoolean(
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"Reverse Limit Switch", self.reverseLimit.get()
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)
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if __name__ == "__main__":
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wpilib.run(Robot)

‎examples/limit-switch/shuffleboard.json‎

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{
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"tabPane": [
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{
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"title": "SmartDashboard",
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"autoPopulate": true,
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"autoPopulatePrefix": "SmartDashboard/",
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"widgetPane": {
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"gridSize": 128.0,
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"showGrid": true,
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"hgap": 16.0,
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"vgap": 16.0,
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"tiles": {
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"0,0": {
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"size": [
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2,
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3
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],
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"content": {
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"_type": "List Layout",
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"_title": "Limit Switch",
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"Layout/Label position": "BOTTOM",
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"_children": [
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{
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Forward Limit Enabled",
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"_title": "Forward Limit Enabled"
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},
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{
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"_type": "Toggle Switch",
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"_source0": "network_table:///SmartDashboard/Reverse Limit Enabled",
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"_title": "Reverse Limit Enabled"
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},
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{
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"_type": "Boolean Box",
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"_source0": "network_table:///SmartDashboard/Forward Limit Switch",
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"_title": "Forward Limit Switch",
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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},
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{
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"_type": "Boolean Box",
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"_source0": "network_table:///SmartDashboard/Reverse Limit Switch",
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"_title": "Reverse Limit Switch",
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"Colors/Color when true": "#7CFC00FF",
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"Colors/Color when false": "#8B0000FF"
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}
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]
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}
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}
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}
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}
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},
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{
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"title": "LiveWindow",
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"autoPopulate": true,
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"autoPopulatePrefix": "LiveWindow/",
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"widgetPane": {
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"gridSize": 128.0,
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"showGrid": true,
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"hgap": 16.0,
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"vgap": 16.0,
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"tiles": {}
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}
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}
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],
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"windowGeometry": {
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"x": -1640.0,
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"y": 54.0,
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"width": 1540.0,
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"height": 832.0
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}
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}

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