0.1.0: Added README

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+	"python.pythonPath": "/Users/s848387/.local/share/virtualenvs/bruhbot-RyimO_7k/bin/python"
+}

Pipfile

@@ -9,6 +9,7 @@ verify_ssl = true
 pyfrc = "*"
 black = "*"
 flake8 = "*"
+robotpy-ctre = "*"
 
 [requires]
 python_version = "3.7"

README.md

@@ -0,0 +1,19 @@
+# BruhBot - Rename coming soon
+
+A revamp of the code for our 2019-2020 Robot, Rosetta, in the MagicBot Framework.
+
+## Running
+
+Make sure you have Python 3.7 or above, PIP, and pipenv installed. When you do, type ```pipenv install``` to install the dependencies, ```pipenv start``` to open a shell for that virtual environment, and ```python3 robot.py [flag]``` to run the code in whatever fashion you want.
+
+## Why does this exist?
+
+Since we have started using RobotPy, the Python framework for FIRST Robotics, we have admired, but never used, the MagicBot framework for our code.
+
+This is an attempt to rewrite a previous codebase in the hopes of gaining enough experience to use it for next year's robot.
+
+## Versioning
+
+This project will follow a simple Semantic Versioning process. That is to say, MAJOR.MINOR.PATCH (Example: 0.5.2, 0.4.1, 0.4.0, etc.)
+
+Version 1.0.0 Will mark the completion of our project, with any other commits being bug fixes or updates to libraries.

components/arm.py

@@ -0,0 +1,13 @@
+# SETUP
+# DigitalInput(0) - Limit Switch
+# Interrupts the shooter when pressed
+# Spark(1) - Shooter
+# DoubleSolenoid(2, 3) - Intake Solenoid
+
+# WHAT DOES IT DO
+from wpilib import DigitalInput, Spark, DoubleSolenoid
+
+
+class Arm:
+    intakeSolenoid: DoubleSolenoid
+

components/drivetrain.py

@@ -1,22 +1,40 @@
 import wpilib
-import wpilib.drive
+from wpilib.drive import MecanumDrive
+
+from ctre import WPI_TalonSRX
 
 
 class Drivetrain:
     # We also use injection here to access the l_motor and r_motor declared in BruhBot's
     # createObjects method.
-    l_motor: wpilib.Talon
-    r_motor: wpilib.Talon
+    m_lfront: WPI_TalonSRX
+    m_rfront: WPI_TalonSRX
+    m_lback: WPI_TalonSRX
+    m_rback: WPI_TalonSRX
+
+    xSpeed = 0
+    ySpeed = 0
+    zRotation = 0
+    gyroAngle = 0
 
     # Declare the basic drivetrain setup.
     def setup(self):
-        self.dif_drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)
+        self.mec_drive = MecanumDrive(
+            self.m_lfront, self.m_lback, self.m_rfront, self.m_rback
+        )
+        self.mec_drive.setExpiration(0.1)
+        self.mec_drive.setSafetyEnabled(True)
 
     # Change x and y variables for movement.
-    def move(self, x, y):
-        self.x = x
-        self.y = y
-
-    # Each time move is called, call arcadeDrive with supplied x and y coordinates.
+    def move(self, x, y, z, gyroAngle):
+        self.xSpeed = x if abs(x) > 0.03 else 0
+        self.ySpeed = y if abs(y) > 0.03 else 0
+        self.zRotation = z
+        self.gyroAngle = gyroAngle
+
+    # Each time move is called, call arcadeDrive with supplied
+    # x and y coordinates.
     def execute(self):
-        self.dif_drive.arcadeDrive(self.x, self.y)
+        self.mec_drive.driveCartesian(
+            self.xSpeed, self.ySpeed, self.zRotation, self.gyroAngle
+        )

components/shooter.py

@@ -0,0 +1,28 @@
+from wpilib import DigitalInput, Spark
+
+
+class Shooter:
+    limitSwitch: DigitalInput
+    shooter: Spark
+
+    def __init__(self):
+        self.speed = 0
+        self.switchState = False
+        self.enabled = False
+
+    def enable(self):
+        self.enabled = True
+
+    def is_pressed(self):
+        self.switchState = self.limitSwitch.get()
+
+    def set_speed(self, new_speed):
+        self.speed = new_speed
+
+    def execute(self):
+        if self.enabled and self.switchIsOn:
+            self.shooter.set(self.speed)
+        else:
+            self.shooter.set(0)
+        self.enabled = False
+        self.switchIsOn = False

robot.py

@@ -3,21 +3,27 @@
 import magicbot
 import components.drivetrain
 
+from ctre import WPI_TalonSRX
+
+
 # Main class for the robot
 class BruhBot(magicbot.MagicRobot):
     """
     The Bruh Bot. Perfect for next year's water game.
     """
-    # Using a technique called injection, we can access the class 
+    # Using a technique called injection, we can access the class
     # Drivetrain from components/drivetrain.py here.
     drive: components.drivetrain.Drivetrain
 
-    # Creates all 'objects' used by the robot. Includes high level systems (grabber, drivetrain, etc)
-    # and lower level things, like motors or pnuematics
+    # Creates all 'objects' used by the robot. Includes high level systems
+    # (grabber, drivetrain, etc) and lower level things,
+    # like motors or pnuematics
     def createObjects(self):
         # Motors
-        self.l_motor = wpilib.Talon(1)
-        self.r_motor = wpilib.Talon(2)
+        self.m_lfront = WPI_TalonSRX(1)
+        self.m_rfront = WPI_TalonSRX(2)
+        self.m_lback = WPI_TalonSRX(3)
+        self.m_rback = WPI_TalonSRX(4)
 
         # Joysticks (PS4 Controller, in our case)
         self.joystick = wpilib.Joystick(0)
@@ -28,7 +34,7 @@ def teleopInit(self):
 
     # Called each tick (every few miliseconds) during the teleop period
     def teleopPeriodic(self):
-        self.drive.move(self.joystick.getX(), self.joystick.getY())
+        self.drive.move(self.joystick.getX(), self.joystick.getY(), 0, 0)
 
 
 # If being ran directly, create a new instance of the BruhBot class

tests/pyfrc_test.py

@@ -0,0 +1,7 @@
+'''
+    This test module imports tests that come with pyfrc, and can be used
+    to test basic functionality of just about any robot.
+'''
+
+from pyfrc.tests import *
+from magicbot.magicbot_tests import *