Example #1
0
 def __init__(self, NetworkTable, frontProcessor, backProcessor):
     
     self.netTable = NetworkTable
     util.initialize_from_xml(self)
     
     #  ----- Begin Cameras -----
     self.BackCameraImage = util.replace_widget(self.BackCameraImage, target_widget.TargetWidget((320,240), self.netTable))
     #  ----- End Cameras -----
     
     backProcessor.set_camera_widget(self.BackCameraImage)
         
     self.imageProcessors = [backProcessor]
     
     self.tuning_widget = util.replace_widget(self.tuning_widget, detector_tuning_widget.DetectorTuningWidget(backProcessor))
     self.tuning_widget.initialize()
     
     # get notified when the robot switches modes
     network_tables.attach_fn(self.netTable, 'RobotMode', self.on_robot_mode_update, self.window)
     
     # show the window AND all of its child widgets. If you don't call show_all, the
     # children may not show up
     self.window.show_all()
     
     # make sure the UI kills itself when the UI window exits
     self.window.connect('destroy', self.on_destroy)
Example #2
0
    def __init__(self, NetworkTable):

        util.initialize_from_xml(self)

        self.dead = False
        self.plots = []

        self.count = 0

        self.netTable = NetworkTable
        self.netTable.PutBoolean('EnableTuning', True)

        self.figure = Figure(figsize=(5, 4), dpi=100)
        self.axes = self.figure.add_subplot(111)

        self.canvas = FigureCanvas(self.figure)  # a gtk.DrawingArea

        self.graphImage = util.replace_widget(self.graphImage, self.canvas)
        self.toolbar = util.replace_widget(
            self.toolbar, NavigationToolbar(self.canvas, self.window))

        self.window.show_all()

        # listen to network tables variables
        network_tables.attach_fn(self.netTable, "Catapult Values",
                                 self.on_update_CatapultValues, self.window)
        network_tables.attach_fn(self.netTable, "EnableTuning",
                                 self.on_update_EnableTuning, self.window)
Example #3
0
 def __init__(self, NetworkTable):
     
     util.initialize_from_xml(self)
     
     self.dead = False
     self.plots = []
     
     self.count = 0
     
     self.netTable = NetworkTable
     self.netTable.PutBoolean('EnableTuning',True)
     
     self.figure = Figure(figsize=(5,4), dpi=100)
     self.axes = self.figure.add_subplot(111)
      
     self.canvas = FigureCanvas(self.figure)  # a gtk.DrawingArea
     
     self.graphImage = util.replace_widget(self.graphImage, self.canvas)
     self.toolbar = util.replace_widget(self.toolbar, NavigationToolbar(self.canvas, self.window))
                        
     self.window.show_all()
     
     # listen to network tables variables
     network_tables.attach_fn(self.netTable, "Catapult Values", self.on_update_CatapultValues, self.window)
     network_tables.attach_fn(self.netTable, "EnableTuning", self.on_update_EnableTuning, self.window)
Example #4
0
    def __init__(self, NetworkTable, frontProcessor, backProcessor):

        self.netTable = NetworkTable
        util.initialize_from_xml(self)

        #  ----- Begin Cameras -----
        self.BackCameraImage = util.replace_widget(
            self.BackCameraImage,
            target_widget.TargetWidget((320, 240), self.netTable))
        #  ----- End Cameras -----

        backProcessor.set_camera_widget(self.BackCameraImage)

        self.imageProcessors = [backProcessor]

        self.tuning_widget = util.replace_widget(
            self.tuning_widget,
            detector_tuning_widget.DetectorTuningWidget(backProcessor))
        self.tuning_widget.initialize()

        # get notified when the robot switches modes
        network_tables.attach_fn(self.netTable, 'RobotMode',
                                 self.on_robot_mode_update, self.window)

        # show the window AND all of its child widgets. If you don't call show_all, the
        # children may not show up
        self.window.show_all()

        # make sure the UI kills itself when the UI window exits
        self.window.connect('destroy', self.on_destroy)
Example #5
0
    def image_button(self, active, inactive, state, replaceMe, actionType, connectionFunction):

        tempButton = self.make_image_button(active, inactive, state)

        tempButton.connect(actionType, connectionFunction)

        return util.replace_widget(replaceMe, tempButton)
Example #6
0
    def image_button(self, active, inactive, state, replaceMe, actionType,
                     connectionFunction):

        tempButton = self.make_image_button(active, inactive, state)

        tempButton.connect(actionType, connectionFunction)

        return util.replace_widget(replaceMe, tempButton)
Example #7
0
    def __init__(self, processor, table, competition, no_cam = False):
        
        self.processor = processor
        self.no_cam = no_cam
        if no_cam == False:
            
            camera = camera_widget.CameraWidget((640,480))
            self.processor.set_camera_widget(camera)
        else:    
            self.ui_filename = 'dashboard_no_cam.ui'
        
        util.initialize_from_xml(self)
        
        if no_cam != True:
            self.camera_widget = util.replace_widget(self.camera_widget, camera)
        #util.replace_widget(self.targeting_tuning_widget, self.targeting_tuner.get_widget())

        self.robot_widget = util.replace_widget(self.robot_widget, robot_widget.RobotWidget(table))

        #self.targeting_tuner.initialize()
       
        self.table = table
        
        self.window.set_title("Kwarqs Dashboard")
        self.window.connect('realize', self.on_realize)
       
        if competition:
            self.window.move(0,0)
            self.window.resize(1356, 515)
            
        # load the status buttons
        active_pixbuf = util.pixbuf_from_stock(gtk.STOCK_YES, gtk.ICON_SIZE_BUTTON)
        inactive_pixbuf = util.pixbuf_from_stock(gtk.STOCK_NO, gtk.ICON_SIZE_BUTTON)
        
        for name in ['shuttle_status','ready_status','angle_status']:
            old_widget = getattr(self, name)
            text = old_widget.get_label()
            setattr(self, name, util.replace_widget(old_widget, toggle_button.ToggleButton(active_pixbuf, inactive_pixbuf, text, clickable=False, default=False)))
            
        #load the angle buttons
        for mode in ['truss', 'shoot', 'max']:
            active = util.pixbuf_from_file('angle_' + mode + '_active.png')
            inactive = util.pixbuf_from_file('angle_' + mode + '_inactive.png')
            name = '%s_angle_button' % mode
            setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
            
        # setup the mode buttons
        for mode in ['passing', 'loading', 'manual', 'shooting']:
            active = util.pixbuf_from_file(mode + '-on.png')
            inactive = util.pixbuf_from_file(mode + '-off.png')
            name =  '%s_mode_button' % mode
            setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
            
        # setup the fire button
        active = util.pixbuf_from_file('fire-on.png')
        inactive = util.pixbuf_from_file('fire-off.png')
        self.fire_button = util.replace_widget(self.fire_button, image_button.ImageButton(inactive))
        self.fire_button.connect('clicked', self.on_fire_clicked)
        
        # save these for later
        self.fire_button.active_pixbuf = active
        self.fire_button.inactive_pixbuf = inactive
        
        # setup the toggle buttons
        active = util.pixbuf_from_file('toggle-on.png')
        inactive = util.pixbuf_from_file('toggle-off.png')
        
        for name in [ 'auto_scam_button','auto_load_button','auto_retract_button',]:
            setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
        
        
            
        # connect widgets to pynetworktables
        if self.table is not None:
            
            # don't import this unless we have a table, so we can support running
            # on a laptop without networktables
            import ui.widgets.network_tables as nt
            
            nt.attach_toggle(table, 'auto load', self.auto_load_button)
            nt.attach_toggle(table, 'auto scam', self.auto_scam_button)
            nt.attach_toggle(table, 'auto igus', self.auto_retract_button)
            
            #angle chooser
            angle_select_widgets = {'shoot angle': self.shoot_angle_button,
                                    'truss angle': self.truss_angle_button,
                                    'max angle': self.max_angle_button}
            
            nt.attach_chooser_buttons(table, 'Shooting Goal', angle_select_widgets)
            
            # other chooser
            widgets = {'Passing Mode': self.passing_mode_button, 
                       'Loading Mode': self.loading_mode_button,
                       'Manual Mode': self.manual_mode_button,
                       'Shooting Mode': self.shooting_mode_button }
            
            nt.attach_chooser_buttons(table, 'Operator Control Mode', widgets)
            
            # robot widget
            nt.attach_fn(table, 'Scam Angle', lambda k, v: self.robot_widget.set_angle(v), self.robot_widget)
            nt.attach_fn(table, 'robot distance', lambda k, v: self.robot_widget.set_distance(v),self.robot_widget)
            
            # modes
            nt.attach_fn(table, 'Robot Mode', self.on_robot_mode_update, self.window)
            
            # connection listener
            nt.attach_connection_listener(table, self.on_connection_connect, self.on_connection_disconnect, self.window)
Example #8
0
    def __init__(self, NetworkTable, frontProcessor, backProcessor, competition):

        self.netTable = NetworkTable
        util.initialize_from_xml(self)

        self.shootPower = [10, 30, 50, 70, 90]
        self.currentShootPower = 4

        # starts the timer
        self.starttime = None

        # self.window.modify_bg(gtk.STATE_NORMAL, gtk.gdk.color_parse('#aaaaaa'))

        import pango

        self.font = pango.FontDescription("bold 18")

        self.fontMono = pango.FontDescription("Monospace 14")

        self.fontDistanceBig = pango.FontDescription("bold 100")

        # from wpilib import DriverStation

        # DriverStation.GetInstance()

        """# demo: load the images into pixbufs so that Gtk can use them
        active = util.pixbuf_from_file('toggle-on.png')
        inactive = util.pixbuf_from_file('toggle-off.png')
        
        # demo: create a ToggleButton widget. There are lots of widgets you can create
        real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)
        
        # demo: replace a fake widget in the glade file with a 'real' widget
        util.replace_widget(self.toggleButton, real_widget)
        
        # demo: connect to the toggled event of the real widget, so that our
        #       function gets called when the button state is changed
        real_widget.connect('toggled', self.on_toggleButton_toggled)
        """
        #  ----- Begin Position Set -----
        self.netTable.PutNumber("position", 0)
        #  ----- End Position Set-----

        #  ----- Begin Fire Button -----
        self.netTable.PutBoolean("BallLoaded", False)
        self.FireButton = self.image_button(
            "fire_good.png", "fire_bad.png", False, self.FireButton, "clicked", self.on_fire_clicked
        )

        network_tables.attach_fn(self.netTable, "BallLoaded", self.on_ball_loaded, self.FireButton)
        #  ----- End Fire Button -----

        # ------ Begin Compressor Label -----
        network_tables.attach_fn(self.netTable, "Compressor", self.update_compressor_image, self.compressoronoff)
        self.on = util.pixbuf_from_file("compressoron.jpg")
        self.off = util.pixbuf_from_file("compressoroff.jpg")
        # ------ End Compressor Label -----

        # ----- Begin AutoWinch Toggle -----
        active = util.pixbuf_from_file("booleanT.png")
        inactive = util.pixbuf_from_file("booleanF.png")

        real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)

        util.replace_widget(self.autoWinchToggle, real_widget)

        real_widget.connect("toggled", self.on_autoWinch_toggled)

        #  ----- End AutoWinch Toggle -----

        #  ----- Begin Cameras -----
        self.BackCameraImage = util.replace_widget(
            self.BackCameraImage, target_widget.TargetWidget((320, 240), self.netTable)
        )
        #  ----- End Cameras -----

        #  ----- Begin Distance Bar -----

        self.distanceBar.modify_font(self.fontMono)

        self.distanceBar.configure(2.5, 0, 2.5)

        self.netTable.PutNumber("Distance", 0)

        self.update_distance(None, 0)
        network_tables.attach_fn(self.netTable, "Distance", self.update_distance, self.distanceBar)
        #  ----- End Distance Bar -----

        #  ----- Begin Arm -----

        self.netTable.PutNumber("ArmSet", 0)
        self.netTable.PutNumber("ArmState", 0)

        self.armStateButtonLockDown = self.image_button(
            "armDownSel.png",
            "armDown.png",
            False,
            self.armStateButtonLockDown,
            "clicked",
            self.on_ArmStateLockedDown_pressed,
        )
        self.armStateButtonUnlock = self.image_button(
            "armUnlockedSel.png",
            "armUnlocked.png",
            False,
            self.armStateButtonUnlock,
            "clicked",
            self.on_ArmStateUnlocked_pressed,
        )
        self.armStateButtonLockUp = self.image_button(
            "armUpSel.png", "armUp.png", False, self.armStateButtonLockUp, "clicked", self.on_ArmStateLockedUp_pressed
        )

        network_tables.attach_fn(self.netTable, "ArmState", self.update_arm_indicator, self.armStateButtonLockDown)

        #  ----- End Arm -----

        #  ----- Begin Timer -----
        self.timer.modify_font(self.font)
        self.on_timer()
        #  ----- Begin Timer -----

        #  ----- Begin Robot State Image -----
        self.netTable.PutBoolean("BallLoaded", False)
        self.RobotStateImage = util.replace_widget(self.RobotStateImage, robot_widget.RobotStateImage())
        network_tables.attach_fn(self.netTable, "ArmState", self.RobotStateImage.updatearm, self.RobotStateImage)
        network_tables.attach_fn(self.netTable, "BallLoaded", self.RobotStateImage.updateball, self.RobotStateImage)
        # this is for whatever the catapult's angle is.
        network_tables.attach_fn(self.netTable, "ShootAngle", self.RobotStateImage.updatecatapult, self.RobotStateImage)
        # self.update_robot_state_image(None,None)
        #  ----- End Robot State Image -----

        #  ----- Begin Robot Angle Widget -----
        self.RobotAngleWidget = util.replace_widget(self.RobotAngleWidget, robot_angle_widget.RobotAngleWidget())
        self.netTable.PutNumber("GyroAngle", 0)
        # robot angle widget sending the variable to itself
        network_tables.attach_fn(self.netTable, "GyroAngle", self.RobotAngleWidget.update, self.window)
        network_tables.attach_fn(self.netTable, "GyroEnabled", self.on_gyro_enabled, self.window)

        self.RobotAngleWidget.connect(
            "angle-enabled-changed", lambda w: self.netTable.PutBoolean("GyroEnabled", w.angle_enabled)
        )

        #  ----- End Robot Angle Widget -----

        # ------ Begin Power Bar Slider -----
        powerslider = self.PowerBarSlider.get_value()

        # ------ End Power Bar Slider -------

        # ------ Begin Graph Window -----
        self.GraphOpener = graphwindow.GraphOpener(self.netTable)
        # self.GraphPlot=graphwindow.GraphPlot(self.netTable)

        # ------ End Graph Window -------

        """
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        this is to help Matt navigate the code, and he apologizes.
        """

        if competition:
            self.window.move(0, 0)
            self.window.resize(1356, 525)

        backProcessor.set_camera_widget(self.BackCameraImage)

        self.imageProcessors = [backProcessor]

        self.tuning_widget = util.replace_widget(
            self.tuning_widget, detector_tuning_widget.DetectorTuningWidget(backProcessor)
        )
        self.tuning_widget.initialize()

        # get notified when the robot switches modes
        network_tables.attach_fn(self.netTable, "RobotMode", self.on_robot_mode_update, self.window)

        # setup the autonomous chooser
        self.autonomous_tuner = util.replace_widget(
            self.autonomous_tuner, autonomous_tuning_widget.AutonomousTuningWidget(self.netTable)
        )

        # show the window AND all of its child widgets. If you don't call show_all, the
        # children may not show up
        self.window.show_all()
        self.setup_background()

        # make sure the UI kills itself when the UI window exits
        self.window.connect("destroy", self.on_destroy)
Example #9
0
    def __init__(self, processor, table, competition):
        
        self.processor = processor
        t = targeter.Targeter((640,480), table)
        self.targeting_tuner = targeting_tuning_widget.TargetingTuningWidget(processor, t)
        
        util.initialize_from_xml(self)
        
        self.camera_widget = util.replace_widget(self.camera_widget, t)
        util.replace_widget(self.targeting_tuning_widget, self.targeting_tuner.get_widget())

        self.robot_widget = util.replace_widget(self.robot_widget, robot_widget.RobotWidget(table))

        self.targeting_tuner.initialize()
       
        self.table = table
        
        self.window.set_title("Kwarqs Dashboard")
        self.window.connect('realize', self.on_realize)
       
        if competition:
            self.window.move(0,0)
            self.window.resize(1356, 525)
            
        # load the status buttons
        active_pixbuf = util.pixbuf_from_stock(gtk.STOCK_YES, gtk.ICON_SIZE_BUTTON)
        inactive_pixbuf = util.pixbuf_from_stock(gtk.STOCK_NO, gtk.ICON_SIZE_BUTTON)
        
        for name in ['wheel_status', 'ready_status', 'horizontal_status', 'vertical_status', 'target_status']:
            old_widget = getattr(self, name)
            text = old_widget.get_label()
            setattr(self, name, util.replace_widget(old_widget, toggle_button.ToggleButton(active_pixbuf, inactive_pixbuf, text, clickable=False, default=False)))
            
        # wheel status is special
        self.wheel_status.connect('toggled', self.on_wheel_status_toggled)
            
        # setup the mode buttons
        for mode in ['climbing', 'loading', 'manual', 'shooting']:
            active = util.pixbuf_from_file(mode + '-on.png')
            inactive = util.pixbuf_from_file(mode + '-off.png')
            name =  '%s_mode_button' % mode
            setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
            
        # setup the fire button
        active = util.pixbuf_from_file('fire-on.png')
        inactive = util.pixbuf_from_file('fire-off.png')
        self.fire_button = util.replace_widget(self.fire_button, image_button.ImageButton(inactive))
        self.fire_button.connect('clicked', self.on_fire_clicked)
        
        # save these for later
        self.fire_button.active_pixbuf = active
        self.fire_button.inactive_pixbuf = inactive
        
        # setup the toggle buttons
        active = util.pixbuf_from_file('toggle-on.png')
        inactive = util.pixbuf_from_file('toggle-off.png')
        
        for name in ['wheel_on_button', 'auto_feed_button', 'auto_target_button', 'unused_1']:
            setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
            
        # attach to the targeter widget
        self.camera_widget.connect('target-update', self.on_target_update)
        
        # setup the auto target stuff
        # -> all of these buttons/RadioButtons use the same callback
        for name in ['top', 'mid', 'low', 'button']:
            getattr(self, 'auto_target_%s' % name).connect('toggled', self.on_auto_target_toggled)
            
        self.auto_target_button.set_active(True)
        
        self.shooting_mode_button.connect('toggled', self.on_shooting_mode_toggled)
        
            
        # connect widgets to pynetworktables
        if self.table is not None:
            
            # don't import this unless we have a table, so we can support running
            # on a laptop without networktables
            import ui.widgets.network_tables as nt
            
            nt.attach_toggle(table, 'Wheel On', self.wheel_on_button)
            nt.attach_toggle(table, 'Wheel OK', self.wheel_status)
            
            nt.attach_toggle(table, 'Auto Feeder', self.auto_feed_button)
            
            nt.attach_chooser_combo(table, 'Autonomous Mode', self.autonomous_chooser)
            
            # other chooser
            widgets = {'Climbing Mode': self.climbing_mode_button, 
                       'Loading Mode': self.loading_mode_button,
                       'Manual Mode': self.manual_mode_button,
                       'Auto Target Mode': self.shooting_mode_button }
            
            nt.attach_chooser_buttons(table, 'Operator Control Mode', widgets)
            
            # robot widget
            nt.attach_fn(table, 'Angle', lambda k, v: self.robot_widget.set_angle(v), self.robot_widget)
            nt.attach_fn(table, 'Frisbees', lambda k, v: self.robot_widget.set_frisbee_count(v), self.robot_widget)
            
            # modes
            nt.attach_fn(table, 'Robot Mode', self.on_robot_mode_update, self.window)
            
            # connection listener
            nt.attach_connection_listener(table, self.on_connection_connect, self.on_connection_disconnect, self.window)
Example #10
0
    def __init__(self, NetworkTable, frontProcessor, backProcessor,
                 competition):

        self.netTable = NetworkTable
        util.initialize_from_xml(self)

        self.shootPower = [10, 30, 50, 70, 90]
        self.currentShootPower = 4

        #starts the timer
        self.starttime = None

        #self.window.modify_bg(gtk.STATE_NORMAL, gtk.gdk.color_parse('#aaaaaa'))

        import pango

        self.font = pango.FontDescription("bold 18")

        self.fontMono = pango.FontDescription("Monospace 14")

        self.fontDistanceBig = pango.FontDescription("bold 100")

        #from wpilib import DriverStation

        #DriverStation.GetInstance()
        '''# demo: load the images into pixbufs so that Gtk can use them
        active = util.pixbuf_from_file('toggle-on.png')
        inactive = util.pixbuf_from_file('toggle-off.png')
        
        # demo: create a ToggleButton widget. There are lots of widgets you can create
        real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)
        
        # demo: replace a fake widget in the glade file with a 'real' widget
        util.replace_widget(self.toggleButton, real_widget)
        
        # demo: connect to the toggled event of the real widget, so that our
        #       function gets called when the button state is changed
        real_widget.connect('toggled', self.on_toggleButton_toggled)
        '''
        #  ----- Begin Position Set -----
        self.netTable.PutNumber('position', 0)
        #  ----- End Position Set-----

        #  ----- Begin Fire Button -----
        self.netTable.PutBoolean("BallLoaded", False)
        self.FireButton = self.image_button('fire_good.png', 'fire_bad.png',
                                            False, self.FireButton, 'clicked',
                                            self.on_fire_clicked)

        network_tables.attach_fn(self.netTable, "BallLoaded",
                                 self.on_ball_loaded, self.FireButton)
        #  ----- End Fire Button -----

        #------ Begin Compressor Label -----
        network_tables.attach_fn(self.netTable, "Compressor",
                                 self.update_compressor_image,
                                 self.compressoronoff)
        self.on = util.pixbuf_from_file('compressoron.jpg')
        self.off = util.pixbuf_from_file('compressoroff.jpg')
        #------ End Compressor Label -----

        #----- Begin AutoWinch Toggle -----
        active = util.pixbuf_from_file('booleanT.png')
        inactive = util.pixbuf_from_file('booleanF.png')

        real_widget = toggle_button.ToggleButton(active,
                                                 inactive,
                                                 clickable=True)

        util.replace_widget(self.autoWinchToggle, real_widget)

        real_widget.connect('toggled', self.on_autoWinch_toggled)

        #  ----- End AutoWinch Toggle -----

        #  ----- Begin Cameras -----
        self.BackCameraImage = util.replace_widget(
            self.BackCameraImage,
            target_widget.TargetWidget((320, 240), self.netTable))
        #  ----- End Cameras -----

        #  ----- Begin Distance Bar -----

        self.distanceBar.modify_font(self.fontMono)

        self.distanceBar.configure(2.5, 0, 2.5)

        self.netTable.PutNumber("Distance", 0)

        self.update_distance(None, 0)
        network_tables.attach_fn(self.netTable, "Distance",
                                 self.update_distance, self.distanceBar)
        #  ----- End Distance Bar -----

        #  ----- Begin Arm -----

        self.netTable.PutNumber("ArmSet", 0)
        self.netTable.PutNumber("ArmState", 0)

        self.armStateButtonLockDown = self.image_button(
            'armDownSel.png', 'armDown.png', False,
            self.armStateButtonLockDown, 'clicked',
            self.on_ArmStateLockedDown_pressed)
        self.armStateButtonUnlock = self.image_button(
            'armUnlockedSel.png', 'armUnlocked.png', False,
            self.armStateButtonUnlock, 'clicked',
            self.on_ArmStateUnlocked_pressed)
        self.armStateButtonLockUp = self.image_button(
            'armUpSel.png', 'armUp.png', False, self.armStateButtonLockUp,
            'clicked', self.on_ArmStateLockedUp_pressed)

        network_tables.attach_fn(self.netTable, "ArmState",
                                 self.update_arm_indicator,
                                 self.armStateButtonLockDown)

        #  ----- End Arm -----

        #  ----- Begin Timer -----
        self.timer.modify_font(self.font)
        self.on_timer()
        #  ----- Begin Timer -----

        #  ----- Begin Robot State Image -----
        self.netTable.PutBoolean("BallLoaded", False)
        self.RobotStateImage = util.replace_widget(
            self.RobotStateImage, robot_widget.RobotStateImage())
        network_tables.attach_fn(self.netTable, "ArmState",
                                 self.RobotStateImage.updatearm,
                                 self.RobotStateImage)
        network_tables.attach_fn(self.netTable, "BallLoaded",
                                 self.RobotStateImage.updateball,
                                 self.RobotStateImage)
        #this is for whatever the catapult's angle is.
        network_tables.attach_fn(self.netTable, "ShootAngle",
                                 self.RobotStateImage.updatecatapult,
                                 self.RobotStateImage)
        #self.update_robot_state_image(None,None)
        #  ----- End Robot State Image -----

        #  ----- Begin Robot Angle Widget -----
        self.RobotAngleWidget = util.replace_widget(
            self.RobotAngleWidget, robot_angle_widget.RobotAngleWidget())
        self.netTable.PutNumber("GyroAngle", 0)
        # robot angle widget sending the variable to itself
        network_tables.attach_fn(self.netTable, 'GyroAngle',
                                 self.RobotAngleWidget.update, self.window)
        network_tables.attach_fn(self.netTable, 'GyroEnabled',
                                 self.on_gyro_enabled, self.window)

        self.RobotAngleWidget.connect(
            'angle-enabled-changed',
            lambda w: self.netTable.PutBoolean('GyroEnabled', w.angle_enabled))

        #  ----- End Robot Angle Widget -----

        # ------ Begin Power Bar Slider -----
        powerslider = self.PowerBarSlider.get_value()

        # ------ End Power Bar Slider -------

        # ------ Begin Graph Window -----
        self.GraphOpener = graphwindow.GraphOpener(self.netTable)
        #self.GraphPlot=graphwindow.GraphPlot(self.netTable)

        # ------ End Graph Window -------
        '''
        code starts here code starts here code starts here code starts here code starts here code starts here code starts here 
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        this is to help Matt navigate the code, and he apologizes.
        '''

        if competition:
            self.window.move(0, 0)
            self.window.resize(1356, 525)

        backProcessor.set_camera_widget(self.BackCameraImage)

        self.imageProcessors = [backProcessor]

        self.tuning_widget = util.replace_widget(
            self.tuning_widget,
            detector_tuning_widget.DetectorTuningWidget(backProcessor))
        self.tuning_widget.initialize()

        # get notified when the robot switches modes
        network_tables.attach_fn(self.netTable, 'RobotMode',
                                 self.on_robot_mode_update, self.window)

        # setup the autonomous chooser
        self.autonomous_tuner = util.replace_widget(
            self.autonomous_tuner,
            autonomous_tuning_widget.AutonomousTuningWidget(self.netTable))

        # show the window AND all of its child widgets. If you don't call show_all, the
        # children may not show up
        self.window.show_all()
        self.setup_background()

        # make sure the UI kills itself when the UI window exits
        self.window.connect('destroy', self.on_destroy)