def robotLoop(self, stop):
bT = pikitlib.Timer()
bT.start()
while not stop():
if bT.get() > 0.2:
self.sendBatteryData()
bT.reset()
if not self.disabled:
self.timer.start()
try:
if self.current_mode == "Auton":
self.auton()
elif self.current_mode == "Teleop":
self.teleop()
except Exception as e:
self.catchErrorAndLog(e)
break
self.timer.stop()
ts = 0.02 - self.timer.get()
self.timer.reset()
if ts < -0.5:
logging.critical("Program taking too long!")
self.quit()
elif ts < 0:
logging.warning("%s has slipped by %s miliseconds!",
self.current_mode, ts * -1000)
else:
time.sleep(ts)
else:
self.disable()
self.disable()
def __init__(self):
"""
Construct robot disconnect, and powered on
"""
self.r = robot.MyRobot()
self.current_mode = ""
self.disabled = True
self.timer = pikitlib.Timer()
def __init__(self):
"""
Construct robot disconnect, and powered on
"""
self.r = None
self.current_mode = ""
self.disabled = True
self.timer = pikitlib.Timer()
self.connectedIP = None
self.isRunning = False
def autonomousInit(self):
self.timer = pikitlib.Timer()
self.timer.start()