def initVisionControl(self, robot):
visionBox = self.sectionBox()
# this does not actually disable the limelight, it just turns off the LEDs
# and sets it to driver mode
enableButton = gui.Button("Enable Limelight")
disableButton = gui.Button("Disable Limelight")
def enableLimelight(self):
# Sets the limelight's config to what it was configured in the Limelight app
robot.limelight.putNumber("ledMode", 0)
robot.limelight.putNumber("camMode", 0)
print("Limelight enabled")
def disableLimelight(self):
# Turns off LEDs and sets cam mode to driver mode
robot.limelight.putNumber("ledMode", 1)
robot.limelight.putNumber("camMode", 1)
print("Limelight disabled")
enableButton.set_on_click_listener(enableLimelight)
disableButton.set_on_click_listener(disableLimelight)
visionBox.append(gui.Label("Vision controls"))
visionBox.append(sea.hBoxWith(enableButton, disableButton))
return visionBox
def initTest(self, robot):
testBox = self.sectionBox()
motorNumberIn = gui.Input()
motorSelectionBox = sea.hBoxWith(gui.Label("Motor Number:"),
motorNumberIn)
motorSpeedSlider = gui.Slider(default_value=0,
min=-1.0,
max=1.0,
step=0.05)
testButton = gui.Button("Test")
motorSpeedBox = sea.hBoxWith(testButton, gui.Label("Speed:"),
motorSpeedSlider)
def testMotor(button):
robot.superDrive.disable()
try:
motorNum = int(motorNumberIn.get_value()) - 1
except:
print("Motor number incorrect")
return
wheelNum = 0
if motorNum >= 3:
wheelNum = 1
motorNum -= 3
if motorNum < 0 or motorNum >= 3:
print("Motor number incorrect")
return
robot.testSettings["wheelNum"] = wheelNum
robot.testSettings["motorNum"] = motorNum
robot.testSettings["speed"] = float(motorSpeedSlider.get_value())
testButton.set_on_click_listener(testMotor)
testBox.append(gui.Label("Test"))
testBox.append(motorSelectionBox)
testBox.append(motorSpeedBox)
return testBox
def initManual(self, robot):
manualBox = self.sectionBox()
driveControlBox = gui.VBox(gui.Label("Drive controls"))
gearButtons = []
speedButtons = []
compressorButtons = []
self.gearGroup = sea.ToggleButtonGroup()
for mode in robot.driveGears.keys():
button = gui.Button(mode)
button.set_on_click_listener(robot.c_changeGear)
gearButtons.append(button)
self.gearGroup.addButton(button)
self.speedGroup = sea.ToggleButtonGroup()
for speed in robot.driveGears[robot.driveMode].keys():
button = gui.Button(speed)
button.set_on_click_listener(robot.c_changeSpeed)
speedButtons.append(button)
self.speedGroup.addButton(button)
self.compressorGroup = sea.ToggleButtonGroup()
for mode in ["start","stop"]:
button = gui.Button(mode)
button.set_on_click_listener(robot.c_compressor)
compressorButtons.append(button)
self.compressorGroup.addButton(button)
gearBox = sea.hBoxWith(gui.Label("Gears:"), gearButtons)
speedBox = sea.hBoxWith(gui.Label("Speed:"), speedButtons)
compressorBox = sea.hBoxWith(gui.Label("Compressor:"), compressorButtons)
driveControlBox.append(gearBox)
driveControlBox.append(speedBox)
driveControlBox.append(compressorBox)
manualBox.append(driveControlBox)
return manualBox
def main(self):
self.root = gui.VBox(width=500, height=500)
self.menuItems = []
for events in self.lbls:
checkBox = gui.CheckBoxLabel("remove", checked=True)
checkBox.set_on_click_listener(self.xBoxCallback)
self.menuItems.append(gui.MenuItem(events, checkBox))
self.eventMenu = gui.Menu(self.menuItems)
self.buttonToAdd = gui.Button('Add Item')
self.addedEventIndex = gui.TextInput()
self.buttonToAdd.set_on_click_listener(self.buttonToAddCallback)
mainHBox = sea.hBoxWith(self.eventMenu, self.buttonToAdd,
self.addedEventIndex)
self.root.append(mainHBox)
return self.root
def initLedControl(self, robot):
ledBox = self.sectionBox()
ledInputBox = sea.hBoxWith(gui.Label("LED Control"))
ledSet = gui.Button("Set")
ledIn = gui.Input()
def ledSetValue(button):
robot.ledInput = float(ledIn.get_value())
ledSet.set_on_click_listener(ledSetValue)
ledInputBox.append(ledSet)
ledInputBox.append(ledIn)
ledBox.append(ledInputBox)
return ledBox
def initSubsystemsInfo(self, robot):
subsystemBox = self.sectionBox()
subsystemInfoBox = sea.hBoxWith(gui.Label("Subsystems:"))
self.intakeIndicator = gui.Button("Intake")
self.indexerIndicator = gui.Button("Indexer")
self.autoIndexIndicator = gui.Button("Auto Indexer")
self.shooterIndicator = gui.Button("Shooter")
for indicator in [
self.intakeIndicator, self.indexerIndicator,
self.autoIndexIndicator, self.shooterIndicator
]:
subsystemInfoBox.append(indicator)
# buttons only work for the togglable indicators
self.autoIndexIndicator.set_on_click_listener(
robot.c_toggleAutoIndexer)
self.shooterIndicator.set_on_click_listener(robot.c_toggleShooter)
subsystemBox.append(subsystemInfoBox)
return subsystemBox
def main(self, robot, appCallback):
self.robot = robot
root = gui.VBox(width=600)
title = gui.Label('Motor Tester')
title.style['margin'] = '24px'
title.style['font-size'] = '36px'
title.style['font-weight'] = 'bold'
root.append(title)
self.talonBox = gui.SpinBox(default_value=0, min_value=0, max_value=99, step=1)
self.talonBox.set_on_change_listener(self.queuedEvent(robot.c_setTalon))
root.append(sea.hBoxWith(
gui.Label('Talon:'),
gui.HBox(width=SPACE),
self.talonBox
))
self.selectedTalonLbl = gui.Label('')
root.append(sea.hBoxWith(
gui.Label('Selected talon:'),
gui.HBox(width=SPACE),
self.selectedTalonLbl
))
self.outputVoltageLbl = gui.Label('')
root.append(sea.hBoxWith(
gui.Label('Output voltage:'),
gui.HBox(width=SPACE),
self.outputVoltageLbl
))
self.outputCurrentLbl = gui.Label('')
root.append(sea.hBoxWith(
gui.Label('Output current:'),
gui.HBox(width=SPACE),
self.outputCurrentLbl
))
self.encoderPositionLbl = gui.Label('')
root.append(sea.hBoxWith(
gui.Label('Encoder position:'),
gui.HBox(width=SPACE),
self.encoderPositionLbl
))
self.encoderVelocityLbl = gui.Label('')
root.append(sea.hBoxWith(
gui.Label('Encoder velocity:'),
gui.HBox(width=SPACE),
self.encoderVelocityLbl
))
controlTabBox = gui.TabBox(width='100%')
root.append(controlTabBox)
controlTabBox.add_tab(gui.Widget(), 'Disabled',
self.queuedEvent(robot.c_updateDisabled))
self.outputSlider = gui.Slider(default_value="0", min=-100, max=100,
width='100%')
controlTabBox.add_tab(self.outputSlider, 'Percent Output',
self.c_percentOutputTab)
self.outputSlider.set_on_change_listener(
self.queuedEvent(robot.c_updatePercentOutput))
velocityFrame = gui.HBox(width='100%')
controlTabBox.add_tab(velocityFrame, 'Velocity', self.c_velocityTab)
self.velocityOutputSlider = gui.Slider(default_value="0",
min=-100, max=100, width='100%')
velocityFrame.append(self.velocityOutputSlider)
self.maxVelocityBox = gui.SpinBox(
default_value='8000', min=0, max=1000000, step=100, width='100')
velocityFrame.append(self.maxVelocityBox)
self.velocityOutputSlider.set_on_change_listener(
self.queuedEvent(robot.c_updateVelocity),
self.velocityOutputSlider, self.maxVelocityBox)
self.maxVelocityBox.set_on_change_listener(
self.queuedEvent(robot.c_updateVelocity),
self.velocityOutputSlider, self.maxVelocityBox)
self.offsetBox = gui.SpinBox('0', -1000000, 1000000, 100)
holdButton = gui.Button('Hold', width='100')
holdButton.set_on_click_listener(
self.queuedEvent(robot.c_updatePosition), self.offsetBox)
controlTabBox.add_tab(sea.hBoxWith(
gui.Label('Offset:'),
gui.HBox(width=SPACE),
self.offsetBox,
holdButton
), 'Hold Position', self.queuedEvent(robot.c_updateDisabled))
# margin
root.append(gui.HBox(height=10))
appCallback(self)
return root
def initTestControl(self, robot):
testBox = self.sectionBox()
testBox.append(gui.Label("TEST MODE"))
compressorBox = gui.HBox()
testBox.append(compressorBox)
compressorBox.append(gui.Label("Compressor:"))
startCompressorBtn = gui.Button("Start")
startCompressorBtn.onclick.connect(robot.c_startCompressor)
compressorBox.append(startCompressorBtn)
stopCompressorBtn = gui.Button("Stop")
stopCompressorBtn.onclick.connect(robot.c_stopCompressor)
compressorBox.append(stopCompressorBtn)
logBox = gui.HBox()
testBox.append(logBox)
logOpticalBtn = gui.Button("Log Optical")
logOpticalBtn.onclick.connect(robot.c_logOpticalSensors)
logBox.append(logOpticalBtn)
swerveBox = gui.HBox()
testBox.append(swerveBox)
homeSwerveBtn = gui.Button("Home swerve")
homeSwerveBtn.onclick.connect(robot.c_homeSwerveWheels)
swerveBox.append(homeSwerveBtn)
resetSwerveBtn = gui.Button("Wheels to zero")
resetSwerveBtn.onclick.connect(robot.c_wheelsToZero)
swerveBox.append(resetSwerveBtn)
setSwerveZeroBtn = gui.Button("Set swerve zero")
setSwerveZeroBtn.onclick.connect(robot.c_setSwerveZero)
swerveBox.append(setSwerveZeroBtn)
swerveBrakeBox = gui.HBox()
testBox.append(swerveBrakeBox)
swerveBrakeOffBtn = gui.Button("Swerve Brake Off")
swerveBrakeOffBtn.onclick.connect(robot.c_swerveBrakeOff)
swerveBrakeBox.append(swerveBrakeOffBtn)
swerveBrakeOnBtn = gui.Button("Swerve Brake On")
swerveBrakeOnBtn.onclick.connect(robot.c_swerveBrakeOn)
swerveBrakeBox.append(swerveBrakeOnBtn)
resetClawBtn = gui.Button("Reset Claw")
resetClawBtn.onclick.connect(robot.c_resetClaw)
testBox.append(resetClawBtn)
def restartCamServer(widget):
print("restarting camera server")
wpilib.CameraServer.launch('camera.py:main')
camserverBtn = gui.Button("restart camera server")
camserverBtn.onclick.connect(restartCamServer)
testBox.append(camserverBtn)
posBox = gui.HBox()
testBox.append(posBox)
posBox.append(gui.Label("Robot:"))
posBox.append(self.spaceBox())
self.robotPositionLbl = gui.Label('')
posBox.append(self.robotPositionLbl)
posBox.append(self.spaceBox())
cursorBox = gui.HBox()
testBox.append(cursorBox)
cursorBox.append(gui.Label("Cursor:"))
cursorBox.append(self.spaceBox())
self.cursorPositionLbl = gui.Label('')
cursorBox.append(self.cursorPositionLbl)
cursorBox.append(self.spaceBox())
xInput = gui.Input()
yInput = gui.Input()
angleInput = gui.Input()
smallBox = sea.vBoxWith(xInput, yInput)
cursorToPtBtn = gui.Button('Move Cursor to Point')
cursorToPtBtn.set_on_click_listener(self.moveCursortoPt, xInput,
yInput, angleInput)
testBox.append(sea.hBoxWith(smallBox, angleInput, cursorToPtBtn))
pidFrame = gui.HBox()
testBox.append(pidFrame)
pidTable = gui.VBox()
pidFrame.append(pidTable)
pidRow = gui.HBox()
pidTable.append(pidRow)
pIn = gui.Input()
pidRow.append(pIn)
iIn = gui.Input()
pidRow.append(iIn)
pidRow = gui.HBox()
pidTable.append(pidRow)
dIn = gui.Input()
pidRow.append(dIn)
fIn = gui.Input()
pidRow.append(fIn)
setBtn = gui.Button("Med. Gear PID")
pidFrame.append(setBtn)
def setPids(widget):
drivetrain.mediumPositionGear.p = float(pIn.get_value())
drivetrain.mediumPositionGear.i = float(iIn.get_value())
drivetrain.mediumPositionGear.d = float(dIn.get_value())
drivetrain.mediumPositionGear.f = float(fIn.get_value())
setBtn.onclick.connect(setPids)
return testBox
def initManual(self, robot):
manualBox = self.sectionBox()
driveControlBox = gui.VBox(gui.Label("Drive controls"))
gearButtons = []
speedButtons = []
compressorButtons = []
autoSpeedButtons = []
self.gearGroup = sea.ToggleButtonGroup()
for mode in robot.driveGears.keys():
button = gui.Button(mode)
button.set_on_click_listener(robot.c_changeGear)
gearButtons.append(button)
self.gearGroup.addButton(button)
self.speedGroup = sea.ToggleButtonGroup()
for speed in robot.driveGears[robot.driveMode].keys():
button = gui.Button(speed)
button.set_on_click_listener(robot.c_changeSpeed)
speedButtons.append(button)
self.speedGroup.addButton(button)
self.compressorGroup = sea.ToggleButtonGroup()
for mode in ["start", "stop"]:
button = gui.Button(mode)
button.set_on_click_listener(robot.c_compressor)
compressorButtons.append(button)
self.compressorGroup.addButton(button)
self.autoSpeedGroup = sea.ToggleButtonGroup()
# auto speed controls
self.autoSpeed = 0.5
def slowSpeed(button):
self.autoSpeed = 0.25
self.autoSpeedGroup.highlight("slow")
def mediumSpeed(button):
self.autoSpeed = 0.5
self.autoSpeedGroup.highlight("medium")
def fastSpeed(button):
self.autoSpeed = 1
self.autoSpeedGroup.highlight("fast")
slowBtn = gui.Button("slow")
slowBtn.set_on_click_listener(slowSpeed)
medBtn = gui.Button("medium")
medBtn.set_on_click_listener(mediumSpeed)
fastBtn = gui.Button("fast")
fastBtn.set_on_click_listener(fastSpeed)
for button in [slowBtn, medBtn, fastBtn]:
autoSpeedButtons.append(button)
self.autoSpeedGroup.addButton(button)
gearBox = sea.hBoxWith(gui.Label("Gears:"), gearButtons)
speedBox = sea.hBoxWith(gui.Label("Speed:"), speedButtons)
compressorBox = sea.hBoxWith(gui.Label("Compressor:"),
compressorButtons)
autoSpeedBox = sea.hBoxWith(gui.Label("Auto Speed:"), autoSpeedButtons)
driveControlBox.append(gearBox)
driveControlBox.append(speedBox)
driveControlBox.append(autoSpeedBox)
driveControlBox.append(compressorBox)
manualBox.append(driveControlBox)
return manualBox