while True:
if self.robot.enabled:
for system in self.robot.subsystems:
system.calc_setpoint()
system.update()
class Robot(object):
def __init__(self):
self.enabled = False
self.subsystems = [
Shooter(), #Ejector(), Elevator(),
]
self.output = OutputThread(self)
self.output.setDaemon(True)
self.output.start()
self.feedback = FeedbackThread(self)
self.feedback.setDaemon(True)
self.feedback.start()
def enable(self, enabled):
"""Enables and disables the robot and subsystems"""
self.enabled = enabled
for subsystem in self.subsystems:
subsystem.enabled = enabled
if __name__ == "__main__":
tails_bot = Robot()
operator = Controller(tails_bot)
operator.map_input()
