robot.py

# standard python imports
import typing

# project imports
import robotcontainer

# wpi imports
import wpilib
import commands2
import commands2.cmd

# vendor imports

class MyRobot(commands2.TimedCommandRobot):
    """
    Command v2 robots are encouraged to inherit from TimedCommandRobot, which
    has an implementation of robotPeriodic which runs the scheduler for you
    """

    def robotInit(self) -> None:
        """
        This function is run when the robot is first started up and should be used for any
        initialization code.
        """
        self.autonomousCommand: typing.Optional[commands2.Command] = None

        # Instantiate our RobotContainer.  This will perform all our button bindings, and put our
        # autonomous chooser on the dashboard.
        self.container = robotcontainer.RobotContainer(isReal = self.isReal())

    def disabledInit(self) -> None:
        """This function is called once each time the robot enters Disabled mode."""

    def disabledPeriodic(self) -> None:
        """This function is called periodically when disabled"""

    def autonomousInit(self) -> None:
        """This autonomous runs the autonomous command selected by your RobotContainer class."""
        self.autonomousCommand = self.container.getAutonomousCommand()

        # schedule the autonomous command (example)
        if self.autonomousCommand is not None:
            self.autonomousCommand.schedule()
        else:
            print("no auto command?")

    def autonomousPeriodic(self) -> None:
        """This function is called periodically during autonomous"""

    def teleopInit(self) -> None:
        # This makes sure that the autonomous stops running when
        # teleop starts running. If you want the autonomous to
        # continue until interrupted by another command, remove
        # this line or comment it out.
        if self.autonomousCommand is not None:
            self.autonomousCommand.cancel()

    def teleopPeriodic(self) -> None:
        """This function is called periodically during operator control"""

    def testInit(self) -> None:
        # Cancels all running commands at the start of test mode
        commands2.CommandScheduler.getInstance().cancelAll()