Add non-PWM examples

examples/can-arcade-drive/robot.py

@@ -0,0 +1,63 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+# ----------------------------------------------------------------------------
+
+import rev
+import wpilib
+from wpilib.drive import DifferentialDrive
+
+
+class Robot(wpilib.TimedRobot):
+    def robotInit(self):
+        # SPARK MAX controllers are intialized over CAN by constructing a
+        # CANSparkMax object
+        #
+        # The CAN ID, which can be configured using the SPARK MAX Client, is passed
+        # as the first parameter
+        #
+        # The motor type is passed as the second parameter.
+        # Motor type can either be:
+        #   rev.MotorType.kBrushless
+        #   rev.MotorType.kBrushed
+        #
+        # The example below initializes four brushless motors with CAN IDs
+        # 1, 2, 3, 4. Change these parameters to match your setup
+        self.leftLeadMotor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
+        self.rightLeadMotor = rev.CANSparkMax(3, rev.MotorType.kBrushless)
+        self.leftFollowMotor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
+        self.rightFollowMotor = rev.CANSparkMax(4, rev.MotorType.kBrushless)
+
+        # Passing in the lead motors into DifferentialDrive allows any
+        # commmands sent to the lead motors to be sent to the follower motors.
+        self.driveTrain = DifferentialDrive(self.leftLeadMotor, self.rightLeadMotor)
+        self.joystick = wpilib.Joystick(0)
+
+        # The RestoreFactoryDefaults method can be used to reset the
+        # configuration parameters in the SPARK MAX to their factory default
+        # state. If no argument is passed, these parameters will not persist
+        # between power cycles
+        self.leftLeadMotor.restoreFactoryDefaults()
+        self.rightLeadMotor.restoreFactoryDefaults()
+        self.leftFollowMotor.restoreFactoryDefaults()
+        self.rightFollowMotor.restoreFactoryDefaults()
+
+        # In CAN mode, one SPARK MAX can be configured to follow another. This
+        # is done by calling the follow() method on the SPARK MAX you want to
+        # configure as a follower, and by passing as a parameter the SPARK MAX
+        # you want to configure as a leader.
+        #
+        # This is shown in the example below, where one motor on each side of
+        # our drive train is configured to follow a lead motor.
+        self.leftFollowMotor.follow(self.leftLeadMotor)
+        self.rightFollowMotor.follow(self.rightLeadMotor)
+
+    def teleopPeriodic(self):
+        # Drive with arcade style
+        self.driveTrain.arcadeDrive(-self.joystick.getY(), self.joystick.getX())
+
+
+if __name__ == "__main__":
+    wpilib.run(Robot)

examples/can-tank-drive/robot.py

@@ -0,0 +1,48 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+# ----------------------------------------------------------------------------
+
+import rev
+import wpilib
+from wpilib.drive import DifferentialDrive
+
+
+class Robot(wpilib.TimedRobot):
+    def robotInit(self):
+        # SPARK MAX controllers are intialized over CAN by constructing a
+        # CANSparkMax object
+        #
+        # The CAN ID, which can be configured using the SPARK MAX Client, is passed
+        # as the first parameter
+        #
+        # The motor type is passed as the second parameter.
+        # Motor type can either be:
+        #   rev.MotorType.kBrushless
+        #   rev.MotorType.kBrushed
+        #
+        # The example below initializes two brushless motors with CAN IDs
+        # 1 and 2. Change these parameters to match your setup
+        self.leftMotor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
+        self.rightMotor = rev.CANSparkMax(2, rev.MotorType.kBrushless)
+
+        # The RestoreFactoryDefaults method can be used to reset the
+        # configuration parameters in the SPARK MAX to their factory default
+        # state. If no argument is passed, these parameters will not persist
+        # between power cycles
+        self.leftMotor.restoreFactoryDefaults()
+        self.rightMotor.restoreFactoryDefaults()
+
+        self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
+        self.l_stick = wpilib.Joystick(0)
+        self.r_stick = wpilib.Joystick(1)
+
+    def teleopPeriodic(self):
+        # Create tank drive
+        self.driveTrain.tankDrive(self.l_stick.getY(), self.r_stick.getY())
+
+
+if __name__ == "__main__":
+    wpilib.run(Robot)

examples/get-set-params/robot.py

@@ -0,0 +1,61 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+# ----------------------------------------------------------------------------
+
+import rev
+import wpilib
+
+
+class Robot(wpilib.TimedRobot):
+    def robotInit(self):
+        # Create motor
+        self.motor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
+
+        self.joystick = wpilib.Joystick(0)
+
+        # The restoreFactoryDefaults method can be used to reset the
+        # configuration parameters in the SPARK MAX to their factory default
+        # state. If no argument is passed, these parameters will not persist
+        # between power cycles
+        self.motor.restoreFactoryDefaults()
+
+        # Parameters can be set by calling the appropriate set() method on the
+        # CANSparkMax object whose properties you want to change
+        #
+        # Set methods will return one of three CANError values which will let
+        # you know if the parameter was successfully set:
+        #   CANError.kOk
+        #   CANError.kError
+        #   CANError.kTimeout
+        if self.motor.setIdleMode(rev.IdleMode.kCoast) is not rev.CANError.kOK:
+            wpilib.SmartDashboard.putString("Idle Mode", "Error")
+
+        # Similarly, parameters will have a get() method which allows you to
+        # retrieve their values from the controller
+        if self.motor.getIdleMode() is rev.IdleMode.kCoast:
+            wpilib.SmartDashboard.putString("Idle Mode", "Coast")
+        else:
+            wpilib.SmartDashboard.putString("Idle Mode", "Brake")
+
+        # Set ramp rate to 0
+        if self.motor.setOpenLoopRampRate(0) is not rev.CANError.kOK:
+            wpilib.SmartDashboard.putString("Ramp Rate", "Error")
+
+        # Read back ramp value
+        wpilib.SmartDashboard.putString("Ramp Rate", self.motor.getOpenLoopRampRate())
+
+    def teleopPeriodic(self):
+        # Pair motor and the joystick's Y Axis
+        self.motor.set(self.joystick.getY())
+
+        # Put Voltage, Temperature, and Motor Output onto SmartDashboard
+        wpilib.SmartDashboard.putNumber("Voltage", self.motor.getBusVoltage())
+        wpilib.SmartDashboard.putNumber("Temperature", self.motor.getMotorTemperature())
+        wpilib.SmartDashboard.putNumber("Output", self.motor.getAppliedOutput())
+
+
+if __name__ == "__main__":
+    wpilib.run(Robot)

examples/limit-switch/robot.py

@@ -0,0 +1,76 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+# ----------------------------------------------------------------------------
+
+import rev
+import wpilib
+
+# Before Running:
+# Open Shuffleboard, select File->Load Layout and select the
+# shuffleboard.json that is in the root directory of this example
+
+
+class Robot(wpilib.TimedRobot):
+    def robotInit(self):
+        # Create motor
+        self.motor = rev.CANSparkMax(1, rev.MotorType.kBrushless)
+
+        self.joystick = wpilib.Joystick(0)
+
+        # A CANDigitalInput object is constructed using the
+        # GetForwardLimitSwitch() or
+        # GetReverseLimitSwitch() method on an existing CANSparkMax object,
+        # depending on which direction you would like to limit
+        #
+        # Limit switches can be configured to one of two polarities:
+        # rev.CANDigitalInput.LimitSwitchPolarity.kNormallyOpen
+        # rev.CANDigitalInput.LimitSwitchPolarity.kNormallyClosed
+        self.forwardLimit = self.motor.getForwardLimitSwitch(
+            rev.LimitSwitchPolarity.kNormallyClosed
+        )
+        self.reverseLimit = self.motor.getReverseLimitSwitch(
+            rev.LimitSwitchPolarity.kNormallyClosed
+        )
+
+        self.forwardLimit.enableLimitSwitch(False)
+        self.reverseLimit.enableLimitSwitch(False)
+
+        wpilib.SmartDashboard.putBoolean(
+            "Forward Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
+        )
+        wpilib.SmartDashboard.putBoolean(
+            "Reverse Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
+        )
+
+    def teleopPeriodic(self):
+        # Pair motor and the joystick's Y Axis
+        self.motor.set(self.joystick.getY())
+
+        # enable/disable limit switches based on value read from SmartDashboard
+        self.forwardLimit.enableLimitSwitch(
+            wpilib.SmartDashboard.getBoolean("Forward Limit Enabled", False)
+        )
+        self.reverseLimit.enableLimitSwitch(
+            wpilib.SmartDashboard.getBoolean("Reverse Limit Enabled", False)
+        )
+
+        # The get() method can be used on a CANDigitalInput object to read the
+        # state of the switch.
+        #
+        # In this example, the polarity of the switches are set to normally
+        # closed. In this case, get() will return true if the switch is
+        # pressed. It will also return true if you do not have a switch
+        # connected. get() will return false when the switch is released.
+        wpilib.SmartDashboard.putBoolean(
+            "Forward Limit Switch", self.forwardLimit.get()
+        )
+        wpilib.SmartDashboard.putBoolean(
+            "Reverse Limit Switch", self.reverseLimit.get()
+        )
+
+
+if __name__ == "__main__":
+    wpilib.run(Robot)

examples/limit-switch/shuffleboard.json

@@ -0,0 +1,72 @@
+{
+    "tabPane": [
+      {
+        "title": "SmartDashboard",
+        "autoPopulate": true,
+        "autoPopulatePrefix": "SmartDashboard/",
+        "widgetPane": {
+          "gridSize": 128.0,
+          "showGrid": true,
+          "hgap": 16.0,
+          "vgap": 16.0,
+          "tiles": {
+            "0,0": {
+              "size": [
+                2,
+                3
+              ],
+              "content": {
+                "_type": "List Layout",
+                "_title": "Limit Switch",
+                "Layout/Label position": "BOTTOM",
+                "_children": [
+                  {
+                    "_type": "Toggle Switch",
+                    "_source0": "network_table:///SmartDashboard/Forward Limit Enabled",
+                    "_title": "Forward Limit Enabled"
+                  },
+                  {
+                    "_type": "Toggle Switch",
+                    "_source0": "network_table:///SmartDashboard/Reverse Limit Enabled",
+                    "_title": "Reverse Limit Enabled"
+                  },
+                  {
+                    "_type": "Boolean Box",
+                    "_source0": "network_table:///SmartDashboard/Forward Limit Switch",
+                    "_title": "Forward Limit Switch",
+                    "Colors/Color when true": "#7CFC00FF",
+                    "Colors/Color when false": "#8B0000FF"
+                  },
+                  {
+                    "_type": "Boolean Box",
+                    "_source0": "network_table:///SmartDashboard/Reverse Limit Switch",
+                    "_title": "Reverse Limit Switch",
+                    "Colors/Color when true": "#7CFC00FF",
+                    "Colors/Color when false": "#8B0000FF"
+                  }
+                ]
+              }
+            }
+          }
+        }
+      },
+      {
+        "title": "LiveWindow",
+        "autoPopulate": true,
+        "autoPopulatePrefix": "LiveWindow/",
+        "widgetPane": {
+          "gridSize": 128.0,
+          "showGrid": true,
+          "hgap": 16.0,
+          "vgap": 16.0,
+          "tiles": {}
+        }
+      }
+    ],
+    "windowGeometry": {
+      "x": -1640.0,
+      "y": 54.0,
+      "width": 1540.0,
+      "height": 832.0
+    }
+  }