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Fixing imports and adding Encoder printouts to the ivp #7

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Fixing imports and adding Encoder printouts to the ivp #7

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a708052
Fix imports
ksiegall Mar 27, 2023
7fd07a0
Add Encoder printouts to the ivp
ksiegall Mar 27, 2023
3c4335d
Fixing small mistakes; Cleaned up imports
ksiegall Mar 30, 2023
9b06eca
Speed up LED testing
ksiegall Mar 30, 2023
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7 changes: 5 additions & 2 deletions SampleCode/sample_miscellaneous.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,13 +55,16 @@ def ivp():
while not buttons.is_GP20_pressed() and not buttons.is_GP21_pressed():
print(f"Ultrasonic Distance: {sonar.get_distance()}")
time.sleep(0.1)
while (buttons.is_GP20_pressed() or buttons.is_GP21_pressed()):
time.sleep(.01)
wait_for_button()
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This waits for press + released now, is that intentional?

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It was intentional originally, but upon thinking about it a little more, I realized the initial implementation was correct. I've reverted that change and added comments for clarity

print("Testing Servo")
test_servo()
print("Testing LEDs")
wait_for_button()
test_leds()
print("Testing Motor Encoders:")
while not buttons.is_GP20_pressed() and not buttons.is_GP21_pressed():
print(f"Left: {drivetrain.get_left_encoder_position()}, Right: {drivetrain.get_right_encoder_position()}")
time.sleep(0.1)
print("Testing Drivetrain:")
wait_for_button()
test_drive()
30 changes: 15 additions & 15 deletions WPILib/WPILib.py
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
import board as _board
from _drivetrain import Drivetrain
from _encoded_motor import EncodedMotor
from _ultrasonic_wrapper import Ultrasonic
from _reflectance_wrapper import Reflectance
from _servo import Servo
from _buttons import Buttons
from _led import RGBLED
from . import _drivetrain
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Why not do the following and avoid needing to change the code below? Is it a limitation of circuitpython?

from ._drivetrain import Drivetrain

Local imports: https://peps.python.org/pep-0008/#imports

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There's nothing wrong with your recommendation, just that I'm not a primary python developer so I didn't know the exact syntax, and thus reverted to what I did know.

I've implemented your suggestion

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👍 both options work, I was just curious.

from . import _ultrasonic_wrapper
from . import _reflectance_wrapper
from . import _servo
from . import _buttons
from . import _encoded_motor
from . import _led

import time

Expand All @@ -14,15 +14,15 @@
If you need to change the encoder counts, alter the ticksPerRev values in the following two constructors.
Most robots have either 144 or 288 ticks per revolution, depending on which motors are used.
"""
_leftMotor = EncodedMotor(
_leftMotor = _encoded_motor.EncodedMotor(
encoderPinA=_board.GP4,
encoderPinB=_board.GP5,
motorPin1=_board.GP8,
motorPin2=_board.GP9,
doFlip=True,
ticksPerRev=288)

_rightMotor = EncodedMotor(
_rightMotor = _encoded_motor.EncodedMotor(
encoderPinA=_board.GP2,
encoderPinB=_board.GP3,
motorPin1=_board.GP10,
Expand All @@ -31,12 +31,12 @@
ticksPerRev=288)

# Publicly-accessible objects
drivetrain = Drivetrain(_leftMotor, _rightMotor) # units in cm
reflectance = Reflectance()
sonar = Ultrasonic()
led = RGBLED(_board.GP18)
servo = Servo(_board.GP12, actuationRange = 135)
buttons = Buttons()
drivetrain = _drivetrain.Drivetrain(_leftMotor, _rightMotor) # units in cm
reflectance = _reflectance_wrapper.Reflectance()
sonar = _ultrasonic_wrapper.Ultrasonic()
led = _led.RGBLED(_board.GP18)
servo = _servo.Servo(_board.GP12, actuationRange = 135)
buttons = _buttons.Buttons()

def set_legacy_mode(is_legacy: bool = True):
drivetrain.set_legacy_mode(is_legacy)
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7 changes: 6 additions & 1 deletion code.py
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Expand Up @@ -4,5 +4,10 @@
from SampleCode.sample_miscellaneous import *
from SampleCode.sample_sensor_access import *

ivp()
def main():
#
# Your Code Here!
#
pass
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Should this default to ivp() until the user edits it?

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Yes, it should. I've fixed it in one of the recent commits.


main()