robot.py

#!/usr/bin/env python3

from commandbased import CommandBasedRobot
from wpilib._impl.main import run
from wpilib.robotbase import RobotBase

from custom import driverhud
import controller.layout
import subsystems
import shutil, sys

from wpilib.command.subsystem import Subsystem

from subsystems.monitor import Monitor as monitor
from subsystems.drivetrain import DriveTrain as drivetrain
from subsystems.elevator import Elevator as elevator
from subsystems.indexwheel import IndexWheel as indexwheel
from subsystems.shooter import Shooter as shooter

class KryptonBot(CommandBasedRobot):
    '''Implements a Command Based robot design'''

    def robotInit(self):
        '''Set up everything we need for a working robot.'''

        if RobotBase.isSimulation():
            import mockdata

        self.subsystems()
        controller.layout.init()
        driverhud.init()

        from commands.startupcommandgroup import StartUpCommandGroup
        StartUpCommandGroup().start()


    def autonomousInit(self):
        '''This function is called each time autonomous mode starts.'''

        # Send field data to the dashboard
        driverhud.showField()

        # Schedule the autonomous command
        auton = driverhud.getAutonomousProgram()
        auton.start()
        driverhud.showInfo("Starting %s" % auton)


    def handleCrash(self, error):
        super().handleCrash()
        driverhud.showAlert('Fatal Error: %s' % error)


    @classmethod
    def subsystems(cls):
        vars = globals()
        module = sys.modules['robot']
        for key, var in vars.items():
            try:
                if issubclass(var, Subsystem) and var is not Subsystem:
                    setattr(module, key, var())
            except TypeError:
                pass


if __name__ == '__main__':
    if len(sys.argv) > 1 and sys.argv[1] == 'deploy':
        shutil.rmtree('opkg_cache', ignore_errors=True)
        shutil.rmtree('pip_cache', ignore_errors=True)

    run(KryptonBot)