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https://github.com/robotpy/pyrobottraining

Teaches students Robot programming in python by having them create code that passes the unit tests
https://github.com/robotpy/pyrobottraining

frc-robot python robotpy

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Teaches students Robot programming in python by having them create code that passes the unit tests

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README 

        
pyrobottraining

===============



This is a repository that can be used as a tool to teach you about programming

an FRC robot using python and the RobotPy WPILib libraries.



Note: If you aren't very familiar with python programming, you may want to

complete  [pybasictraining](https://github.com/frc1418/pybasictraining) first,

which will teach you the basics of programming in python.



Preparation

===========



Install the requirements

------------------------



One of the really useful things about python is that you can write code that

behaves the same regardless of which platform you're running it on. As such,

the challenges should function the same regardless of whether you're using

Windows or OSX or Linux. However, each platform will require slightly different

steps to install the necessary requirements.



### OSX/Linux



You need to have the following things installed:



* [Python 3.5 or greater](https://www.python.org/downloads/release/python-350/)

  (this requires admin access)

* The `pyfrc` python module and its requirements

  * If you have admin access, install via `sudo pip3 install pyfrc`

  * If you don't, you can install via `pip3 install --user pyfrc`



### Windows



You need to have the following things installed:



* [Python 3.5 or greater](https://www.python.org/downloads/release/python-350/)

  (this requires admin access)

* The `pyfrc` python module and its requirements

  * At a command prompt, `py -3 -m pip install pyfrc`



Get the code

------------



You need to clone this git repository somewhere on your computer. You can use

eclipse to do this, or open up a terminal and run the following:



    git clone https://github.com/robotpy/pyrobottraining.git



About the challenges

--------------------



In [the challenges](#the-challenges) section, each bullet point is a challenge

you must complete. The name of the challenge is listed first, followed by the

description of the challenge.



All of the challenges will involve adding code to robot.py, which is a file

that could potentially be used to control a real FRC robot. You can also run

your code using the pyfrc robot simulator.



Please keep in mind that there are generally many different ways you can get

the challenge tests to pass, but typically each test is a simple step that

builds upon the knowledge/things done in previous tests. You are encouraged

to complete the tests in order.



Testing to see if you beat the challenges

-----------------------------------------



The challenges currently need to be run in the terminal/command line. This means

you need to open up a terminal or cmd and change directories to wherever you

checked out the code.



There are two ways to run the challenges. If you think your code can beat ALL

of the challenges, then you can run the tests the same way that you will run 

tests when you write real robot code (because this IS real robot code):



    OSX/Linux: ./robot.py test

    Windows:   py robot.py test



However, running all the challenges can be a bit confusing and give you a lot

of errors that you don't care about when concentrating on beating the current

challenge. To run a single challenge, do this instead:



    OSX/Linux: ./run_single.sh CHALLENGE

    Windows    run_single.bat CHALLENGE

  

So for example, to run challenge `v1` on OSX or Linux, you would do this:



    ./run_single.sh v1



Whereas on Windows you would do this:



    run_single.bat v1



Should be simple enough!



Documentation

-------------



Before you start creating code for the challenges, you may find it useful to

read through the following resources:



* [Anatomy of a Robot](http://robotpy.readthedocs.org/en/latest/guide/anatomy.html) -

  this is a python-focused guide for writing FRC Robot code, and tells you about

  each piece and how they fit together.

* [Python WPILib Documentation](http://robotpy.readthedocs.org/en/latest/wpilib.html) -

  contains information about using all the various pieces of WPILib



Challenges

==========



basics

------



At all times your robot code must pass all basic pyfrc tests, which ensure that

your robot can pass through all modes without crashing. Additionally, you must

document all methods and classes with docstrings.



The basic tests will only run when running all other tests, and not when running

single tests.



initialization

--------------



When initializing motors and sensors in your robot code, you should do it in

the `robotInit` method. These challenges will ask you to create a `robotInit`

method, and create various objects in it. You may find it convenient to add

additional initialization code to `robotInit` for other challenges.



* i1 - Create a `robotInit` method in the `MyRobot` class

* i2 - Create a Talon motor controller object that uses PWM channel 1 (`motor1`)

* i3 - Create a Talon motor controller object that uses PWM channel 2 (`motor2`)

* i4 - Create a Victor motor controller object that uses PWM channel 3 (`motor3`)

* i5 - Create a Victor motor controller object that uses PWM channel 4 (`motor4`)

* i6 - Create a digital input object on port 1 (`dio1`)

* i7 - Create an analog input object on port 5  (`analog5`)

* i8 - Create a joystick object on port 0, and assign it to an instance variable

  named `stick`

  

Motor control

-------------



These challenges will require you to create code that executes when the robot

is actually running -- in the `teleopPeriodic` method.



* m1 - Define a `teleopPeriodic` method

* m2 - During teleop, set the value of `motor1` to 1.0. When not in teleop, set 

  to 0

* m3 - During teleop, set the value of `motor2` to the value of the joystick's

  X axis. When not in teleop, set to 0

* m4 - During teleop, if `dio1` is on, then set the value of `motor3` to the

  value of the joystick's Y axis. If it is off, then set the motor to 0.



Simple state machines

---------------------



* s1 - If the robot's battery voltage drops below 9 volts, set motors 1-3 to

  0 until the voltage rises above 10 volts or the robot is disabled (you must

  have completed m1-m4)

* s2 - During teleop, set motor4 to 0. If the joystick trigger is pressed and

  released, set motor4 to the value of the joystick's Z axis until the joystick

  trigger is pressed and released again. If the robot enters disabled

  mode, when the robot enters teleop it should not turn motor4 back on until

  the trigger has been pressed and released again



Autonomous mode

---------------



TODO