wip

Author: lizlooney

external_samples/color_range_sensor.py

@@ -49,12 +49,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-   
     # Component specific methods
 
     def get_color_rgb(self) -> tuple[int, int, int]:

external_samples/component.py

@@ -65,30 +65,8 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]:
         pass
 
-    def start(self) -> None:
-        pass
-
-    def update(self) -> None:
-        pass
-
-    # This stops all movement (if any) for the component
-    def stop(self) -> None:
-        pass
-
-    # This performs any reset required (if any) at the beginning of each opmode
-    # This might remove any registered callbacks
-    @abstractmethod
-    def reset(self) -> None:
-        pass
-
     # Returns the port this connects to of the PortType enumeration
     def get_connection_port_type(self) -> PortType | None:
         if self.port:
             return self.port.get_type()
         return None
-
-    # This is called periodically when an opmode is running. The component might use this
-    # to talk to hardware and then call callbacks
-    @abstractmethod
-    def periodic(self) -> None:
-        pass

external_samples/expansion_hub_motor.py

@@ -23,7 +23,7 @@
 from typing import Self
 from component import Component, InvalidPortException
 from port import Port, PortType
-import expansion_hub
+from wpilib_placeholders import expansion_hub
 import wpimath
 
 class ExpansionHubMotor(Component):
@@ -46,21 +46,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
-    def start(self) -> None:
-        self.expansion_hub_motor.setEnabled(True)
-
-    def stop(self) -> None:
-        # TODO: Send stop command to motor.
-        pass
-
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-
-    # Component specific methods
-
     # Methods from expansion_hub.ExpansionHubMotor
 
     def setPercentagePower(self, power: float):

external_samples/expansion_hub_servo.py

@@ -21,9 +21,10 @@
 __author__ = "lizlooney@google.com (Liz Looney)"
 
 from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component, InvalidPortException
 from port import Port, PortType
-import expansion_hub
+from wpilib_placeholders import expansion_hub
+import wpimath
 
 class ExpansionHubServo(Component):
     def __init__(self, port : Port):
@@ -45,25 +46,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
-    def start(self) -> None:
-        self.expansion_hub_servo.setEnabled(True)
-        pass
-
-    def stop(self) -> None:
-        # TODO: Send stop command to servo.
-        pass
-
-    def reset(self) -> None:
-        pass
-
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.USB_PORT, PortType.USB_PORT]
-
-    def periodic(self) -> None:
-        pass
-
-    # Component specific methods
-
     # Methods from expansion_hub.ExpansionHubServo
 
     def set(self, value: float):
@@ -78,7 +60,7 @@ def setEnabled(self, enabled: bool):
     def isHubConnected(self) -> bool:
         return self.expansion_hub_servo.isHubConnected()
 
-    def setFramePeriod(self, framePeriod: int):
+    def setFramePeriod(self, framePeriod: wpimath.units.microseconds):
         self.expansion_hub_servo.setFramePeriod(framePeriod)
 
     def setPulseWidth(self, pulseWidth: int):

external_samples/smart_motor.py

@@ -39,16 +39,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
-        # TODO: send stop command to motor
-        pass
-
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
     # Component specific methods
 
     def set_speed(self, speed: float) -> None:

external_samples/spark_mini.py

@@ -51,18 +51,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
-    def stop(self) -> None:
-        # TODO: send stop command to motor
-        pass
-
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
-    # Component specific methods
-
     # Methods from wpilib.PWMMotorController
 
     def add_follower(self, follower: wpilib.PWMMotorController) -> None:

external_samples/sparkfun_led_stick.py

@@ -38,15 +38,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
-        self.turn_all_off()
-
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
     # SparkFunLEDStick methods
 
     def set_color(self, position: int, color: wpilib.Color) -> None:

python/wpilib_placeholders/__init__.py

@@ -0,0 +1,14 @@
+"""Placeholder classes for future wpilib."""
+
+from .expansion_hub import ExpansionHubPidConstants, ExpansionHubMotor, ExpansionHubServo, ExpansionHub
+from .op_mode_robot import OpModeRobot
+from .periodic_op_mode import PeriodicOpMode
+
+__all__ = [
+    'ExpansionHubPidConstants',
+    'ExpansionHubMotor',
+    'ExpansionHubServo',
+    'ExpansionHub',
+    'OpModeRobot',
+    'PeriodicOpMode',
+]

server_python_scripts/expansion_hub.py …hon/wpilib_placeholders/expansion_hub.pyserver_python_scripts/expansion_hub.py renamed to python/wpilib_placeholders/expansion_hub.py server_python_scripts/expansion_hub.py renamed to python/wpilib_placeholders/expansion_hub.py

@@ -0,0 +1,23 @@
+import wpilib
+
+class OpModeRobot:
+    def __init__(self):
+        pass
+
+    def StartCompetition(self):
+        pass
+
+    def EndCompetition(self):
+        pass
+
+    def DriverStationConnected(self):
+        pass
+
+    def NonePeriodic(self):
+        pass
+
+    def AddOpMode(self, mode, name: str, group: str, description: str, textColor: wpilib.Color, backgroundColor: wpilib.Color):
+        pass
+
+    def AddOpMode(self, mode, name: str, group: str, description: str):
+        pass