comments in greater alignment with the comments in allwpilib examples

Author: mbardoe

relay/robot.py

@@ -4,7 +4,8 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-    """This is a sample program which uses joystick buttons to control a relay.
+    """
+    This is a sample program which uses joystick buttons to control a relay.
     A Relay (generally a spike) has two outputs, each of which can be at either
     0V or 12V and so can be used for actions such as turning a motor off, full
     forwards, or full reverse, and is generally used on the compressor. This
@@ -14,26 +15,29 @@ class MyRobot(wpilib.TimedRobot):
 
     def robotInit(self):
         """Robot initialization function"""
-        # create Relay object
+
         self.relay = wpilib.Relay(0)
 
-        # create joystick object
-        self.joystickChannel = 0  # usb number in DriverStation
+        self.joystickChannel = 0
         self.joystick = wpilib.Joystick(self.joystickChannel)
 
-        # create variables to define the buttons
         self.relayForwardButton = 1
         self.relayReverseButton = 2
 
     def teleopPeriodic(self):
-        """
-        The relay can be set several ways. It has two outputs which each can be set for either 0V or 12V.
-        This code uses buttons on a joystick to set each of the outputs.
-        """
+        # Retrieve the button values. GetRawButton will
+        # return true if the button is pressed and false if not.
 
         forward = self.joystick.getRawButton(self.relayForwardButton)
         reverse = self.joystick.getRawButton(self.relayReverseButton)
 
+        ##
+        # Depending on the button values, we want to use one of
+        # kOn, kOff, kForward, or kReverse. kOn sets both outputs to 12V,
+        # kOff sets both to 0V, kForward sets forward to 12V
+        # and reverse to 0V, and kReverse sets reverse to 12V and forward to 0V.
+        ##
+
         if forward and reverse:
             self.relay.set(wpilib.Relay.Value.kOn)
         elif forward: