multiple CAN buses are a thing now

Author: auscompgeek

CANPDP/robot.py

@@ -19,7 +19,7 @@ def robotInit(self):
         """Robot initialization function"""
 
         # Object for dealing with the Power Distribution Panel (PDP).
-        self.pdp = wpilib.PowerDistribution()
+        self.pdp = wpilib.PowerDistribution(0)
 
         # Put the PDP itself to the dashboard
         wpilib.SmartDashboard.putData("PDP", self.pdp)

GameData/robot.py

@@ -8,6 +8,7 @@
 import wpilib
 import ntcore
 
+CAN_BUS = 0
 PNUE_MOD_TYPE = wpilib.PneumaticsModuleType.CTREPCM
 
 
@@ -18,10 +19,10 @@ class MyRobot(wpilib.TimedRobot):
 
     def robotInit(self):
         # A way of demonstrating the difference between the game data strings
-        self.blue = wpilib.Solenoid(PNUE_MOD_TYPE, 0)
-        self.red = wpilib.Solenoid(PNUE_MOD_TYPE, 1)
-        self.green = wpilib.Solenoid(PNUE_MOD_TYPE, 2)
-        self.yellow = wpilib.Solenoid(PNUE_MOD_TYPE, 3)
+        self.blue = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 0)
+        self.red = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 1)
+        self.green = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 2)
+        self.yellow = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 3)
         # Set game data to empty string by default
         self.gameData = ""
         # Get the SmartDashboard table from networktables

HatchbotInlined/subsystems/hatchsubsystem.py

@@ -16,9 +16,10 @@ def __init__(self) -> None:
         super().__init__()
 
         self.hatchSolenoid = wpilib.DoubleSolenoid(
+            0,
             constants.kHatchSolenoidModule,
             constants.kHatchSolenoidModuleType,
-            *constants.kHatchSolenoidPorts
+            *constants.kHatchSolenoidPorts,
         )
 
     def grabHatch(self) -> commands2.Command:

HatchbotTraditional/subsystems/hatchsubsystem.py

@@ -15,9 +15,10 @@ def __init__(self) -> None:
         super().__init__()
 
         self.hatchSolenoid = wpilib.DoubleSolenoid(
+            0,
             constants.kHatchSolenoidModule,
             constants.kHatchSolenoidModuleType,
-            *constants.kHatchSolenoidPorts
+            *constants.kHatchSolenoidPorts,
         )
 
     def grabHatch(self) -> None:

Solenoid/robot.py

@@ -28,19 +28,20 @@ def robotInit(self):
         # Solenoid corresponds to a single solenoid.
         # In this case, it's connected to channel 0 of a PH with the default CAN ID.
         self.solenoid = wpilib.Solenoid(
-            moduleType=wpilib.PneumaticsModuleType.REVPH, channel=0
+            busId=0, moduleType=wpilib.PneumaticsModuleType.REVPH, channel=0
         )
 
         # DoubleSolenoid corresponds to a double solenoid.
         # In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
         self.doubleSolenoid = wpilib.DoubleSolenoid(
+            busId=0,
             moduleType=wpilib.PneumaticsModuleType.REVPH,
             forwardChannel=1,
             reverseChannel=2,
         )
 
         # Compressor connected to a PH with a default CAN ID (1)
-        self.compressor = wpilib.Compressor(wpilib.PneumaticsModuleType.REVPH)
+        self.compressor = wpilib.Compressor(0, wpilib.PneumaticsModuleType.REVPH)
 
         self.kSolenoidButton = 1
         self.kDoubleSolenoidForwardButton = 2