Added components for ExpansionHubServo and ExpansionHubMotor. (#188)

* Added components for ExpansionHubServo and ExpansionHubMotor.

Added start and update methods to components.

Added code to run_opmode to print stacktrace if an error occurs.

* Don't allow user to override define_hardware in the robot.

* Removed @AbstractMethod from start, update, and stop in component.py.
Removed empty start, update, and stop methods from component subclasses.

Author: lizlooney

external_samples/color_range_sensor.py

@@ -51,10 +51,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
-        # send stop command to sensor
-        pass
-
     def reset(self) -> None:
         pass
 

external_samples/component.py

@@ -71,8 +71,13 @@ 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
-    @abstractmethod
     def stop(self) -> None:
         pass
 

external_samples/expansion_hub_motor.py

@@ -0,0 +1,123 @@
+# Copyright 2025 Google LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""This is the expansion_hub_motor module.
+
+This component wraps the expansion_hub.ExpansionHubMotor class, providing
+support for a motor connected to a REV Expansion Hub.
+"""
+
+__author__ = "[email protected] (Liz Looney)"
+
+from typing import Self
+from component import Component, PortType, InvalidPortException
+import expansion_hub
+import wpimath
+
+# TODO(lizlooney): Update port types.
+
+class ExpansionHubMotor(Component):
+    def __init__(self, ports : list[tuple[PortType, int]]):
+        port_type, hub_number = ports[0]
+        if port_type != PortType.USB_PORT:
+            raise InvalidPortException
+        port_type, motor_number = ports[1]
+        if port_type != PortType.USB_PORT:
+            raise InvalidPortException
+        self.expansion_hub_motor = expansion_hub.ExpansionHubMotor(hub_number, motor_number)
+
+    def get_manufacturer(self) -> str:
+        return "REV Robotics"
+
+    def get_name(self) -> str:
+        return "Expansion Hub Motor"
+
+    def get_part_number(self) -> str:
+        return ""
+
+    def get_url(self) -> str:
+        return ""
+
+    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 get_connection_port_type(self) -> list[PortType]:
+        return [PortType.USB_PORT, PortType.USB_PORT]
+
+    def periodic(self) -> None:
+        pass
+
+    # Alternative constructor to create an instance from a hub number and a motor port.
+    @classmethod
+    def from_hub_number_and_motor_number(cls: type[Self], hub_number: int, motor_number: int) -> Self:
+        return cls([(PortType.USB_PORT, hub_number), (PortType.USB_PORT, motor_number)])
+
+    # Component specific methods
+
+    # Methods from expansion_hub.ExpansionHubMotor
+
+    def setPercentagePower(self, power: float):
+        self.expansion_hub_motor.setPercentagePower(power)
+
+    def setVoltage(self, voltage: wpimath.units.volts):
+        self.expansion_hub_motor.setVoltage(voltage)
+
+    def setPositionSetpoint(self, setpoint: float):
+        self.expansion_hub_motor.setPositionSetpoint(setpoint)
+
+    def setVelocitySetpoint(self, setpoint: float):
+        self.expansion_hub_motor.setVelocitySetpoint(setpoint)
+
+    def setEnabled(self, enabled: bool):
+        self.expansion_hub_motor.setEnabled(enabled)
+
+    def setFloatOn0(self, floatOn0: bool):
+        self.expansion_hub_motor.setFloatOn0(floatOn0)
+
+    def getCurrent(self) -> float:
+        return self.expansion_hub_motor.getCurrent()
+
+    def setDistancePerCount(self, perCount: float):
+        self.expansion_hub_motor.setDistancePerCount(perCount)
+
+    def isHubConnected(self) -> bool:
+        return self.expansion_hub_motor.isHubConnected()
+
+    def getEncoder(self) -> float:
+        return self.expansion_hub_motor.getEncoder()
+
+    def getEncoderVelocity(self) -> float:
+        return self.expansion_hub_motor.getEncoderVelocity()
+
+    def setReversed(self, reversed: bool):
+        self.expansion_hub_motor.setReversed(reversed)
+
+    def resetEncoder(self):
+        self.expansion_hub_motor.resetEncoder()
+
+    def getVelocityPidConstants(self) -> expansion_hub.ExpansionHubPidConstants:
+        return self.expansion_hub_motor.getVelocityPidConstants()
+
+    def getPositionPidConstants(self) -> expansion_hub.ExpansionHubPidConstants:
+        return self.expansion_hub_motor.getPositionPidConstants()

external_samples/expansion_hub_servo.py

@@ -0,0 +1,96 @@
+# Copyright 2025 Google LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""This is the expansion_hub_servo module.
+
+This component wraps the expansion_hub.ExpansionHubServo class, providing
+support for a servo connected to a REV Expansion Hub.
+"""
+
+__author__ = "[email protected] (Liz Looney)"
+
+from typing import Self
+from component import Component, PortType, InvalidPortException
+import expansion_hub
+
+# TODO(lizlooney): Update port types.
+
+class ExpansionHubServo(Component):
+    def __init__(self, ports : list[tuple[PortType, int]]):
+        port_type, hub_number = ports[0]
+        if port_type != PortType.USB_PORT:
+            raise InvalidPortException
+        port_type, servo_number = ports[1]
+        if port_type != PortType.USB_PORT:
+            raise InvalidPortException
+        self.expansion_hub_servo = expansion_hub.ExpansionHubServo(hub_number, servo_number)
+
+    def get_manufacturer(self) -> str:
+        return "REV Robotics"
+
+    def get_name(self) -> str:
+        return "Expansion Hub Servo"
+
+    def get_part_number(self) -> str:
+        return ""
+
+    def get_url(self) -> str:
+        return ""
+
+    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
+
+    # Alternative constructor to create an instance from a hub number and a servo port.
+    @classmethod
+    def from_hub_number_and_servo_number(cls: type[Self], hub_number: int, servo_number: int) -> Self:
+        return cls([(PortType.USB_PORT, hub_number), (PortType.USB_PORT, servo_number)])
+    
+    # Component specific methods
+
+    # Methods from expansion_hub.ExpansionHubServo
+
+    def set(self, value: float):
+        self.expansion_hub_servo.set(value)
+
+    def setAngle(self, degrees: float):
+        self.expansion_hub_servo.setAngle(degrees)
+
+    def setEnabled(self, enabled: bool):
+        self.expansion_hub_servo.setEnabled(enabled)
+
+    def isHubConnected(self) -> bool:
+        return self.expansion_hub_servo.isHubConnected()
+
+    def setFramePeriod(self, framePeriod: int):
+        self.expansion_hub_servo.setFramePeriod(framePeriod)
+
+    def setPulseWidth(self, pulseWidth: int):
+        self.expansion_hub_servo.setPulseWidth(pulseWidth)

external_samples/rev_touch_sensor.py

@@ -42,9 +42,6 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
-        pass
-
     def reset(self) -> None:
         self.pressed_callback = None
         self.released_callback = None

external_samples/servo.py

@@ -42,7 +42,7 @@ def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
     def stop(self) -> None:
-        # De-energize servo port
+        # TODO: De-energize servo port
         pass
 
     def reset(self) -> None:

external_samples/smart_motor.py

@@ -42,7 +42,7 @@ def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
     def stop(self) -> None:
-        # send stop command to motor
+        # TODO: send stop command to motor
         pass
 
     def reset(self) -> None:

external_samples/spark_mini.py

@@ -50,7 +50,7 @@ def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
     def stop(self) -> None:
-        # send stop command to motor
+        # TODO: send stop command to motor
         pass
 
     def reset(self) -> None:

python_tools/generate_json.py

@@ -59,6 +59,8 @@
 sys.path.append("../external_samples")
 import color_range_sensor
 import component
+import expansion_hub_motor
+import expansion_hub_servo
 import rev_touch_sensor
 import servo
 import smart_motor
@@ -119,6 +121,8 @@ def main(argv):
   external_samples_modules = [
     color_range_sensor,
     component,
+    expansion_hub_motor,
+    expansion_hub_servo,
     rev_touch_sensor,
     servo,
     smart_motor,

server_python_scripts/run_opmode.py

@@ -13,6 +13,7 @@
 import importlib.util
 import inspect
 import argparse
+import traceback
 from pathlib import Path
 
 from blocks_base_classes import OpMode
@@ -151,6 +152,7 @@ def run_opmode(opmode_file, duration=None, loop_frequency=50):
 
     except Exception as e:
         print(f"Error running opmode: {e}")
+        traceback.print_exc()
         sys.exit(1)
 
 
@@ -206,4 +208,4 @@ def main():
 
 
 if __name__ == '__main__':
-    main()
+    main()