autodiscover opmodes + opmode example (v2)

examples/robot/DSGamepadChooser/robot.py

@@ -7,7 +7,7 @@
 
 from hal import RobotMode
 import wpilib
-from wpilib.opmoderobot import OpModeRobot
+from wpilib.opmodes import OpModeRobot
 
 
 class DoNothingTeleop(wpilib.PeriodicOpMode):

examples/robot/ExpansionHubSample/opmodes/default_auto_mode.py

@@ -0,0 +1,33 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+from typing import TYPE_CHECKING
+
+import wpilib
+
+if TYPE_CHECKING:
+    from robot import Robot
+
+
+@wpilib.autonomous
+class DefaultAutoMode(wpilib.PeriodicOpMode):
+    def __init__(self, robot: "Robot") -> None:
+        super().__init__()
+        self.robot = robot
+        self.timer = wpilib.Timer()
+
+    def start(self) -> None:
+        self.timer.reset()
+        self.timer.start()
+
+    def periodic(self) -> None:
+        if self.timer.get() < 2.0:
+            self.robot.motor0.set_throttle(0.5)
+            self.robot.motor1.set_throttle(0.5)
+        elif self.timer.get() < 4.0:
+            self.robot.motor0.set_throttle(0.9)
+            self.robot.motor1.set_throttle(0.9)
+        else:
+            self.robot.motor0.set_throttle(0.0)
+            self.robot.motor1.set_throttle(0.0)

examples/robot/ExpansionHubSample/opmodes/default_tele_mode.py

@@ -0,0 +1,26 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+from typing import TYPE_CHECKING
+
+import wpilib
+
+if TYPE_CHECKING:
+    from robot import Robot
+
+
+@wpilib.teleop
+class DefaultTeleMode(wpilib.PeriodicOpMode):
+    def __init__(self, robot: "Robot") -> None:
+        super().__init__()
+        self.robot = robot
+        self.gamepad = wpilib.DriverStation.get_gamepad(0)
+
+    def periodic(self) -> None:
+        self.robot.motor0.set_throttle(-self.gamepad.get_left_y())
+        self.robot.motor1.set_throttle(-self.gamepad.get_right_y())
+        self.robot.motor2.set_throttle(-self.gamepad.get_left_x())
+        self.robot.motor3.set_throttle(-self.gamepad.get_right_x())
+        self.robot.servo0.set_position(self.gamepad.get_left_trigger())
+        self.robot.servo1.set_position(self.gamepad.get_right_trigger())

examples/robot/ExpansionHubSample/robot.py

@@ -0,0 +1,23 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+import wpilib
+
+
+class Robot(wpilib.OpModeRobot):
+    """Demo robot for Expansion Hub motors and servos.
+
+    The motors and servos are driven using the controllers in the teleop OpMode
+    and timed in the autonomous OpMode.
+    """
+
+    def __init__(self) -> None:
+        """Called once at the beginning of the robot program."""
+        super().__init__()
+        self.motor0 = wpilib.ExpansionHubMotor(0, 0)
+        self.motor1 = wpilib.ExpansionHubMotor(0, 1)
+        self.motor2 = wpilib.ExpansionHubMotor(0, 2)
+        self.motor3 = wpilib.ExpansionHubMotor(0, 3)
+        self.servo0 = wpilib.ExpansionHubServo(0, 0)
+        self.servo1 = wpilib.ExpansionHubServo(0, 1)

examples/robot/examples.toml

@@ -13,6 +13,7 @@ base = [
   "ElevatorSimulation",
   "ElevatorTrapezoidProfile",
   "Encoder",
+  "ExpansionHubSample",
   "GettingStarted",
   "Gyro",
   "DSGamepadChooser",