Python examples

python/ArcadeDrive/robot.py

@@ -3,7 +3,7 @@
     This is a demo program for arcade drive in Python with Phoenix 6
 """
 import wpilib
-from phoenix6 import hardware, controls
+from phoenix6 import hardware, controls, unmanaged
 
 
 class MyRobot(wpilib.TimedRobot):
@@ -46,6 +46,12 @@ def teleopPeriodic(self):
         self.front_left_motor.set_control(self.left_out.with_output(throttle + wheel))
         self.front_right_motor.set_control(self.right_out.with_output(throttle - wheel))
 
+    def _simulationPeriodic(self):
+        """"""
+        # If the driver station is enabled, then feed enable for phoenix devices
+        if wpilib.DriverStation.isEnabled():
+            unmanaged.feed_enable(100)
+
 
 if __name__ == "__main__":
     wpilib.run(MyRobot)

python/CANcoder/robot.py

@@ -4,7 +4,7 @@
 """
 import wpilib
 from wpilib import Timer
-from phoenix6 import hardware
+from phoenix6 import hardware, unmanaged
 
 class MyRobot(wpilib.TimedRobot):
     """
@@ -25,6 +25,7 @@ def teleopPeriodic(self):
         """Every 100ms, print the status of the StatusSignal"""
 
         if self.timer.hasElapsed(0.1):
+            self.timer.reset()
             # get_position automatically calls refresh(), no need to manually refresh.
             #
             # StatusSignals also implement the str dunder to provide a useful print of the signal
@@ -39,5 +40,11 @@ def teleopPeriodic(self):
 
             print("")
 
+    def _simulationPeriodic(self):
+        """"""
+        # If the driver station is enabled, then feed enable for phoenix devices
+        if wpilib.DriverStation.isEnabled():
+            unmanaged.feed_enable(100)
+
 if __name__ == "__main__":
     wpilib.run(MyRobot)

python/PositionClosedLoop/robot.py

@@ -4,7 +4,7 @@
 """
 import wpilib
 from wpilib import Timer, XboxController
-from phoenix6 import hardware, controls, configs
+from phoenix6 import hardware, controls, configs, unmanaged
 
 class MyRobot(wpilib.TimedRobot):
     """
@@ -42,6 +42,7 @@ def teleopPeriodic(self):
         self.talonfx.set_control(self.position_request.with_position(self.joystick.getLeftY() * 10))
 
         if self.timer.hasElapsed(0.1):
+            self.timer.reset()
             # Print the position & velocity to see what they are
             pos = self.talonfx.get_position()
             vel = self.talonfx.get_velocity()
@@ -51,5 +52,11 @@ def teleopPeriodic(self):
 
             print("")
 
+    def _simulationPeriodic(self):
+        """"""
+        # If the driver station is enabled, then feed enable for phoenix devices
+        if wpilib.DriverStation.isEnabled():
+            unmanaged.feed_enable(100)
+
 if __name__ == "__main__":
     wpilib.run(MyRobot)

python/StatusSignals/robot.py

@@ -9,6 +9,7 @@
     controls,
     SignalLogger,
     BaseStatusSignal,
+    unmanaged
 )
 
 
@@ -47,6 +48,7 @@ def teleopPeriodic(self):
         """Every 100ms, print the status of the StatusSignal"""
 
         if self.timer.hasElapsed(0.1):
+            self.timer.reset()
             BaseStatusSignal.refresh_all(self.pos, self.vel)
 
             pos_timestamp = self.pos.all_timestamps.get_device_timestamp().time
@@ -57,6 +59,12 @@ def teleopPeriodic(self):
             )
             print(f"Latency compensated position is {latency_compensated_pos}")
 
+    def _simulationPeriodic(self):
+        """"""
+        # If the driver station is enabled, then feed enable for phoenix devices
+        if wpilib.DriverStation.isEnabled():
+            unmanaged.feed_enable(100)
+
 
 if __name__ == "__main__":
     wpilib.run(MyRobot)

python/TalonFX/robot.py

@@ -3,8 +3,8 @@
     This is a demo program for TalonFX usage in Phoenix 6
 """
 import wpilib
-from wpilib import Timer
-from phoenix6 import hardware
+from wpilib import Timer, XboxController
+from phoenix6 import hardware, unmanaged, controls
 
 class MyRobot(wpilib.TimedRobot):
     """
@@ -17,14 +17,20 @@ def robotInit(self):
 
         # Keep a reference to all the motor controllers used
         self.talonfx = hardware.TalonFX(1, "canivore")
+        self.control = controls.DutyCycleOut(0)
 
         self.timer = Timer()
         self.timer.start()
 
+        self.joystick = XboxController(0)
+
     def teleopPeriodic(self):
         """Every 100ms, print the status of the StatusSignal"""
 
+        self.talonfx.set_control(self.control.with_output(self.joystick.getLeftY()))
+
         if self.timer.hasElapsed(0.1):
+            self.timer.reset()
             # get_position automatically calls refresh(), no need to manually refresh.
             #
             # StatusSignals also implement the str dunder to provide a useful print of the signal
@@ -39,5 +45,11 @@ def teleopPeriodic(self):
 
             print("")
 
+    def _simulationPeriodic(self):
+        """"""
+        # If the driver station is enabled, then feed enable for phoenix devices
+        if wpilib.DriverStation.isEnabled():
+            unmanaged.feed_enable(100)
+
 if __name__ == "__main__":
     wpilib.run(MyRobot)