robot.py

from commands2 import CommandScheduler
from wpilib import Preferences
from wpilib.shuffleboard import Shuffleboard
from robotcontainer import RobotContainer, DummyGyro
from commands2.timedcommandrobot import TimedCommandRobot


class Ghost(TimedCommandRobot):
    __slots__ = ("auto_active", "subsystems")

    # dio- port 0 green, port 1 yellow, port 2 blue, and port 3 white

    def robotInit(self):
        self.subsystems = RobotContainer(self.isSimulation())

        # * allows the robot to remember + the dashboard to configure whether or not autonomous should run
        Preferences.initBoolean("auto_active", False)
        if not isinstance(self.subsystems.gyro, DummyGyro):
            Shuffleboard.getTab("LiveWindow").add("gyro", self.subsystems.gyro)

    def teleopInit(self):
        """executed when teleoperated mode is enabled. this function turns on the controller's safety features to stop us from breaking things."""
        self.subsystems.drivetrain.safety_enabled(True)

    def teleopPeriodic(self): ...

    def teleopExit(self) -> None:
        self.subsystems.arm.mode = 0

    def autonomousInit(self) -> None:
        self.auto_active = Preferences.getBoolean("auto_active", False)

    def autonomousPeriodic(self) -> None:
        if self.auto_active:
            self.subsystems.shooter.shoot()
            # self.subsystems.drivetrain.stop()

    def autonomousExit(self) -> None:
        self.subsystems.drivetrain.stop()
        self.subsystems.arm.mode = 0

    def testInit(self) -> None:
        CommandScheduler.getInstance().cancelAll()