Fix styling issues in new files

robot/autonomous/charge.py

@@ -17,4 +17,4 @@ def charge(self, initial_call):
             self.follower.follow_trajectory('charge')
 
         if not self.follower.is_following('charge'):
-            self.done() # If using mutliple states use self.next_state(name)
+            self.done()  # If using mutliple states use self.next_state(name)

robot/components/trajectory_follower.py

@@ -12,7 +12,7 @@ class TrajectoryFollower:
     # TODO FIND THE REAL VALUES
     WHEEL_DIAMETER = 0.5
     KV = 1.101
-    KA = 0.225 # 0.102
+    KA = 0.225  # 0.102
 
     drivetrain: drive.DifferentialDrive
     navx: navx.AHRS
@@ -21,6 +21,7 @@ class TrajectoryFollower:
     generated_trajectories: Dict
 
     def on_enable(self):
+        self._current_trajectory = None
         self.last_difference = 0
 
         self.left_follower = pf.followers.EncoderFollower(None)
@@ -43,18 +44,17 @@ def _cofigure_encoders(self):
         self.right_follower.configureEncoder(self.r_encoder.get(), 360, self.WHEEL_DIAMETER)
 
     def is_following(self, trajectory_name):
-        if self._current_trajectory == trajectory_name:
-            return True
-        return False
+        return (self._current_trajectory is not None and
+            self._current_trajectory == trajectory_name)
 
     def execute(self):
         if (self.left_follower.trajectory is None or self.right_follower.trajectory is None) or \
            (self.left_follower.isFinished() and self.right_follower.isFinished()):
-           self._current_trajectory = None
-           return
+            self._current_trajectory = None
+            return
 
-        l = self.left_follower.calculate(self.l_encoder.get())
-        r = self.right_follower.calculate(self.r_encoder.get())
+        left = self.left_follower.calculate(self.l_encoder.get())
+        right = self.right_follower.calculate(self.r_encoder.get())
 
         gyro_heading = (
             -self.navx.getAngle()
@@ -71,8 +71,8 @@ def execute(self):
 
         self.last_difference = angle_difference
 
-        l = l + turn
-        r = r - turn
+        left += turn
+        right -= turn
 
         # -1 is forward, so invert both values
-        self.drivetrain.tankDrive(-l, -r)
+        self.drivetrain.tankDrive(-left, -right)

robot/physics.py

@@ -1,38 +1,32 @@
-#
-# See the notes for the other physics sample
-#
-
-
+import math
 from pyfrc.physics import motor_cfgs, tankmodel
 from pyfrc.physics.units import units
-import math
 
 
 class PhysicsEngine(object):
-    '''
-       Simulates a 4-wheel robot using Tank Drive joystick control
-    '''
-
+    """
+    Simulates a 4-wheel robot using Tank Drive joystick control
+    """
 
     def __init__(self, physics_controller):
-        '''
-            :param physics_controller: `pyfrc.physics.core.Physics` object
+        """
+        :param physics_controller: `pyfrc.physics.core.Physics` object
                                        to communicate simulation effects to
-        '''
+        """
 
         self.physics_controller = physics_controller
 
         # Change these parameters to fit your robot!
 
         self.drivetrain = tankmodel.TankModel.theory(
             motor_cfgs.MOTOR_CFG_CIM,           # motor configuration
-            110*units.lbs,                      # robot mass
+            110 * units.lbs,                      # robot mass
             12.75,                              # drivetrain gear ratio
             2,                                  # motors per side
-            24*units.inch,                      # robot wheelbase
-            25*units.inch,     # robot width
-            30*units.inch,     # robot length
-            6*units.inch                        # wheel diameter
+            24 * units.inch,                      # robot wheelbase
+            25 * units.inch,     # robot width
+            30 * units.inch,     # robot length
+            6 * units.inch                        # wheel diameter
         )
 
         self.kEncoder = 360 / (0.5 * math.pi)
@@ -41,14 +35,14 @@ def __init__(self, physics_controller):
         self.r_distance = 0
 
     def update_sim(self, hal_data, now, tm_diff):
-        '''
-            Called when the simulation parameters for the program need to be
-            updated.
+        """
+        Called when the simulation parameters for the program need to be
+        updated.
 
-            :param now: The current time as a float
-            :param tm_diff: The amount of time that has passed since the last
-                            time that this function was called
-        '''
+        :param now: The current time as a float
+        :param tm_diff: The amount of time that has passed since the last
+                        time that this function was called
+        """
 
         # Simulate the drivetrain
         lf_motor = hal_data['pwm'][9]['value']
@@ -60,7 +54,7 @@ def update_sim(self, hal_data, now, tm_diff):
 
         x, y, angle = self.drivetrain.get_distance(lf_motor, rf_motor, tm_diff)
         self.physics_controller.distance_drive(x, y, angle)
-        
+
         # Update encoders
         self.l_distance += self.drivetrain.l_velocity * tm_diff
         self.r_distance += self.drivetrain.r_velocity * tm_diff

robot/robot.py

@@ -21,17 +21,16 @@ class Bot(magicbot.MagicRobot):
 
     def createObjects(self):
         # Joysticks
-
         self.joystick = wpilib.Joystick(0)
 
         # Drive motor controllers
         #   Dig | 0/1
         #   2^1 | Left/Right
         #   2^0 | Front/Rear
-        #self.lf_motor = wpilib.Victor(0b00)  # => 0
-        #self.lr_motor = wpilib.Victor(0b01)  # => 1
-        #self.rf_motor = wpilib.Victor(0b10)  # => 2
-        #self.rr_motor = wpilib.Victor(0b11)  # => 3
+        # self.lf_motor = wpilib.Victor(0b00)  # => 0
+        # self.lr_motor = wpilib.Victor(0b01)  # => 1
+        # self.rf_motor = wpilib.Victor(0b10)  # => 2
+        # self.rr_motor = wpilib.Victor(0b11)  # => 3
         # TODO: This is not in any way an ideal numbering system.
         # The PWM ports should be redone to use the old layout above.
         self.lf_motor = wpilib.Victor(9)
@@ -40,7 +39,7 @@ def createObjects(self):
         self.rr_motor = wpilib.Victor(6)
 
         self.drivetrain = wpilib.drive.DifferentialDrive(wpilib.SpeedControllerGroup(self.lf_motor, self.lr_motor),
-                                                    wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
+                                                         wpilib.SpeedControllerGroup(self.rf_motor, self.rr_motor))
 
         # NavX (purple board on top of the RoboRIO)
         self.navx = navx.AHRS.create_spi()
@@ -70,18 +69,15 @@ def createObjects(self):
     def autonomous(self):
         super().autonomous()
 
-    def disabledPeriodic(self): pass
-    def disabledInit(self): pass
-    def autonomousInit(self): pass
-    def autonomousPeriodic(self): pass
-    def teleopInit(self): pass
+    def teleopInit(self):
+        pass
 
     def teleopPeriodic(self):
         # Normal joysticks
-        self.drive.move(-self.joystick.getY(),self.joystick.getX())
+        self.drive.move(-self.joystick.getY(), self.joystick.getX())
 
         # Corrections for aviator joystick
-        #self.drive.move(-2*(self.joystick.getY()+.5),
+        # self.drive.move(-2*(self.joystick.getY()+.5),
         #                2*(self.joystick.getX()+.5)+ROT_COR,
         #                sarah=self.sarah)
 

robot/sim/config.json

@@ -1,13 +1,11 @@
 {
   "pyfrc": {
-
   	"robot": {
   	  "w": 3,
   	  "h": 2,
       "starting_x": 1.8,
       "starting_y": 14
   	},
-
     "pwm": {
       "9": "lf_motor",
       "8": "lr_motor",

robot/trajectory_generator.py

@@ -4,13 +4,13 @@
 import wpilib
 
 
-WHEELBASE_WIDTH = 2 # In feet
+WHEELBASE_WIDTH = 2  # In feet
 TRAJECTORY_DIRECTORY = 'trajectories'
-
+PICKLE_FILE = os.path.join(os.path.dirname(__file__), TRAJECTORY_DIRECTORY, 'trajectories.pickle')
 
 trajectories = {
     "diagonal": [
-        pf.Waypoint(0, 0, 0), # Waypoints are relative to first, so start at 0, 0, 0
+        pf.Waypoint(0, 0, 0),  # Waypoints are relative to first, so start at 0, 0, 0
         pf.Waypoint(15, 5, 0)
     ],
     "charge": [
@@ -19,34 +19,36 @@
     ]
 }
 
+
 def load_trajectories():
     if wpilib.RobotBase.isSimulation():
         generated_trajectories = _generate_trajectories()
         _write_trajectories(generated_trajectories)
     else:
-        with open(os.path.join(os.path.dirname(__file__) + os.sep + TRAJECTORY_DIRECTORY, 'trajectories.pickle'), 'rb') as f:
+        with open(PICKLE_FILE, 'rb') as f:
             generated_trajectories = pickle.load(f)
 
     return generated_trajectories
 
+
 def _write_trajectories(trajectories):
-    pickle_file = os.path.join(os.path.dirname(__file__) + os.sep + TRAJECTORY_DIRECTORY, 'trajectories.pickle')
-    with open(pickle_file, 'wb') as f:
+    with open(PICKLE_FILE, 'wb') as f:
         pickle.dump(trajectories, f)
 
+
 def _generate_trajectories():
     generated_trajectories = {}
 
     for trajectory_name, trajectory in trajectories.items():
         generated_trajectory = pf.generate(
-                                   trajectory,
-                                   pf.FIT_HERMITE_CUBIC,
-                                   pf.SAMPLES_HIGH,
-                                   dt=0.02, # 20ms
-                                   max_velocity=10.903,     # These are in ft/sec and
-                                   max_acceleration=53.251, # set the units for distance to ft.
-                                   max_jerk=120
-                               )[1] # The 0th element is just info
+            trajectory,
+            pf.FIT_HERMITE_CUBIC,
+            pf.SAMPLES_HIGH,
+            dt=0.02,  # 20ms
+            max_velocity=10.903,      # These are in ft/sec and
+            max_acceleration=53.251,  # set the units for distance to ft.
+            max_jerk=120
+        )[1]  # The 0th element is just info
 
         modifier = pf.modifiers.TankModifier(generated_trajectory).modify(WHEELBASE_WIDTH)
 

test.sh

@@ -5,4 +5,4 @@ python3 robot/robot.py test
 # E501 line too long
 # E701 multiple statements on one line
 # Currently, E701 takes issue with some type annotations. (PyCQA/pycodestyle#682)
-pycodestyle . --ignore=E501,E701
+pycodestyle robot/ --ignore=E501,E701