…resource.

hal-roborio/setup.py

@@ -53,7 +53,7 @@ def _reporthook(count, blocksize, totalsize):
 
 # Generate a new version.py if required
 if not exists(version_file) or __version__ != version or __hal_version__ != hal_version:
-    with open(join(setup_dir, base_package, 'version.py'), 'w') as fp:
+    with open(version_file, 'w') as fp:
         fp.write("# Autogenerated by setup.py\n__version__ = '{0}'\n__hal_version__ = '{1}'".format(version, hal_version))
 
 

wpilib/setup.py

@@ -49,7 +49,7 @@
     url='https://github.com/robotpy/robotpy-wpilib',
     keywords='frc first robotics wpilib',
     packages=find_packages(),
-    install_requires=['pynetworktables>=2015.0.4'],
+    install_requires=['pynetworktables>=2015.0.6'],
     license="BSD License",
     classifiers=[
         "Development Status :: 5 - Production/Stable",

wpilib/tests/test_robotdrive.py

@@ -39,8 +39,8 @@ def test_init_two(kw, mc, wpimock, halmock):
         assert drive.rearLeftMotor == left
         assert drive.rearRightMotor == right
 
-        left.set.assert_called_once_with(0.0, 0x80)
-        right.set.assert_called_once_with(0.0, 0x80)
+        left.set.assert_called_once_with(0.0, 0)
+        right.set.assert_called_once_with(0.0, 0)
     else:
         if mc:
             mclass = getattr(wpimock, mc)
@@ -99,10 +99,10 @@ def test_init_four(kw, mc, wpimock, halmock):
         assert drive.frontRightMotor == fright
         assert drive.rearRightMotor == rright
 
-        fleft.set.assert_called_once_with(0.0, 0x80)
-        rleft.set.assert_called_once_with(0.0, 0x80)
-        fright.set.assert_called_once_with(0.0, 0x80)
-        rright.set.assert_called_once_with(0.0, 0x80)
+        fleft.set.assert_called_once_with(0.0, 0)
+        rleft.set.assert_called_once_with(0.0, 0)
+        fright.set.assert_called_once_with(0.0, 0)
+        rright.set.assert_called_once_with(0.0, 0)
     else:
         if mc:
             mclass = getattr(wpimock, mc)
@@ -407,19 +407,19 @@ def test_holonomicDrive(drive4):
 def test_setLeftRightMotorOutputs(drive4):
     drive4.feed = MagicMock()
     drive4.setLeftRightMotorOutputs(0.2, 0.3)
-    drive4.frontLeftMotor.set.assert_called_once_with(0.2, 0x80)
-    drive4.rearLeftMotor.set.assert_called_once_with(0.2, 0x80)
-    drive4.frontRightMotor.set.assert_called_once_with(-0.3, 0x80)
-    drive4.rearRightMotor.set.assert_called_once_with(-0.3, 0x80)
+    drive4.frontLeftMotor.set.assert_called_once_with(0.2, 0)
+    drive4.rearLeftMotor.set.assert_called_once_with(0.2, 0)
+    drive4.frontRightMotor.set.assert_called_once_with(-0.3, 0)
+    drive4.rearRightMotor.set.assert_called_once_with(-0.3, 0)
     assert drive4.feed.called
 
     drive4.frontLeftMotor = None
     drive4.frontRightMotor = None
     drive4.rearLeftMotor.reset_mock()
     drive4.rearRightMotor.reset_mock()
     drive4.setLeftRightMotorOutputs(0.2, 0.3)
-    drive4.rearLeftMotor.set.assert_called_once_with(0.2, 0x80)
-    drive4.rearRightMotor.set.assert_called_once_with(-0.3, 0x80)
+    drive4.rearLeftMotor.set.assert_called_once_with(0.2, 0)
+    drive4.rearRightMotor.set.assert_called_once_with(-0.3, 0)
 
 @pytest.mark.parametrize("motor", ["rearLeftMotor", "rearRightMotor"])
 def test_setLeftRightMotorOutputs_error(motor, drive4):
@@ -461,10 +461,10 @@ def test_setInvertedMotor(motor, drive4):
     assert drive4.invertedMotors[motor] == 1 # not inverted
     # drive to make sure it took effect
     drive4.setLeftRightMotorOutputs(0.2, 0.3)
-    drive4.frontLeftMotor.set.assert_called_once_with(0.2*drive4.invertedMotors[drive4.MotorType.kFrontLeft], 0x80)
-    drive4.rearLeftMotor.set.assert_called_once_with(0.2*drive4.invertedMotors[drive4.MotorType.kRearLeft], 0x80)
-    drive4.frontRightMotor.set.assert_called_once_with(-0.3*drive4.invertedMotors[drive4.MotorType.kFrontRight], 0x80)
-    drive4.rearRightMotor.set.assert_called_once_with(-0.3*drive4.invertedMotors[drive4.MotorType.kRearRight], 0x80)
+    drive4.frontLeftMotor.set.assert_called_once_with(0.2*drive4.invertedMotors[drive4.MotorType.kFrontLeft], 0)
+    drive4.rearLeftMotor.set.assert_called_once_with(0.2*drive4.invertedMotors[drive4.MotorType.kRearLeft], 0)
+    drive4.frontRightMotor.set.assert_called_once_with(-0.3*drive4.invertedMotors[drive4.MotorType.kFrontRight], 0)
+    drive4.rearRightMotor.set.assert_called_once_with(-0.3*drive4.invertedMotors[drive4.MotorType.kRearRight], 0)
 
 def test_setSensitivity(drive_lr):
     drive_lr.setSensitivity(0.1)
@@ -478,8 +478,8 @@ def test_setMaxOutput(drive4):
     assert drive4.maxOutput == 0.5
     # drive to make sure it took effect
     drive4.setLeftRightMotorOutputs(1.0, 0.75)
-    drive4.rearLeftMotor.set.assert_called_once_with(0.5, 0x80)
-    drive4.rearRightMotor.set.assert_called_once_with(-0.375, 0x80)
+    drive4.rearLeftMotor.set.assert_called_once_with(0.5, 0)
+    drive4.rearRightMotor.set.assert_called_once_with(-0.375, 0)
 
 def test_getDescription(drive_lr):
     assert drive_lr.getDescription() == "Robot Drive"

wpilib/wpilib/canjaguar.py

@@ -78,6 +78,9 @@ def _sendMessageHelper(messageID, data, period):
 def _freeJaguar(deviceNumber, controlMode):
     # Cancel periodic messages to the Jaguar, effectively disabling it.
     # Disable periodic setpoints
+
+    CANJaguar.allocated.free(deviceNumber-1)
+
     if controlMode == CANJaguar.ControlMode.PercentVbus:
         messageID = deviceNumber | _cj.LM_API_VOLT_T_SET
     elif controlMode == CANJaguar.ControlMode.Speed:
@@ -95,7 +98,7 @@ def _freeJaguar(deviceNumber, controlMode):
                                      frccan.CAN_SEND_PERIOD_STOP_REPEATING)
 
     data = _packFXP8_8(CANJaguar.kApproxBusVoltage)
-    _sendMessageHelper(_cj.LM_API_CFG_MAX_VOUT | deviceNumber, data)
+    _sendMessageHelper(_cj.LM_API_CFG_MAX_VOUT | deviceNumber, data, frccan.CAN_SEND_PERIOD_NO_REPEAT)
 
 class CANJaguar(LiveWindowSendable, MotorSafety):
     """Texas Instruments Jaguar Speed Controller as a CAN device."""
@@ -304,6 +307,13 @@ def __init__(self, deviceNumber):
             else:
                 DriverStation.reportError("Jag %d firmware %d is not FIRST approved (must be at least version 108 of the FIRST approved firmware)" % (self.deviceNumber, self.firmwareVersion), False)
 
+    def free(self):
+        """
+        Cancel periodic messages to the Jaguar, effectively disabling it.
+        No other methods should be called after this is called.
+        """
+        self._canjaguar_finalizer()
+
     def getDeviceNumber(self):
         """:returns: The CAN ID passed in the constructor
         """

wpilib/wpilib/robotdrive.py

@@ -13,7 +13,6 @@
 from .motorsafety import MotorSafety
 from .talon import Talon
 from .canjaguar import CANJaguar
-from hal import frccan
 
 __all__ = ["RobotDrive"]
 
@@ -145,7 +144,7 @@ def __init__(self, *args, **kwargs):
         self.maxOutput = RobotDrive.kDefaultMaxOutput
         self.sensitivity = RobotDrive.kDefaultSensitivity
 
-        self.isCANInitialized = False #Upstream: TODO Fix Can
+        self.syncGroup = 0x0
 
         # set up motor safety
         self.setExpiration(self.kDefaultExpirationTime)
@@ -463,18 +462,14 @@ def mecanumDrive_Cartesian(self, x, y, rotation, gyroAngle):
 
         RobotDrive.normalize(wheelSpeeds)
 
-        syncGroup = 0x80
 
-        self.frontLeftMotor.set(wheelSpeeds[self.MotorType.kFrontLeft] * self.invertedMotors[self.MotorType.kFrontLeft] * self.maxOutput, syncGroup)
-        self.frontRightMotor.set(wheelSpeeds[self.MotorType.kFrontRight] * self.invertedMotors[self.MotorType.kFrontRight] * self.maxOutput, syncGroup)
-        self.rearLeftMotor.set(wheelSpeeds[self.MotorType.kRearLeft] * self.invertedMotors[self.MotorType.kRearLeft] * self.maxOutput, syncGroup)
-        self.rearRightMotor.set(wheelSpeeds[self.MotorType.kRearRight] * self.invertedMotors[self.MotorType.kRearRight] * self.maxOutput, syncGroup)
+        self.frontLeftMotor.set(wheelSpeeds[self.MotorType.kFrontLeft] * self.invertedMotors[self.MotorType.kFrontLeft] * self.maxOutput, self.syncGroup)
+        self.frontRightMotor.set(wheelSpeeds[self.MotorType.kFrontRight] * self.invertedMotors[self.MotorType.kFrontRight] * self.maxOutput, self.syncGroup)
+        self.rearLeftMotor.set(wheelSpeeds[self.MotorType.kRearLeft] * self.invertedMotors[self.MotorType.kRearLeft] * self.maxOutput, self.syncGroup)
+        self.rearRightMotor.set(wheelSpeeds[self.MotorType.kRearRight] * self.invertedMotors[self.MotorType.kRearRight] * self.maxOutput, self.syncGroup)
 
-        if self.isCANInitialized:
-            try:
-                CANJaguar.updateSyncGroup(syncGroup)
-            except frccan.CANNotInitializedException:
-                self.isCANInitialized = False
+        if self.syncGroup != 0:
+            CANJaguar.updateSyncGroup(self.syncGroup)
         self.feed()
 
     def mecanumDrive_Polar(self, magnitude, direction, rotation):
@@ -512,18 +507,14 @@ def mecanumDrive_Polar(self, magnitude, direction, rotation):
 
         RobotDrive.normalize(wheelSpeeds)
 
-        syncGroup = 0x80
 
-        self.frontLeftMotor.set(wheelSpeeds[self.MotorType.kFrontLeft] * self.invertedMotors[self.MotorType.kFrontLeft] * self.maxOutput, syncGroup)
-        self.frontRightMotor.set(wheelSpeeds[self.MotorType.kFrontRight] * self.invertedMotors[self.MotorType.kFrontRight] * self.maxOutput, syncGroup)
-        self.rearLeftMotor.set(wheelSpeeds[self.MotorType.kRearLeft] * self.invertedMotors[self.MotorType.kRearLeft] * self.maxOutput, syncGroup)
-        self.rearRightMotor.set(wheelSpeeds[self.MotorType.kRearRight] * self.invertedMotors[self.MotorType.kRearRight] * self.maxOutput, syncGroup)
+        self.frontLeftMotor.set(wheelSpeeds[self.MotorType.kFrontLeft] * self.invertedMotors[self.MotorType.kFrontLeft] * self.maxOutput, self.syncGroup)
+        self.frontRightMotor.set(wheelSpeeds[self.MotorType.kFrontRight] * self.invertedMotors[self.MotorType.kFrontRight] * self.maxOutput, self.syncGroup)
+        self.rearLeftMotor.set(wheelSpeeds[self.MotorType.kRearLeft] * self.invertedMotors[self.MotorType.kRearLeft] * self.maxOutput, self.syncGroup)
+        self.rearRightMotor.set(wheelSpeeds[self.MotorType.kRearRight] * self.invertedMotors[self.MotorType.kRearRight] * self.maxOutput, self.syncGroup)
 
-        if self.isCANInitialized:
-            try:
-                CANJaguar.updateSyncGroup(syncGroup)
-            except frccan.CANNotInitializedException:
-                self.isCANInitialized = False
+        if self.syncGroup != 0:
+            CANJaguar.updateSyncGroup(self.syncGroup)
         self.feed()
 
     def holonomicDrive(self, magnitude, direction, rotation):
@@ -554,24 +545,19 @@ def setLeftRightMotorOutputs(self, leftOutput, rightOutput):
         if self.rearLeftMotor is None or self.rearRightMotor is None:
             raise ValueError("Null motor provided")
 
-        syncGroup = 0x80
-
         leftOutput = RobotDrive.limit(leftOutput) * self.maxOutput
         rightOutput = RobotDrive.limit(rightOutput) * self.maxOutput
 
         if self.frontLeftMotor is not None:
-            self.frontLeftMotor.set(leftOutput * self.invertedMotors[self.MotorType.kFrontLeft], syncGroup)
-        self.rearLeftMotor.set(leftOutput * self.invertedMotors[self.MotorType.kRearLeft], syncGroup)
+            self.frontLeftMotor.set(leftOutput * self.invertedMotors[self.MotorType.kFrontLeft], self.syncGroup)
+        self.rearLeftMotor.set(leftOutput * self.invertedMotors[self.MotorType.kRearLeft], self.syncGroup)
 
         if self.frontRightMotor is not None:
-            self.frontRightMotor.set(-rightOutput * self.invertedMotors[self.MotorType.kFrontRight], syncGroup)
-        self.rearRightMotor.set(-rightOutput * self.invertedMotors[self.MotorType.kRearRight], syncGroup)
-
-        if self.isCANInitialized:
-            try:
-                CANJaguar.updateSyncGroup(syncGroup)
-            except frccan.CANNotInitializedException:
-                self.isCANInitialized = False
+            self.frontRightMotor.set(-rightOutput * self.invertedMotors[self.MotorType.kFrontRight], self.syncGroup)
+        self.rearRightMotor.set(-rightOutput * self.invertedMotors[self.MotorType.kRearRight], self.syncGroup)
+
+        if self.syncGroup != 0:
+            CANJaguar.updateSyncGroup(self.syncGroup)
         self.feed()
 
     @staticmethod
@@ -655,6 +641,14 @@ def getNumMotors(self):
         if self.rearRightMotor is not None: motors += 1
         return motors
 
+    def setCANJaguarSyncGroup(self, syncGroup):
+        """
+        Set the number of the sync group for the motor controllers. If the motor controllers are :class:`CANJaguar`s,
+        then they will be added to this sync group, causing them to update their values at the same time.
+
+        :param syncGroup: The update group to add the motor controllers to.
+        """
+
     def free(self):
         self._RobotDrive_finalizer()
         self.frontLeftMotor = None