LiveWindow¶
-
class
wpilib.
LiveWindow
[source]¶ Bases:
object
The public interface for putting sensors and actuators on the LiveWindow.
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classmethod
add
(sendable)[source]¶ Add a component to the LiveWindow.
Parameters: sendable – component to add
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classmethod
addActuator
(subsystem, name, component)[source]¶ Add an Actuator associated with the subsystem and with call it by the given name.
Parameters: - subsystem – The subsystem this component is part of.
- name – The name of this component.
- component – A LiveWindowSendable component that represents a actuator.
Deprecated since version 2018.0.0: Use
Sendable.setName()
instead.
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classmethod
addActuatorChannel
(moduleType, channel, component)[source]¶ Add Actuator to LiveWindow. The components are shown with the module type, slot and channel like this: Servo[0,2] for a servo object connected to the first digital module and PWM port 2.
Parameters: - moduleType – A string that defines the module name in the label for the value
- channel – The channel number the device is plugged into (usually PWM)
- component – The reference to the object being added
Deprecated since version 2018.0.0: Use
SendableBase.setName()
instead.
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classmethod
addActuatorModuleChannel
(moduleType, moduleNumber, channel, component)[source]¶ Add Actuator to LiveWindow. The components are shown with the module type, slot and channel like this: Servo[0,2] for a servo object connected to the first digital module and PWM port 2.
Parameters: - moduleType – A string that defines the module name in the label for the value
- moduleNumber – The number of the particular module type
- channel – The channel number the device is plugged into (usually PWM)
- component – The reference to the object being added
Deprecated since version 2018.0.0: Use
SendableBase.setName()
instead.
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classmethod
addChild
(parent, child)[source]¶ Add a child component to a component.
Parameters: - parent – parent component
- child – child component
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classmethod
addSensor
(subsystem, name, component)[source]¶ Add a Sensor associated with the subsystem and with call it by the given name.
Parameters: - subsystem – The subsystem this component is part of.
- name – The name of this component.
- component – A LiveWindowSendable component that represents a sensor.
Deprecated since version 2018.0.0: Use
Sendable.setName()
instead.
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classmethod
addSensorChannel
(moduleType, channel, component)[source]¶ Add Sensor to LiveWindow. The components are shown with the type and channel like this: Gyro[0] for a gyro object connected to the first analog channel.
Parameters: - moduleType – A string indicating the type of the module used in the naming (above)
- channel – The channel number the device is connected to
- component – A reference to the object being added
Deprecated since version 2018.0.0: Use
SendableBase.setName()
instead.
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components
= {}¶
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classmethod
disableTelemetry
(sendable)[source]¶ Disable telemetry for a single component.
Parameters: sendable – component
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classmethod
enableTelemetry
(sendable)[source]¶ Enable telemetry for a single component.
Parameters: sendable – component
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liveWindowEnabled
= False¶
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mutex
= <unlocked _thread.RLock object owner=0 count=0>¶
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classmethod
remove
(sendable)[source]¶ Remove a component from the LiveWindow.
@param sendable component to remove
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classmethod
run
()[source]¶ The run method is called repeatedly to keep the values refreshed on the screen in test mode.
Deprecated since version 2018.0.0: No longer required
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classmethod
setEnabled
(enabled)[source]¶ Set the enabled state of LiveWindow. If it’s being enabled, turn off the scheduler and remove all the commands from the queue and enable all the components registered for LiveWindow. If it’s being disabled, stop all the registered components and reenable the scheduler.
TODO: add code to disable PID loops when enabling LiveWindow. The commands should reenable the PID loops themselves when they get rescheduled. This prevents arms from starting to move around, etc. after a period of adjusting them in LiveWindow mode.
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startLiveWindow
= False¶
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telemetryEnabled
= True¶
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classmethod