Added mechanism2d example. (#52)

* added mechanism2d example

* added mechanism2d to run_tests.sh

* deleted 2 lines of unneccesary code, changed the comments on the top of the program to be in docstring.

* Update the docstring

Co-authored-by: David Vo <[email protected]>

* Fix docstring to be docstring

Co-authored-by: David Vo <[email protected]>

Author: BerkeSinanYetkin

mechanism2d/robot.py

@@ -0,0 +1,56 @@
+"""
+This sample program shows how to use Mechanism2d - a visual representation of arms, elevators,
+and other mechanisms on dashboards; driven by a node-based API.
+
+Ligaments are based on other ligaments or roots, and roots are contained in the base
+Mechanism2d object.
+"""
+
+import wpilib
+
+
+class MyRobot(wpilib.TimedRobot):
+
+    kMetersPerPulse = 0.01
+    kElevatorMinimumLength = 0.5
+
+    def robotInit(self):
+        self.elevatorMotor = wpilib.PWMSparkMax(0)
+        self.wristMotor = wpilib.PWMSparkMax(1)
+        self.wristPot = wpilib.AnalogPotentiometer(1, 90)
+        self.elevatorEncoder = wpilib.Encoder(0, 1)
+        self.joystick = wpilib.Joystick(0)
+
+        self.elevatorEncoder.setDistancePerPulse(self.kMetersPerPulse)
+
+        # the main mechanism object
+        self.mech = wpilib.Mechanism2d(3, 3)
+        # the mechanism root node
+        self.root = self.mech.getRoot("climber", 2, 0)
+
+        # MechanismLigament2d objects represent each "section"/"stage" of the mechanism, and are based
+        # off the root node or another ligament object
+        self.elevator = self.root.appendLigament(
+            "elevator", self.kElevatorMinimumLength, 90
+        )
+        self.wrist = self.elevator.appendLigament(
+            "wrist", 0.5, 90, 6, wpilib.Color8Bit(wpilib.Color.kPurple)
+        )
+
+        # post the mechanism to the dashboard
+        wpilib.SmartDashboard.putData("Mech2d", self.mech)
+
+    def robotPeriodic(self):
+        # update the dashboard mechanism's state
+        self.elevator.setLength(
+            self.kElevatorMinimumLength + self.elevatorEncoder.getDistance()
+        )
+        self.wrist.setAngle(self.wristPot.get())
+
+    def teleopPeriodic(self):
+        self.elevatorMotor.set(self.joystick.getRawAxis(0))
+        self.wristMotor.set(self.joystick.getRawAxis(1))
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)

run_tests.sh

@@ -17,6 +17,7 @@ BASE_TESTS="
   gyro
   mecanum-drive
   mecanum-driveXbox
+  mechanism2d
   motor-control
   physics/src
   physics-4wheel/src