be pycharming

.gitignore

@@ -4,3 +4,50 @@
 /__pycache__
 *.pyc
 
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/dictionaries
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# CMake
+cmake-build-debug/
+cmake-build-release/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests

colorcycletemplate.py → src/colorcycletemplate.py

@@ -1,4 +1,4 @@
-import apa102
+from subsystems import apa102
 import time
 
 class ColorCycleTemplate:

test2_2.py → src/commands/example.py

@@ -1,26 +1,12 @@
-from controller import Controller
-from threading import Thread
-from apa102 import APA102
 import wpilib
-from wpilib.command import Subsystem, Command
+from wpilib.command import Command
+from subsystems import LEDSubsystem
 
-class LEDSubsystem(Subsystem, APA102):
-    def __init__(self):
-        Subsystem.__init__(self)
-        APA102.__init__(self,
-            numLEDs=144, 
-            globalBrightness=5, 
-            order='rgb') 
-
-    def initDefaultCommand(self):
-        self.setDefaultCommand(StrafeyCommand())
-
-led_subsystem = None
 
-class StrafeyCommand(Command):
+class BlinkyCommand(Command):
     def __init__(self):
         super().__init__()
-        self.leds = led_subsystem
+        self.leds = LEDSubsystem.getInstance()
         self.requires(self.leds)
         self.timer = wpilib.Timer()
         self.state = False
@@ -30,6 +16,7 @@ def initialize(self):
         self.timer.start()
 
     def execute(self):
+        # this method is executed approximately once every 5 ms
         if self.timer.get() > 0.5:
             self.timer.reset()
             if self.state:
@@ -46,10 +33,11 @@ def isFinished(self):
     def end(self):
         self.leds.clearStrip()
 
-class StrafeyCommand2(Command):
+
+class OtherBlinkyCommand(Command):
     def __init__(self):
         super().__init__()
-        self.leds = led_subsystem
+        self.leds = LEDSubsystem.getInstance()
         self.requires(self.leds)
         self.timer = wpilib.Timer()
         self.state = False
@@ -77,27 +65,3 @@ def isFinished(self):
 
     def end(self):
         self.leds.clearStrip()
-
-
-class MyController(Controller):
-    def __init__(self):
-        global led_subsystem
-        super().__init__()
-        led_subsystem = self.leds = LEDSubsystem()
-
-    def shutdown(self):
-        self.leds.clearStrip()
-
-    def scheduleit(self):
-        print('schiedule')
-        import time
-        time.sleep(2)
-        StrafeyCommand2().start()
-
-
-
-controller = MyController()
-Thread(target=lambda: controller.scheduleit()).start()
-controller.start()
-
-

src/subsystems/__init__.py

@@ -0,0 +1,17 @@
+from .apa102 import APA102
+from wpilib.command import Subsystem
+
+
+class LEDSubsystem(Subsystem, APA102):
+    @classmethod
+    def getInstance(cls):
+        return cls.instance
+
+    def __init__(self):
+        Subsystem.__init__(self)
+        APA102.__init__(self,
+                        numLEDs=144,
+                        globalBrightness=5,
+                        order='rgb')
+        LEDSubsystem.instance = self
+

src/test2_2.py

@@ -0,0 +1,29 @@
+from threading import Thread
+
+from commands.example import BlinkyCommand, OtherBlinkyCommand
+from controller import Controller
+from subsystems import LEDSubsystem
+
+
+class MyController(Controller):
+    def __init__(self):
+        super().__init__()
+        self.leds = LEDSubsystem()
+
+        self.leds.setDefaultCommand(BlinkyCommand())
+
+    def shutdown(self):
+        self.leds.clearStrip()
+
+    def scheduleit(self):
+        import time
+        time.sleep(2)
+        OtherBlinkyCommand().start()
+
+
+
+controller = MyController()
+Thread(target=lambda: controller.scheduleit()).start()
+controller.start()
+
+