Python for glass docs (#2487)

Author: jasondaming

source/docs/software/dashboards/glass/command-based-widgets.rst

@@ -23,6 +23,13 @@ The :guilabel:`Command Selector`  widget allows you to start and cancel a specif
       MyCommand command{...};
       frc::SmartDashboard::PutData("My Command", &command);
 
+   .. code-block:: python
+
+      from wpilib import SmartDashboard
+
+      command = MyCommand(...)
+      SmartDashboard.putData("My Command", command)
+
 .. note:: The ``MyCommand`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Command Selector` widget will appear under the ``SmartDashboard`` table name.
 
 .. image:: images/command-selector.png

source/docs/software/dashboards/glass/field2d-widget.rst

@@ -13,17 +13,11 @@ To send your robot's position (usually obtained by :ref:`odometry <docs/software
 
       private final Field2d m_field = new Field2d();
 
-      public Drivetrain() {
-        ...
-        SmartDashboard.putData("Field", m_field);
-      }
+      // Do this in either robot or subsystem init
+      SmartDashboard.putData("Field", m_field);
 
-      ...
-
-      public void periodic() {
-        ...
-        m_field.setRobotPose(m_odometry.getPoseMeters());
-      }
+      // Do this in either robot periodic or subsystem periodic
+      m_field.setRobotPose(m_odometry.getPoseMeters());
 
    .. code-block:: c++
 
@@ -32,17 +26,23 @@ To send your robot's position (usually obtained by :ref:`odometry <docs/software
 
       frc::Field2d m_field;
 
-      Drivetrain() {
-        ...
-        frc::SmartDashboard::PutData("Field", &m_field);
-      }
+      // Do this in either robot or subsystem init
+      frc::SmartDashboard::PutData("Field", &m_field);
+
+      // Do this in either robot periodic or subsystem periodic
+      m_field.SetRobotPose(m_odometry.GetPose());
+
+   .. code-block:: python
 
-      ...
+      from wpilib import SmartDashboard, Field2d
 
-      void Periodic() {
-        ...
-        m_field.SetRobotPose(m_odometry.GetPose());
-      }
+      self.field = Field2d()
+
+      # Do this in either robot or subsystem init
+      SmartDashboard.putData("Field", self.field)
+
+      # Do this in either robot periodic or subsystem periodic
+      self.field.setRobotPose(self.odometry.getPose())
 
 .. note:: The ``Field2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Field2d` widget will appear under the ``SmartDashboard`` table name.
 
@@ -65,6 +65,10 @@ Visualizing your trajectory is a great debugging step for verifying that your tr
       :linenos:
       :lineno-start: 18
 
+   .. rli:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/RamseteController/robot.py
+      :language: python
+      :lines: 19,26-39,46-53
+
 Viewing Trajectories with Glass
 -------------------------------
 
@@ -73,7 +77,7 @@ The sent trajectory can be viewed with :ref:`Glass <docs/software/dashboards/gla
 .. image:: images/sent-trajectory.png
    :alt: Picture containing Field2d and the generated trajectory
 
-.. note:: The above example which uses the `RamseteController (Java) <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java>`__/`RamseteController (C++) <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp>`__ will not show the sent trajectory until autonomous is enabled at least once.
+.. note:: The above example which uses the RamseteController (`Java <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp>`__ / `Python <https://github.com/robotpy/examples/tree/2024.0.0b4/RamseteController>`__) will not show the sent trajectory until autonomous is enabled at least once.
 
 Viewing the Robot Pose in Glass
 -------------------------------

source/docs/software/dashboards/glass/mech2d-widget.rst

@@ -24,6 +24,12 @@ In the examples below, an elevator is drawn, with a rotational wrist on top of t
       :linenos:
       :lineno-start: 59
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 32-35
+      :linenos:
+      :lineno-start: 32
+
 
 Each ``MechanismLigament2d`` object represents a stage of the mechanism. It has a three required parameters, a name, an initial length to draw (relative to the size of the ``Mechanism2d`` object), and an initial angle to draw the ligament in degrees. Ligament angles are relative to the parent ligament, and follow math notation - the same as :ref:`Rotation2d <docs/software/advanced-controls/geometry/pose:Rotation>` (counterclockwise-positive). A ligament based on the root with an angle of zero will point right. Two optional parameters let you change the width (also relative to the size of the Mechanism2d object) and the color. Call ``append()``/``Append()`` on a root node or ligament node to add another node to the figure. In Java, pass a constructed ``MechanismLigament2d`` object to add it. In C++, pass the construction parameters in order to construct and add a ligament.
 
@@ -42,6 +48,12 @@ Each ``MechanismLigament2d`` object represents a stage of the mechanism. It has
       :linenos:
       :lineno-start: 63
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+         :language: python
+         :lines: 37-44
+         :linenos:
+         :lineno-start: 37
+
 Then, publish the ``Mechanism2d`` object to NetworkTables:
 
 .. tab-set-code::
@@ -58,6 +70,12 @@ Then, publish the ``Mechanism2d`` object to NetworkTables:
       :linenos:
       :lineno-start: 36
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 46-47
+      :linenos:
+      :lineno-start: 46
+
 .. note:: The ``Mechanism2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Mechanism2d` widget will appear under the ``SmartDashboard`` table name.
 
 To manipulate a ligament angle or length, call ``setLength()`` or ``setAngle()`` on the ``MechanismLigament2d`` object. When manipulating ligament length based off of sensor measurements, make sure to add the minimum length to prevent 0-length (and therefore invisible) ligaments.
@@ -76,6 +94,12 @@ To manipulate a ligament angle or length, call ``setLength()`` or ``setAngle()``
       :linenos:
       :lineno-start: 40
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 49-54
+      :linenos:
+      :lineno-start: 49
+
 Viewing the Mechanism2d in Glass
 --------------------------------
 
@@ -99,4 +123,4 @@ Viewing the Mechanism2d in AdvantageScope
 Next Steps
 ----------
 
-As mentioned above, the Mechanism2d visualization can be combined with :doc:`Physics Simulation </docs/software/wpilib-tools/robot-simulation/physics-sim>` to help you program mechanisms before your robot is built. The ArmSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp>`__) and ElevatorSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp>`__) examples combine physics simulation and Mechanism2d visualization so that you can practice programming a single jointed arm and elevator without a robot.
+As mentioned above, the Mechanism2d visualization can be combined with :doc:`Physics Simulation </docs/software/wpilib-tools/robot-simulation/physics-sim>` to help you program mechanisms before your robot is built. The ArmSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp>`__ / `Python <https://github.com/robotpy/examples/blob/2024.0.0b4/ArmSimulation/robot.py>`__) and ElevatorSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp>`__ / `Python <https://github.com/robotpy/examples/blob/2024.0.0b4/ElevatorSimulation/robot.py>`__) examples combine physics simulation and Mechanism2d visualization so that you can practice programming a single jointed arm and elevator without a robot.

source/docs/software/dashboards/glass/widgets.rst

@@ -40,6 +40,12 @@ The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instanc
 
       frc::SmartDashboard::PutData("Auto Selector", &m_selector);
 
+   .. code-block:: python
+
+      from wpilib import SmartDashboard
+
+      SmartDashboard.putData("Auto Selector", selector)
+
 .. note:: For more information on creating a ``SendableChooser``, please see :ref:`this document <docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard:Setting up SendableChooser>`.
 
 The :guilabel:`Sendable Chooser` widget will appear in the :guilabel:`NetworkTables` menu and underneath the main table name that the instance was sent over. From the example above, the main table name would be :guilabel:`SmartDashboard`.
@@ -60,6 +66,12 @@ The :guilabel:`PID Controller` widget allows you to quickly tune PID values for
 
       frc::SmartDashboard::PutData("Elevator PID Controller", &m_elevatorPIDController);
 
+   .. code-block:: python
+
+      from wpilib import SmartDashboard
+
+      SmartDashboard.putData("Elevator PID Controller", elevatorPIDController)
+
 This allows you to quickly tune P, I, and D values for various setpoints.
 
 .. image:: images/pid.png