Add Python to SmartDashboard Articles (#2486)

Author: jasondaming

source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst

@@ -21,16 +21,27 @@ In ``Robot.java`` / ``Robot.h``, create a variable to hold a reference to a ``Se
       :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
-         :language: java
+         :language: Java
          :lines: 18-21
 
    .. tab-item:: C++
       :sync: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
-         :language: c++
+         :language: C++
          :lines: 28-31
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. code-block:: python
+
+         import wpilib
+
+         self.defaultAuto = "Default"
+         self.customAuto = "My Auto";
+         self.chooser = wpilib.SendableChooser()
+
 Setting Up Options
 ^^^^^^^^^^^^^^^^^^
 
@@ -52,6 +63,17 @@ The chooser allows you to pick from a list of defined elements, in this case the
          :language: c++
          :lines: 10-14
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. code-block:: python
+
+         from wpilib import SmartDashboard
+
+         self.chooser.setDefaultOption("Default Auto", self.defaultAuto)
+         self.chooser.addOption("My Auto", self.customAuto)
+         SmartDashboard.putData("Auto choices", self.chooser)
+
 Running Autonomous Code
 ^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -63,20 +85,36 @@ Now, in ``autonomousInit`` and ``autonomousPeriodic``, you can use the ``m_autoS
       :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
-         :language: java
+         :language: Java
          :lines: 54-56, 58-73
 
    .. tab-item:: C++
       :sync: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
-         :language: c++
+         :language: C++
          :lines: 37-38, 41-57
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. code-block:: python
+
+         def autonomousInit(self):
+            self.autoSelected = self.chooser.getSelected()
+            print("Auto selected: " + self.autoSelected)
+
+         def autonomousPeriodic(self):
+            match self.autoSelected:
+               case self.customAuto:
+                  # Put custom auto code here
+               case _:
+                  # Put default auto code here
+
 Command-Based
 -------------
 
-.. note:: The code snippets shown below are part of the HatchbotTraditional example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
+.. note:: The code snippets shown below are part of the HatchbotTraditional example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__, `Python <https://github.com/robotpy/examples/tree/main/HatchbotTraditional>`__):
 
 Creating the SendableChooser Object
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -89,23 +127,30 @@ In ``RobotContainer``, create a variable to hold a reference to a ``SendableChoo
       :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-         :language: java
+         :language: Java
          :lines: 40-49
 
    .. tab-item:: C++ (using raw pointers)
       :sync: C++ (using raw pointers)
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
-         :language: c++
+         :language: C++
          :lines: 38-44
 
    .. tab-item:: C++ (using ``CommandPtr``)
       :sync: C++ (using ``CommandPtr``)
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
-         :language: c++
+         :language: C++
          :lines: 45-50
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 45-54
+
 Setting up SendableChooser
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -136,19 +181,42 @@ In ``RobotContainer``, create a ``SendableChooser`` object and add instances of
          :language: c++
          :lines: 12-15
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 56-58
+
 Then, publish the chooser to the dashboard:
 
-.. tab-set-code::
+.. tab-set::
+
+   .. tab-item:: Java
+      :sync: Java
+
+      .. code-block:: java
+
+         // Put the chooser on the dashboard
+         SmartDashboard.putData(m_chooser);
+
+   .. tab-item:: C++
+      :sync: C++
+
+      .. code-block:: c++
 
-   .. code-block:: java
+         // Put the chooser on the dashboard
+         frc::SmartDashboard::PutData(&m_chooser);
 
-      // Put the chooser on the dashboard
-      SmartDashboard.putData(m_chooser);
+   .. tab-item:: Python
+      :sync: Python
 
-   .. code-block:: c++
+      .. code-block:: python
 
-      // Put the chooser on the dashboard
-      frc::SmartDashboard::PutData(&m_chooser);
+         from wpilib import SmartDashboard
+
+         # Put the chooser on the dashboard
+         SmartDashboard.putData(chooser)
 
 Starting an Autonomous Command
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -179,10 +247,21 @@ In ``Robot.java``, when the autonomous period starts, the ``SendableChooser`` ob
          :language: c++
          :lines: 46-52
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 93-94
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robot.py
+         :language: Python
+         :lines: 41-46
+
 Running the Scheduler during Autonomous
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-In ``Robot.java``, this will run the scheduler every driver station update period (about every 20ms) and cause the selected autonomous command to run.
+In ``Robot.java``, this will run the scheduler every driver station update period (about every 20ms) and cause the selected autonomous command to run.  In Python the scheduler runs automatically when ``TimedCommandRobot`` is used.
 
 .. note:: Running the scheduler can occur in the ``autonomousPeriodic()`` function or ``robotPeriodic()``, both will function similarly in autonomous mode.
 
@@ -231,6 +310,15 @@ In ``Robot.java``, when the teleop period begins, the autonomous command will be
          :linenos:
          :lineno-start: 56
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robot.py
+         :language: Python
+         :lines: 51-57
+         :linenos:
+         :lineno-start: 51
+
 SmartDashboard Display
 ^^^^^^^^^^^^^^^^^^^^^^
 

source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst

@@ -23,13 +23,20 @@ Displaying the Scheduler Status
 
 .. tab-set-code::
 
-  .. code-block:: java
+   .. code-block:: java
 
-    SmartDashboard.putData(CommandScheduler.getInstance());
+      SmartDashboard.putData(CommandScheduler.getInstance());
 
-  .. code-block:: c++
+   .. code-block:: c++
 
-    frc::SmartDashboard::PutData(frc2::CommandScheduler::GetInstance());
+      frc::SmartDashboard::PutData(frc2::CommandScheduler::GetInstance());
+
+   .. code-block:: python
+
+      from wpilib import SmartDashboard
+      from commands2 import CommandScheduler
+
+      SmartDashboard.putData(CommandScheduler.getInstance())
 
 You can display the status of the Scheduler (the code that schedules your commands to run). This is easily done by adding a single line to the ``RobotInit`` method in your RobotProgram as shown here. In this example the Scheduler instance is written using the ``putData`` method to SmartDashboard. This line of code produces the display in the previous image.
 
@@ -43,13 +50,19 @@ Displaying Subsystem Status
 
 .. tab-set-code::
 
-  .. code-block:: java
+   .. code-block:: java
+
+      SmartDashboard.putData(exampleSubsystem);
+
+   .. code-block:: c++
 
-    SmartDashboard.putData(exampleSubsystem);
+      frc::SmartDashboard::PutData(&exampleSubsystem);
 
-  .. code-block:: c++
+   .. code-block:: python
 
-    frc::SmartDashboard::PutData(&exampleSubsystem);
+      from wpilib import SmartDashboard
+
+      SmartDashboard.putData(exampleSubsystem)
 
 In this example we are writing the command instance, ``exampleSubsystem`` and instance of the ``ExampleSubsystem`` class to the SmartDashboard. This causes the display shown in the previous image. The text field will either contain a few dashes, ``---`` indicating that no command is current using this subsystem, or the name of the command currently using this subsystem.
 
@@ -63,13 +76,19 @@ Activating Commands with a Button
 
 .. tab-set-code::
 
-  .. code-block:: java
+   .. code-block:: java
+
+      SmartDashboard.putData("Autonomous Command", exampleCommand);
+
+   .. code-block:: c++
+
+      frc::SmartDashboard::PutData("Autonomous Command", &exampleCommand);
 
-    SmartDashboard.putData("Autonomous Command", exampleCommand);
+   .. code-block:: python
 
-  .. code-block:: c++
+      from wpilib import SmartDashboard
 
-    frc::SmartDashboard::PutData("Autonomous Command", &exampleCommand);
+      SmartDashboard.putData("Autonomous Command", exampleCommand)
 
 This is the code required to create a button for the command on SmartDashboard. Pressing the button will schedule the command. While the command is running, the button label changes from ``start`` to ``cancel`` and pressing the button will cancel the command.
 

source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst

@@ -32,6 +32,20 @@ For each sensor or actuator that is created, set the subsystem name and display
         frc::Victor wrist{2};
         SendableRegistry::SetName(wrist, "Arm", "Wrist");
 
+    .. code-block:: python
+
+        from wpilib import Jaguar, Ultrasonic, Victor
+        from wpiutil import SendableRegistry
+
+        ultrasonic = Ultrasonic(1, 2)
+        SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic")
+
+        elbow = Jaguar(1)
+        SendableRegistry.setName(elbow, "Arm", "Elbow")
+
+        wrist = Victor(2)
+        SendableRegistry.setName(wrist, "Arm", "Wrist")
+
 If your objects are in a ``Subsystem``, this can be simplified using the addChild method of ``SubsystemBase``
 
 .. tab-set-code::
@@ -58,6 +72,20 @@ If your objects are in a ``Subsystem``, this can be simplified using the addChil
         frc::Victor wrist{2};
         AddChild("Wrist", wrist);
 
+    .. code-block:: python
+
+        from wpilib import Jaguar, Ultrasonic, Victor
+        from commands2 import SubsystemBase
+
+        ultrasonic = Ultrasonic(1, 2)
+        SubsystemBase.addChild("Ultrasonic", ultrasonic)
+
+        elbow = Jaguar(1)
+        SubsystemBase.addChild("Elbow", elbow)
+
+        wrist = Victor(2)
+        SubsystemBase.addChild("Wrist", wrist)
+
 Viewing the Display in SmartDashboard
 -----------------------------------------