New menu works, seems to need

double-click for abort.
Added test.py for testing code outside of the Robot class.

Author: WesleyJ-128

FLLMaster/DriveLibraries.py

@@ -358,10 +358,10 @@ def ArcTurn(self, Degrees, Radius, Speed):
         # Otherwise, wait for the degrees turned to become <= Degrees
         if Degrees > 0:
             while (self.correctedAngle - startHeading) < Degrees:
-                dummy = 1
+                pass
         else:
             while (self.correctedAngle - startHeading) > Degrees:
-                dummy = 1
+                pass
 
         # Stop the motors
         self.tank.stop()

FLLMaster/Main.py

@@ -1,9 +1,10 @@
 #!/usr/bin/env python3
-from MenuLib import init, initthread, runCurrentMission
-from time import sleep
-from sys import stderr
+
 loopIndex = 0
 
+from MenuLib import init, initthread
+from sys import stderr
+
 init('robot.cfg')
 initthread()
 from MenuLib import *
@@ -17,39 +18,29 @@ def left():
         display()
     else:
         abort()
-        minusCount()
-        display()
 def right():
     if not mission.is_alive():
         addCount()
         display()
     else:
         abort()
-        minusCount()
-        display()
 def down():
     if not mission.is_alive():
         calibrate()
     else:
         abort()
-        minusCount()
-        display()
 def up():
     if not mission.is_alive():
         robot.reflectCal()
     else:
         abort()
-        minusCount()
-        display()
 def enter():
     if not mission.is_alive():
         run()
         addCount()
         display()
     else:
         abort()
-        minusCount()
-        display()
 
 print("Functions Defined", file=stderr)
 
@@ -64,9 +55,11 @@ def enter():
 print("Map Defined", file=stderr)
 
 while True:
+    from MenuLib import mission
     buttonlist = robot.btn.buttons_pressed
     if buttonlist:
         buttonMap[buttonlist[0]]()
     loopIndex = (loopIndex + 1) % 100
-    checkDrift()
-    displaySensor()
+    if not mission.is_alive():
+        checkDrift()
+        displaySensor()

FLLMaster/MenuLib.py

@@ -1,94 +1,99 @@
-from DriveLibraries import *
-import multiprocessing
-from time import sleep
-Missions = None
-mission = None
-robot = None
-programs = []
-numPrograms = 0
-count = 1
-loopIndex = 0
-
-def init(confFile):
-    global programs
-    global numPrograms
-    global robot
-    global Missions
-    robot = Robot(confFile)
-    import Missions
-    programs = dir(Missions)
-    i = 0
-    index = -1
-
-    length = len(programs)
-    while i < length:
-        if not ((programs[index][0] == "a") and (programs[index][1].isnumeric()) and (programs[index][2].isnumeric())):
-            programs.pop(index)
-        else:
-            index -= 1
-        i += 1
-    numPrograms = len(programs)
-
-    robot.disp.clear()
-    robot.disp.text_grid(programs[0][3:], font=robot.fonts.load('timR24'))
-
-def runCurrentMission():
-    method_to_call = getattr(Missions, programs[count - 1])
-    method_to_call()
-    robot.rm.off(brake=False)
-    robot.lm.off(brake=False)
-
-def initthread():
-    global mission
-    mission = multiprocessing.Process(target=runCurrentMission)
-
-def run():
-    robot.zeroGyro()
-    mission.start()
-    
-def display():
-    name = programs[count - 1][3:]
-    robot.disp.text_grid(name, font=robot.fonts.load('timR24'))
-
-def abort():
-    mission.terminate()
-    mission.join()
-    robot.lm.off(brake=False)
-    robot.rm.off(brake=False)
-
-def addCount():
-    global count
-    count = (count % numPrograms) + 1
-
-def minusCount():
-    global count
-    count = ((count + (numPrograms - 2)) % numPrograms) + 1
-
-def checkDrift():
-    ar = robot.gs.angle_and_rate
-    rate = ar[1]
-    if rate < -0.5 or rate > 0.5:
-        robot.led.all_off()
-        robot.led.set_color('LEFT', 'RED')
-        robot.led.set_color('RIGHT', 'RED')
-    else:
-        robot.led.reset()
-
-def displaySensor():
-    if loopIndex == 0:
-        robot.disp.rectangle(False, 0, 89, 177, 120, 'white', 'white')
-        robot.disp.update
-        robot.cs._ensure_mode(robot.cs.MODE_COL_REFLECT)
-        robot.disp.text_pixels("P1, Color:" + str(robot.correctedRLI), False, 40, 90, font=robot.fonts.load('courR10'))
-        robot.disp.text_pixels("P2, Gyro:" + str(robot.correctedAngle), False, 40, 100, font=robot.fonts.load('courR10'))
-        robot.disp.update()
-
-def calibrate():
-    robot.led.all_off()
-    robot.led.set_color('LEFT', 'YELLOW')
-    robot.led.set_color('RIGHT', 'YELLOW')
-    robot.spkr.beep('-f 369.99')
-    robot.gs.calibrate()
-    sleep(1)
-    robot.spkr.beep()
+from DriveLibraries import *
+import multiprocessing
+from time import sleep
+Missions = None
+mission = None
+robot = None
+programs = []
+numPrograms = 0
+count = 1
+loopIndex = 0
+
+def init(confFile):
+    global programs
+    global numPrograms
+    global robot
+    global Missions
+    robot = Robot(confFile)
+    import Missions
+    programs = dir(Missions)
+    i = 0
+    index = -1
+
+    length = len(programs)
+    while i < length:
+        if not ((programs[index][0] == "a") and (programs[index][1].isnumeric()) and (programs[index][2].isnumeric())):
+            programs.pop(index)
+        else:
+            index -= 1
+        i += 1
+    numPrograms = len(programs)
+
+    robot.disp.clear()
+    robot.disp.text_grid(programs[0][3:], font=robot.fonts.load('timR24'))
+
+def runCurrentMission():
+    method_to_call = getattr(Missions, programs[count - 1])
+    method_to_call()
+    robot.rm.off(brake=False)
+    robot.lm.off(brake=False)
+
+def initthread():
+    global mission
+    mission = multiprocessing.Process(target=runCurrentMission)
+
+def run():
+    global mission
+    mission = multiprocessing.Process(target=runCurrentMission)
+    robot.zeroGyro()
+    mission.start()
+    
+def display():
+    name = programs[count - 1][3:]
+    robot.disp.text_grid(name, font=robot.fonts.load('timR24'))
+
+def abort():
+    mission.terminate()
+    mission.join()
+    sleep(1)
+    robot.lm.off(brake=False)
+    robot.rm.off(brake=False)
+    minusCount()
+    display()
+
+def addCount():
+    global count
+    count = (count % numPrograms) + 1
+
+def minusCount():
+    global count
+    count = ((count + (numPrograms - 2)) % numPrograms) + 1
+
+def checkDrift():
+    ar = robot.gs.angle_and_rate
+    rate = ar[1]
+    if rate < -0.5 or rate > 0.5:
+        robot.led.all_off()
+        robot.led.set_color('LEFT', 'RED')
+        robot.led.set_color('RIGHT', 'RED')
+    else:
+        robot.led.reset()
+
+def displaySensor():
+    if loopIndex == 0:
+        robot.disp.rectangle(False, 0, 89, 177, 120, 'white', 'white')
+        robot.disp.update
+        robot.cs._ensure_mode(robot.cs.MODE_COL_REFLECT)
+        robot.disp.text_pixels("P1, Color:" + str(robot.correctedRLI), False, 40, 90, font=robot.fonts.load('courR10'))
+        robot.disp.text_pixels("P2, Gyro:" + str(robot.correctedAngle), False, 40, 100, font=robot.fonts.load('courR10'))
+        robot.disp.update()
+
+def calibrate():
+    robot.led.all_off()
+    robot.led.set_color('LEFT', 'YELLOW')
+    robot.led.set_color('RIGHT', 'YELLOW')
+    robot.spkr.beep('-f 369.99')
+    robot.gs.calibrate()
+    sleep(1)
+    robot.spkr.beep()
     robot.led.reset()

FLLMaster/robot.cfg

@@ -14,15 +14,15 @@ kd = 0.5
 ColorPort=INPUT_1
 GyroPort=INPUT_2
 InfraredPort=INPUT_4
-TouchPort= 0
+TouchPort= None
 UltrasonicPort=INPUT_3
 kpLine = 0.45
 kiLine = 0.01163
 kdLine = 2.528
 
 [AuxMotors]
-AuxMotor1 = 0
-AuxMotor2 = 0
+AuxMotor1 = None
+AuxMotor2 = None
 
 [Other]
 ForFLL = TRUE

FLLMaster/test.py

@@ -0,0 +1,3 @@
+#!/usr/bin/env python3
+
+# Program for testing stuff without all of the framework; less things to go wrong