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CLI_Wallet.py
Source:CLI_Wallet.py 
1#!/usr/bin/env python32##########################################3# Duino-Coin CLI Wallet (v2.7.1)4# https://github.com/revoxhere/duino-coin5# Distributed under MIT license6# © Duino-Coin Community 20227##########################################8import configparser9import datetime10import getpass11import json12import os13from os import _exit, execl, mkdir14from os import path15import platform16import socket17import sys18import time19from pathlib import Path20from signal import SIGINT, signal21from base64 import b64decode, b64encode22from platform import system as plsystem23from locale import LC_ALL, getdefaultlocale, getlocale, setlocale24from json import load as jsonload25try:26 import requests27except:28 now = datetime.datetime.now()29 print(now.strftime("%H:%M:%S ") +30 "Requests is not installed. "31 + "Please install it using: python3 -m pip install requests."32 + "\nExiting in 15s.")33 time.sleep(15)34 os._exit(1)35wrong_passphrase = False36iterations = 100_00037timeout = 30 # Socket timeout38VER = 2.7139RESOURCES_DIR = 'CLI_Wallet_' + str(VER) + '_resources'40use_wrapper = False41WS_URI = "ws://server.duinocoin.com:15808"42config = configparser.ConfigParser()43# Check if the resources folder exists, and makes one if not44if not path.exists(RESOURCES_DIR):45 mkdir(RESOURCES_DIR)46# Check if commands file exists47if not Path(RESOURCES_DIR + "/cli_wallet_commands.json").is_file():48 url = ("https://raw.githubusercontent.com/"49 + "revoxhere/"50 + "duino-coin/master/Resources/"51 + "cli_wallet_commands.json")52 r = requests.get(url)53 with open(RESOURCES_DIR + "/cli_wallet_commands.json", "wb") as f:54 f.write(r.content)55# Check if languages file exists56if not Path(RESOURCES_DIR + "/langs.json").is_file():57 url = ("https://raw.githubusercontent.com/"58 + "revoxhere/"59 + "duino-coin/master/Resources/"60 + "CLI_Wallet_langs.json")61 r = requests.get(url)62 with open(RESOURCES_DIR + "/langs.json", "wb") as f:63 f.write(r.content)64# Load language file65with open(RESOURCES_DIR + "/langs.json", "r", encoding="utf8") as lang_file:66 lang_file = jsonload(lang_file)67# OS X invalid locale hack68if plsystem() == "Darwin":69 if getlocale()[0] is None:70 setlocale(LC_ALL, "en_US.UTF-8")71# Check if wallet is configured, if it isn't, autodetect language72try:73 if not Path(RESOURCES_DIR + "/CLIWallet_config.cfg").is_file():74 locale = getdefaultlocale()[0]75 if locale.startswith("nl"):76 lang = "dutch"77 elif locale.startswith("th"):78 lang = "thai"79 elif locale.startswith("sk"):80 lang = "slovak"81 elif locale.startswith("ko"):82 lang = "korean"83 else:84 lang = "english"85 else:86 # Read language variable from configfile87 try:88 config.read(RESOURCES_DIR + "/CLIWallet_config.cfg")89 lang = config["wallet"]["language"]90 except Exception:91 # If it fails, fallback to english92 lang = "english"93except Exception as error:94 lang = "english"95def getString(string_name):96 # Get string form language file97 if string_name in lang_file[lang]:98 return lang_file[lang][string_name]99 elif string_name in lang_file["english"]:100 return lang_file["english"][string_name]101 else:102 return "String not found: " + string_name103try:104 from base64 import urlsafe_b64decode as b64d105 from base64 import urlsafe_b64encode as b64e106except ModuleNotFoundError:107 print(getString("base64_not_installed"))108 time.sleep(15)109 _exit(1)110try:111 from cryptography.fernet import Fernet, InvalidToken112 from cryptography.hazmat.backends import default_backend113 from cryptography.hazmat.primitives import hashes114 from cryptography.hazmat.primitives.kdf.pbkdf2 import PBKDF2HMAC115except:116 now = datetime.datetime.now()117 print(now.strftime("%H:%M:%S ") + getString("cryptography_not_installed"))118 time.sleep(15)119 os._exit(1)120try:121 import secrets122except:123 now = datetime.datetime.now()124 print(now.strftime("%H:%M:%S ") + getString("secrets_not_installed"))125 time.sleep(15)126 os._exit(1)127try:128 import websocket129except:130 now = datetime.datetime.now()131 print(now.strftime("%H:%M:%S ") + getString("websocket_not_installed"))132 time.sleep(15)133 os._exit(1)134try: # Check if colorama is installed135 from colorama import Back, Fore, Style, init136except:137 now = datetime.datetime.now()138 print(now.strftime("%H:%M:%S ") + getString("colorama_not_installed"))139 time.sleep(15)140 os._exit(1)141try:142 import tronpy143 from tronpy.keys import PrivateKey144 tronpy_installed = True145except:146 tronpy_installed = False147 now = datetime.datetime.now()148 print(now.strftime("%H:%M:%S ") + getString("tronpy_not_installed"))149backend = default_backend()150def title(title):151 if os.name == 'nt':152 os.system(153 "title "154 + title)155 else:156 print(157 '\33]0;'158 + title159 + '\a',160 end='')161 sys.stdout.flush()162def _derive_key(163 password: bytes,164 salt: bytes,165 iterations: int = iterations) -> bytes:166 kdf = PBKDF2HMAC(167 algorithm=hashes.SHA256(),168 length=32,169 salt=salt,170 iterations=iterations,171 backend=backend)172 return b64e(kdf.derive(password))173def print_command(name, desc):174 print(" " + Style.RESET_ALL + Fore.WHITE +175 Style.BRIGHT + name + Style.RESET_ALL + desc)176# Print the command names and description using a json file177def print_commands_norm():178 with open(RESOURCES_DIR + '/cli_wallet_commands.json') as f:179 data = json.load(f)180 for key, value in data.items():181 if key == "wrapper_commands":182 break183 print_command(key, value)184def print_commands_wrapper():185 with open(RESOURCES_DIR + '/cli_wallet_commands.json') as f:186 data = json.load(f)187 for key in data["wrapper_commands"]:188 print_command(key, data["wrapper_commands"][key])189def password_encrypt(190 message: bytes,191 password: str,192 iterations: int = iterations) -> bytes:193 salt = secrets.token_bytes(16)194 key = _derive_key(195 password.encode(),196 salt,197 iterations)198 return b64e(199 b'%b%b%b' % (200 salt,201 iterations.to_bytes(4, 'big'),202 b64d(Fernet(key).encrypt(message))))203def password_decrypt(204 token: bytes,205 password: str) -> bytes:206 decoded = b64d(token)207 salt, iterations, token = decoded[:16], decoded[16:20], b64e(decoded[20:])208 iterations = int.from_bytes(iterations, 'big')209 key = _derive_key(210 password.encode(),211 salt,212 iterations)213 return Fernet(key).decrypt(token)214def handler(signal_received, frame):215 print(Style.RESET_ALL216 + Style.BRIGHT217 + Fore.YELLOW218 + getString("see_you_soon"))219 try:220 wss_conn.send(bytes("CLOSE", encoding="utf8"))221 except:222 pass223 os._exit(0)224signal(SIGINT, handler) # Enable signal handler225while True:226 print(("Warning: CLI and GUI wallets are being deprecated "227 + "in favor of the Web Wallet. "228 + "This app may not run properly."))229 try:230 wss_conn = websocket.create_connection(WS_URI)231 SERVER_VER = wss_conn.recv().decode()232 jsonapi = requests.get(233 "https://raw.githubusercontent.com/"234 + "revoxhere/"235 + "duco-statistics/master/api.json",236 data=None)237 if jsonapi.status_code == 200:238 content = jsonapi.content.decode()239 contentjson = json.loads(content)240 ducofiat = float(contentjson["Duco price"])241 else:242 ducofiat = 0.0025243 break244 except Exception as e:245 print(e)246 print(Style.RESET_ALL247 + Fore.RED248 + getString("cant_connect_to_server"))249 time.sleep(15)250 os._exit(1)251 except:252 print(Style.RESET_ALL253 + Fore.RED254 + getString("cant_recieve_pool_ip_and_port"))255 time.sleep(15)256 os._exit(1)257def reconnect():258 while True:259 try:260 # Try to connect261 wss_conn = websocket.create_connection(WS_URI)262 wss_conn.settimeout(timeout)263 SERVER_VER = wss_conn.recv().decode().rstrip("\n")264 jsonapi = requests.get(265 "https://raw.githubusercontent.com/"266 + "revoxhere/"267 + "duco-statistics/master/api.json",268 data=None)269 if jsonapi.status_code == 200:270 content = jsonapi.content.decode()271 contentjson = json.loads(content)272 ducofiat = float(contentjson["Duco price"])273 else:274 ducofiat = 0.0025275 except:276 print(Style.RESET_ALL + Fore.RED277 + getString("cant_connect_to_server"))278 time.sleep(15)279 os.system("python " + __file__)280 else:281 return wss_conn282while True:283 title("Duino-Coin CLI Wallet")284 if not Path(RESOURCES_DIR + "/CLIWallet_config.cfg").is_file():285 # Initial configuration section286 print(Style.RESET_ALL287 + Style.BRIGHT288 + Fore.YELLOW289 + getString("first_run"))290 print(Style.RESET_ALL + getString("select_option"))291 choice = input(getString("choice_input"))292 try:293 int(choice)294 except ValueError:295 print(getString("value_not_numeric"))296 if int(choice) <= 1:297 username = input(298 Style.RESET_ALL299 + Fore.YELLOW300 + getString("enter_username")301 + Style.BRIGHT)302 password = getpass.getpass(prompt=Style.RESET_ALL303 + Fore.YELLOW304 + getString("enter_password")305 + Style.BRIGHT,306 stream=None)307 server_timeout = True308 while server_timeout:309 try:310 wss_conn.send(bytes(311 "LOGI,"312 + str(username)313 + ","314 + str(password)315 + str(",placeholder"),316 encoding="utf8"))317 loginFeedback = wss_conn.recv().decode()318 loginFeedback = loginFeedback.rstrip("\n").split(",")319 server_timeout = False320 if loginFeedback[0] == "OK":321 print(Style.RESET_ALL322 + Fore.YELLOW323 + getString("login_success"))324 config['wallet'] = {325 "username": username,326 "password": b64encode(327 bytes(password, encoding="utf8")328 ).decode("utf-8"),329 "language": lang}330 config['wrapper'] = {"use_wrapper": "false"}331 # Write data to file332 with open(RESOURCES_DIR333 + "/CLIWallet_config.cfg",334 "w") as configfile:335 config.write(configfile)336 else:337 print(Style.RESET_ALL338 + Fore.RED339 + getString("login_failed")340 + Style.BRIGHT341 + str(loginFeedback[1]))342 time.sleep(15)343 os._exit(1)344 except socket.timeout:345 server_timeout = True346 if int(choice) == 2:347 print(Style.RESET_ALL348 + Fore.YELLOW349 + getString("agree_requirments")350 + Fore.WHITE351 + "https://github.com/revoxhere/duino-coin#terms-of-usage"352 + Fore.YELLOW)353 username = input(354 Style.RESET_ALL355 + Fore.YELLOW356 + getString("enter_username")357 + Style.BRIGHT)358 password = getpass.getpass(prompt=Style.RESET_ALL359 + Fore.YELLOW360 + getString("enter_password")361 + Style.BRIGHT,362 stream=None)363 pconfirm = getpass.getpass(prompt=Style.RESET_ALL364 + Fore.YELLOW365 + getString("confirm_password")366 + Style.BRIGHT,367 stream=None)368 email = input(369 Style.RESET_ALL370 + Fore.YELLOW371 + getString("enter_email")372 + Style.BRIGHT)373 if password == pconfirm:374 while True:375 wss_conn.send(bytes(376 "REGI,"377 + str(username)378 + ","379 + str(password)380 + ","381 + str(email),382 encoding="utf8"))383 regiFeedback = wss_conn.recv().decode()384 regiFeedback = regiFeedback.rstrip("\n").split(",")385 if regiFeedback[0] == "OK":386 print(Style.RESET_ALL387 + Fore.YELLOW388 + Style.BRIGHT389 + getString("register_success"))390 break391 elif regiFeedback[0] == "NO":392 print(Style.RESET_ALL393 + Fore.RED394 + getString("register_failed")395 + Style.BRIGHT396 + str(regiFeedback[1]))397 time.sleep(15)398 os._exit(1)399 if int(choice) >= 3:400 os._exit(0)401 else:402 config.read(RESOURCES_DIR + "/CLIWallet_config.cfg")403 if config["wrapper"]["use_wrapper"] == "true" and tronpy_installed:404 use_wrapper = True405 if config["wrapper"]["use_custom_passphrase"] == "true":406 passphrase = getpass.getpass(407 prompt=Style.RESET_ALL408 + Fore.YELLOW409 + getString("decrypt_private_key")410 + Style.BRIGHT,411 stream=None)412 try:413 priv_key = password_decrypt(414 config["wrapper"]["priv_key"],415 passphrase).decode("utf8")416 except InvalidToken:417 print(getString("invalid_passphrase_wrapper"))418 use_wrapper = False419 wrong_passphrase = True420 else:421 try:422 priv_key = password_decrypt(423 config["wrapper"]["priv_key"],424 b64decode(425 config["wallet"]["password"]426 ).decode("utf8")427 ).decode("utf8")428 except InvalidToken:429 print(getString("invalid_passphrase_wrapper"))430 use_wrapper = False431 wrong_passphrase = True432 pub_key = config["wrapper"]["pub_key"]433 while True:434 try:435 tron = tronpy.Tron()436 # wDUCO contract437 wduco = tron.get_contract(438 "TWYaXdxA12JywrUdou3PFD1fvx2PWjqK9U"439 )440 break441 except:442 print("Retrying wDUCO contract fetch")443 pass444 while True:445 try:446 wbalance = wduco.functions.balanceOf(447 config["wrapper"]["pub_key"])448 break449 except:450 print("Retrying wDUCO balance fetch")451 try:452 trx_balance = tron.get_account_balance(453 config["wrapper"]["pub_key"]454 )455 except:456 trx_balance = 0457 while True:458 config.read(RESOURCES_DIR + "/CLIWallet_config.cfg")459 username = config["wallet"]["username"]460 password = b64decode(config["wallet"]["password"]).decode("utf8")461 print("Authenticating...")462 wss_conn.send(bytes(463 "LOGI,"464 + str(username)465 + ","466 + str(password)467 + str(",placeholder"),468 encoding="utf8"))469 loginFeedback = wss_conn.recv().decode().rstrip("\n").split(",")470 if loginFeedback[0] == "OK":471 break472 else:473 print(Style.RESET_ALL474 + Fore.RED475 + getString("login_failed")476 + Style.BRIGHT477 + str(loginFeedback[1]))478 time.sleep(15)479 os._exit(1)480 while True:481 while True:482 try:483 wss_conn.send(bytes(484 "BALA",485 encoding="utf8"))486 except:487 wss_conn = reconnect()488 try:489 balance = round(490 float(wss_conn.recv().decode().rstrip("\n")), 8)491 balanceusd = round(492 float(balance) * float(ducofiat), 6)493 break494 except:495 pass496 if use_wrapper:497 while True:498 try:499 wbalance = float(500 wduco.functions.balanceOf(pub_key)501 )/10**6502 break503 except:504 pass505 try:506 trx_balance = tron.get_account_balance(pub_key)507 except:508 trx_balance = 0509 print(Style.RESET_ALL510 + Style.BRIGHT511 + Fore.YELLOW512 + getString("cli_wallet_text"))513 print(Style.RESET_ALL514 + Fore.YELLOW515 + getString("you_have")516 + Style.BRIGHT517 + str(balance)518 + " DUCO")519 print(Style.RESET_ALL520 + Fore.YELLOW521 + getString("which_is_about")522 + Style.BRIGHT523 + str(balanceusd)524 + " USD")525 print(Style.RESET_ALL526 + Fore.YELLOW527 + getString("duco_price")528 + Style.BRIGHT529 + str(ducofiat)530 + " USD")531 if use_wrapper:532 print(Style.RESET_ALL533 + Fore.YELLOW534 + getString("you_have")535 + Style.BRIGHT536 + str(wbalance)537 + " wDUCO")538 while True:539 try:540 pendingbalance = float(541 wduco.functions.pendingWithdrawals(542 pub_key,543 username)544 )/(10**6)545 break546 except:547 pass548 if pendingbalance > 0:549 print(Style.RESET_ALL550 + Fore.YELLOW551 + getString("pending_unwraps")552 + Style.BRIGHT553 + str(pendingbalance)554 + " wDUCO")555 print(Style.RESET_ALL556 + Fore.YELLOW557 + getString("tron_address")558 + Style.BRIGHT559 + str(pub_key))560 print(Style.RESET_ALL561 + Fore.YELLOW562 + getString("trx_balance")563 + Style.BRIGHT564 + str(trx_balance))565 print(Style.RESET_ALL566 + Fore.YELLOW567 + getString("help_list_command"))568 command = input(Style.RESET_ALL569 + Fore.WHITE570 + getString("duco_console")571 + Style.BRIGHT)572 if command == "refresh":573 continue574 elif command == "clear":575 if os.name == "nt":576 os.system("cls")577 continue578 else:579 os.system("clear")580 continue581 elif command == "send":582 recipient = input(Style.RESET_ALL583 + Fore.WHITE584 + getString("enter_recipients_name")585 + Style.BRIGHT)586 try:587 amount = float(input(588 Style.RESET_ALL589 + Fore.WHITE590 + getString("enter_amount_transfer")591 + Style.BRIGHT))592 except ValueError:593 print(getString("amount_numeric"))594 continue595 wss_conn.send(bytes(596 "SEND,-,"597 + str(recipient)598 + ","599 + str(amount),600 encoding="utf8"))601 while True:602 message = wss_conn.recv().decode().rstrip("\n")603 print(Style.RESET_ALL604 + Fore.BLUE605 + getString("server_message")606 + Style.BRIGHT607 + str(message))608 break609 elif command == "changepass":610 oldpassword = input(611 Style.RESET_ALL612 + Fore.WHITE613 + getString("enter_current_password")614 + Style.BRIGHT)615 newpassword = input(616 Style.RESET_ALL617 + Fore.WHITE618 + getString("enter_new_password")619 + Style.BRIGHT)620 wss_conn.send(bytes(621 "CHGP,"622 + str(oldpassword)623 + ","624 + str(newpassword),625 encoding="utf8"))626 while True:627 message = wss_conn.recv().decode().rstrip("\n")628 print(Style.RESET_ALL629 + Fore.BLUE630 + getString("server_message")631 + Style.BRIGHT632 + str(message))633 break634 elif command == "exit":635 print(Style.RESET_ALL636 + Style.BRIGHT637 + Fore.YELLOW638 + getString("sigint_detected")639 + Style.NORMAL640 + getString("see_you_soon")641 + Style.RESET_ALL)642 try:643 wss_conn.send(bytes("CLOSE", encoding="utf8"))644 except:645 pass646 os._exit(0)647 elif command == "wrapperconf": # wrapper config648 config.read(RESOURCES_DIR + "/CLIWallet_config.cfg")649 if (not config["wrapper"]["use_wrapper"] == "true"650 and tronpy_installed):651 print(Style.RESET_ALL652 + Fore.WHITE653 + getString("select_option"))654 try:655 choice = int(656 input(getString("choice_input_wrapper")))657 if choice <= 1:658 priv_key = str(PrivateKey.random())659 pub_key = PrivateKey(bytes.fromhex(660 priv_key)).public_key.to_base58check_address()661 print(getString("how_encrypt_private_key"))662 incorrect_value = True663 while incorrect_value:664 try:665 encryption_choice = int(666 input(getString("encryption_choice")))667 incorrect_value = False668 except ValueError:669 print(getString("value_not_numeric"))670 incorrect_value = True671 if encryption_choice <= 1:672 config['wrapper'] = {673 "use_wrapper": "true",674 "priv_key": str(password_encrypt(675 priv_key.encode(),676 password).decode()),677 "pub_key": pub_key,678 "use_custom_passphrase": "false"}679 # Write data to file680 with open(RESOURCES_DIR681 + "/CLIWallet_config.cfg",682 "w") as configfile:683 config.write(configfile)684 print(getString("success"))685 elif encryption_choice >= 2:686 passphrase = input(687 getString("encrypt_private_key"))688 config['wrapper'] = {689 "use_wrapper": "true",690 "priv_key": str(password_encrypt(691 priv_key.encode(),692 passphrase).decode()),693 "pub_key": pub_key,694 "use_custom_passphrase": "true"}695 # Write data to file696 with open(RESOURCES_DIR697 + "/CLIWallet_config.cfg",698 "w") as configfile:699 config.write(configfile)700 print(getString("success"))701 print("Restart the wallet to use the wrapper")702 elif choice == 2:703 priv_key = input(getString("input_private_key"))704 try:705 pub_key = PrivateKey(706 bytes.fromhex(707 priv_key)708 ).public_key.to_base58check_address()709 print(getString("how_encrypt_private_key"))710 incorrect_value = True711 while incorrect_value:712 try:713 encryption_choice = int(714 input(715 getString("encryption_choice")716 )717 )718 incorrect_value = False719 except ValueError:720 print(getString("value_not_numeric"))721 incorrect_value = True722 if encryption_choice <= 1:723 config['wrapper'] = {724 "use_wrapper": "true",725 "priv_key": str(password_encrypt(726 priv_key.encode(),727 password).decode()),728 "pub_key": pub_key,729 "use_custom_passphrase": "false"}730 # Write data to file731 with open(RESOURCES_DIR732 + "/CLIWallet_config.cfg",733 "w") as configfile:734 config.write(configfile)735 print(getString("success"))736 elif encryption_choice >= 2:737 passphrase = input(738 getString("encrypt_private_key"))739 config['wrapper'] = {740 "use_wrapper": "true",741 "priv_key": str(password_encrypt(742 priv_key.encode(),743 passphrase).decode()),744 "pub_key": pub_key,745 "use_custom_passphrase": "true"}746 # Write data to file747 with open(RESOURCES_DIR748 + "/CLIWallet_config.cfg",749 "w") as configfile:750 config.write(configfile)751 print(getString("success"))752 except ValueError:753 print(getString("incorrect_key"))754 else:755 print(getString("cancelled"))756 except ValueError:757 print(Style.RESET_ALL758 + Fore.WHITE759 + getString("incorrect_value")760 + Style.BRIGHT)761 elif not tronpy_installed:762 print(now.strftime(763 "%H:%M:%S ")764 + getString("tronpy_not_installed_2"))765 elif command == "wrap":766 if use_wrapper:767 try:768 amount = float(input(769 Style.RESET_ALL770 + Fore.WHITE771 + getString("amount_to_wrap")772 + Style.BRIGHT))773 except ValueError:774 print(getString("no_amount_numeric"))775 continue776 try:777 wss_conn.send(bytes("BALA", encoding="utf8"))778 balance = round(779 float(wss_conn.recv().decode().rstrip("\n")), 8)780 except:781 wss_conn = reconnect()782 if float(amount) >= 10 and float(amount) <= balance:783 tron_address = input(784 Style.RESET_ALL785 + Fore.WHITE786 + getString("enter_tron_address_or_local")787 + Style.BRIGHT)788 if tron_address == "":789 tron_address = pub_key790 wss_conn.send(bytes(791 "WRAP,"792 + str(amount)793 + ","794 + str(tron_address)795 + str(",placeholder"),796 encoding='utf8'))797 elif float(amount) < 10 and not float(amount) > balance:798 print(getString("error_min_10_duco"))799 else:800 print(getString("error_unsufficient_balance"))801 elif wrong_passphrase:802 print(getString("error_wrong_passphrase"))803 else:804 print(getString("error_configure_wrapperconf"))805 elif command == "unwrap":806 if use_wrapper:807 pendingvalues = wduco.functions.pendingWithdrawals(808 pub_key, username809 )810 # Transaction wasn't initiated811 # but variable should be declared812 txn_success = False813 try:814 amount = float(815 input(Style.RESET_ALL816 + Fore.WHITE817 + getString("enter_amount_unwrap")818 + Style.BRIGHT))819 except ValueError:820 print(getString("value_not_numeric"))821 continue822 if int(float(amount)*10**6) >= pendingvalues:823 toInit = int(float(amount)*10**6)-pendingvalues824 else:825 toInit = amount*10**6826 if toInit > 0:827 txn = wduco.functions.initiateWithdraw(828 username, toInit829 ).with_owner(830 pub_key831 ).fee_limit(832 5_000_000833 ).build().sign(834 PrivateKey(835 bytes.fromhex(priv_key)836 )837 )838 print(getString("initiating_unwrap"), txn.txid)839 txn = txn.broadcast()840 txnfeedback = txn.result()841 if txnfeedback:842 txn_success = True843 else:844 txn_success = False845 if amount <= pendingvalues:846 print(getString("amount_over_pending_values"))847 if txn_success or amount <= pendingvalues:848 wss_conn.send(bytes(849 "UNWRAP,"850 + str(amount)851 + ","852 + str(pub_key),853 encoding='utf8'))854 else:855 print(getString("error_initiating_unwrap"))856 elif wrong_passphrase:857 print(getString("error_wrong_passphrase"))858 else:859 print(getString("error_configure_wrapperconf"))860 elif command == "cancelunwraps":861 if use_wrapper:862 txn = wduco.functions.cancelWithdrawals(863 pub_key, username864 ).with_owner(865 pub_key866 ).fee_limit(867 5_000_000868 ).build().sign(869 PrivateKey(870 bytes.fromhex(priv_key)871 )872 )873 print(getString("transaction_send_txid"), txn.txid)874 txn = txn.broadcast()875 if txn.result():876 print(getString("success"))877 else:878 print(getString("error_not_enough_energy_or_trx"))879 elif wrong_passphrase:880 print(getString("error_wrong_passphrase"))881 else:882 print(getString("error_configure_wrapperconf"))883 elif command == "finishunwraps":884 if use_wrapper:885 pendingvalues = float(886 wduco.functions.pendingWithdrawals(887 pub_key,888 username))/(10**6)889 wss_conn.send(bytes(890 "UNWRAP,"891 + str(pendingvalues)892 + ","893 + str(pub_key)894 + str(",placeholder"),895 encoding='utf8'))896 print(getString("finished_unwrapping"),897 str(pendingvalues), "DUCO")898 elif wrong_passphrase:899 print(getString("error_wrong_passphrase"))900 else:901 print(getString("error_configure_wrapperconf"))902 elif command == "exportwrapkey":903 if use_wrapper:904 confirmation = input(905 getString("confirm_export_private_key"))906 if confirmation == "YES":907 print(getString("private_key"), priv_key)908 else:909 print(getString("cancelled_invalid_confirmation"))910 elif wrong_passphrase:911 print(getString("error_wrong_passphrase"))912 else:913 print(getString("error_configure_wrapperconf"))914 elif command == "wsend":915 if use_wrapper:916 recipient = input(917 Style.RESET_ALL918 + Fore.WHITE919 + getString("enter_tron_recipients_name")920 + Style.BRIGHT)921 try:922 amount = float(input(923 Style.RESET_ALL924 + Fore.WHITE925 + getString("enter_amount_transfer")926 + Style.BRIGHT))927 except ValueError:928 print(getString("amount_numeric"))929 continue930 wbalance = float(wduco.functions.balanceOf(pub_key))/10**6931 if float(amount) <= wbalance:932 txn = wduco.functions.transfer(933 recipient,934 int(float(amount)*10**6)935 ).with_owner(936 pub_key937 ).fee_limit(938 5_000_000939 ).build().sign(940 PrivateKey(941 bytes.fromhex(priv_key)942 )943 )944 txn = txn.broadcast()945 print(getString("tron_transaction_submitted"),946 txn.txid)947 trontxresult = txn.wait()948 if trontxresult:949 print(getString("tron_successful_transaction"))950 else:951 print(getString("tron_error_transaction"))952 elif wrong_passphrase:953 print(getString("error_wrong_passphrase"))954 else:955 print(getString("error_configure_wrapperconf"))956 elif command == "about":957 print(Style.RESET_ALL958 + Fore.WHITE959 + getString("about_1"))960 print(Style.RESET_ALL961 + Fore.WHITE962 + getString("about_2")963 + str(VER))964 print(Style.RESET_ALL965 + Fore.WHITE966 + getString("about_3"))967 print(Style.RESET_ALL968 + Fore.WHITE969 + Style.BRIGHT970 + "https://duinocoin.com")971 print(Style.RESET_ALL972 + Fore.WHITE973 + getString("about_4")974 + Style.BRIGHT975 + str(SERVER_VER)976 + Style.RESET_ALL)977 if float(SERVER_VER) > VER:978 print(Style.RESET_ALL979 + Fore.YELLOW980 + getString("about_5")981 + Fore.WHITE982 + Style.BRIGHT983 + SERVER_VER984 + Fore.YELLOW985 + Style.RESET_ALL986 + getString("about_6")987 + Style.BRIGHT988 + Fore.WHITE989 + str(VER)990 + Style.RESET_ALL991 + Fore.YELLOW992 + getString("about_7"))993 else:994 print(Style.RESET_ALL995 + Fore.WHITE996 + getString("about_8"))997 elif command == "logout":998 os.remove(RESOURCES_DIR + "/CLIWallet_config.cfg")999 os.system("python " + __file__)1000 elif command == "donate":1001 print(Style.RESET_ALL1002 + Fore.BLUE1003 + Style.BRIGHT1004 + getString("donate_1"))1005 print(Style.RESET_ALL1006 + Fore.YELLOW1007 + getString("donate_2")1008 + Style.RESET_ALL1009 + Fore.WHITE1010 + Style.BRIGHT1011 + "TY5wfM6JsYKEEMfQR3RBQBPKfetTpf7nyM"1012 + Style.RESET_ALL1013 + Fore.YELLOW1014 + getString("donate_3"))1015 print("Duino-Coin: "1016 + Style.RESET_ALL1017 + Fore.WHITE1018 + Style.BRIGHT1019 + "revox"1020 + Style.RESET_ALL1021 + Fore.YELLOW1022 + getString("donate_4"))1023 print("Duino-Coin: "1024 + Style.RESET_ALL1025 + Fore.WHITE1026 + Style.BRIGHT1027 + "Yanis"1028 + Style.RESET_ALL1029 + Fore.YELLOW1030 + getString("donate_5"))1031 else:1032 print(Style.RESET_ALL1033 + Fore.YELLOW1034 + getString("duco_commands"))1035 print_commands_norm()1036 print(Style.RESET_ALL1037 + Fore.YELLOW1038 + getString("wrapper_commands"))...
Robot 1-0.py
Source:Robot 1-0.py
1import ctre2import rev3import wpilib4from networktables import NetworkTables5class MyRobot(wpilib.TimedRobot):6 def robotInit(self):7 self.pdp = wpilib.PowerDistribution()8 self.bia = wpilib.BuiltInAccelerometer()9 self.driverstation = wpilib.DriverStation()10 NetworkTables.initialize()11 self.smartDash = NetworkTables.getTable("SmartDashboard")12 self.brownStain = False # Brownout Sustain13 self.brownoutDetection = True # Enable Brownout Detection14 # Define Things15 # TODO: Automate in the future: https://robotpy.readthedocs.io/projects/wpilib/en/stable/wpilib/CANStatus.html16 # TODO: Automate by scanning data https://robotpy.readthedocs.io/projects/wpilib/en/stable/wpilib/CANData.html17 self.prefs = wpilib.Preferences()18 if self.prefs.containsKey("Spark_Max_Brushed"):19 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(int(self.prefs.getString("Spark_Max_Brushed")))20 else:21 self.prefs.initString("Front_Left_Motor", "0")22 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(0) # 0 is Brushed and 1 is Brushless23 if self.prefs.containsKey("Front_Left_Motor"):24 if self.prefs.containsKey("Front_Left_Motor_ID"):25 pass26 else:27 self.prefs.initInt("Front_Left_Motor", "0")28 if self.prefs.getString("Front_Left_Motor") == "Spark_Max":29 self._Front_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Left_Motor_ID")), self.CANSparkMaxType)30 elif self.prefs.getString("Front_Left_Motor") == "Talon_FX":31 self._Front_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Left_Motor_ID")))32 elif self.prefs.getString("Front_Left_Motor") == "Talon_SRX":33 self._Front_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Left_Motor_ID")))34 elif self.prefs.getString("Front_Left_Motor") == "Victor_SPX":35 self._Front_Left_Motor = ctre.VictorSPX(int(self.prefs.getString("Front_Left_Motor_ID")))36 else:37 self.prefs.initString("Front_Left_Motor", "Spark_Max")38 self._Front_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Left_Motor_ID")), self.CANSparkMaxType)39 if self.prefs.containsKey("Front_Right_Motor"):40 if self.prefs.containsKey("Front_Right_Motor_ID"):41 pass42 else:43 self.prefs.initInt("Front_Right_Motor", "1")44 if self.prefs.getString("Front_Right_Motor") == "Spark_Max":45 self._Front_Right_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Right_Motor_ID")), self.CANSparkMaxType)46 elif self.prefs.getString("Front_Right_Motor") == "Talon_FX":47 self._Front_Right_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Right_Motor_ID")))48 elif self.prefs.getString("Front_Right_Motor") == "Talon_SRX":49 self._Front_Right_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Right_Motor_ID")))50 elif self.prefs.getString("Front_Right_Motor") == "Victor_SPX":51 self._Front_Right_Motor = ctre.VictorSPX(int(self.prefs.getString("Front_Right_Motor_ID")))52 else:53 self.prefs.initString("Front_Right_Motor", "Spark_Max")54 self._Front_Right_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Right_Motor_ID")), self.CANSparkMaxType)55 if self.prefs.containsKey("Back_Right_Motor"):56 if self.prefs.containsKey("Back_Right_Motor_ID"):57 pass58 else:59 self.prefs.initInt("Back_Right_Motor", "2")60 if self.prefs.getString("Back_Right_Motor") == "Spark_Max":61 self._Back_Right_Motor = rev.CANSparkMax(int(self.prefs.getString("Back_Right_Motor_ID")), self.CANSparkMaxType)62 elif self.prefs.getString("Back_Right_Motor") == "Talon_FX":63 self._Back_Right_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Right_Motor_ID")))64 elif self.prefs.getString("Back_Right_Motor") == "Talon_SRX":65 self._Back_Right_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Right_Motor_ID")))66 elif self.prefs.getString("Back_Right_Motor") == "Victor_SPX":67 self._Back_Right_Motor = ctre.VictorSPX(int(self.prefs.getString("Back_Right_Motor_ID")))68 else:69 self.prefs.initString("Back_Right_Motor", "Spark_Max")70 self._Back_Right_Motor = rev.CANSparkMax(int(self.prefs.getString("Back_Right_Motor_ID")), self.CANSparkMaxType)71 if self.prefs.containsKey("Back_Left_Motor"):72 if self.prefs.containsKey("Back_Left_Motor_ID"):73 pass74 else:75 self.prefs.initInt("Back_Left_Motor", "3")76 if self.prefs.getString("Back_Left_Motor") == "Spark_Max":77 self._Back_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Back_Left_Motor_ID")), self.CANSparkMaxType)78 elif self.prefs.getString("Back_Left_Motor") == "Talon_FX":79 self._Back_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Left_Motor_ID")))80 elif self.prefs.getString("Back_Left_Motor") == "Talon_SRX":81 self._Back_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Left_Motor_ID")))82 elif self.prefs.getString("Back_Left_Motor") == "Victor_SPX":83 self._Back_Left_Motor = ctre.VictorSPX(int(self.prefs.getString("Back_Left_Motor_ID")))84 else:85 self.prefs.initString("Back_Left_Motor", "Spark_Max")86 self._Back_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Back_Left_Motor_ID")), self.CANSparkMaxType)87 if self.prefs.containsKey("Shooter_Motor"):88 if self.prefs.containsKey("Shooter_Motor_ID"):89 pass90 else:91 self.prefs.initInt("Shooter_Motor", "4")92 if self.prefs.getString("Shooter_Motor") == "Spark_Max":93 self._Shooter_Motor = rev.CANSparkMax(int(self.prefs.getString("Shooter_Motor_ID")), self.CANSparkMaxType)94 elif self.prefs.getString("Shooter_Motor") == "Talon_FX":95 self._Shooter_Motor = ctre.TalonFX(int(self.prefs.getString("Shooter_Motor_ID")))96 elif self.prefs.getString("Shooter_Motor") == "Talon_SRX":97 self._Shooter_Motor = ctre.TalonSRX(int(self.prefs.getString("Shooter_Motor_ID")))98 elif self.prefs.getString("Shooter_Motor") == "Victor_SPX":99 self._Shooter_Motor = ctre.VictorSPX(int(self.prefs.getString("Shooter_Motor_ID")))100 else:101 self.prefs.initString("Shooter_Motor", "Talon_FX")102 self._Shooter_Motor = ctre.TalonFX(int(self.prefs.getString("Shooter_Motor_ID")))103 if self.prefs.containsKey("Intake_Motor"):104 if self.prefs.containsKey("Intake_Motor_ID"):105 pass106 else:107 self.prefs.initInt("Intake_Motor", "5")108 if self.prefs.getString("Intake_Motor") == "Spark_Max":109 self._Intake_Motor = rev.CANSparkMax(int(self.prefs.getString("Intake_Motor_ID")), self.CANSparkMaxType)110 elif self.prefs.getString("Intake_Motor") == "Talon_FX":111 self._Intake_Motor = ctre.TalonFX(int(self.prefs.getString("Intake_Motor_ID")))112 elif self.prefs.getString("Intake_Motor") == "Talon_SRX":113 self._Intake_Motor = ctre.TalonSRX(int(self.prefs.getString("Intake_Motor_ID")))114 elif self.prefs.getString("Intake_Motor") == "Victor_SPX":115 self._Intake_Motor = ctre.VictorSPX(int(self.prefs.getString("Intake_Motor_ID")))116 else:117 self.prefs.initString("Intake_Motor", "Talon_SRX")118 self._Intake_Motor = ctre.TalonSRX(int(self.prefs.getString("Intake_Motor_ID")))119 # Start Network Tables Stuff120 def getNetworkTables():121 # Define Dynamic values122 # TODO: Make update rate a non-persistant variable https://robotpy.readthedocs.io/projects/pynetworktables/en/stable/api.html#networktables.NetworkTablesInstance.setUpdateRate123 nonlocal self124 entries = self.smartDash.getEntries("")125 for preference in self.prefs.getKeys():126 if preference not in entries:127 self.smartDash.setDefaultString(str(preference), self.prefs.getString(preference))128 else:129 if self.smartDash.getString(preference) != self.prefs.getString(preference):130 if preference == "Front_Left_Motor":131 if self.smartDash.getString(preference) == "Spark_Max":132 self._Front_Left_Motor = rev.CANSparkMax(133 int(self.prefs.getString("Front_Left_Motor_ID")), self.CANSparkMaxType)134 elif self.smartDash.getString(preference) == "Talon_FX":135 self._Front_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Left_Motor_ID")))136 elif self.smartDash.getString(preference) == "Talon_SRX":137 self._Front_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Left_Motor_ID")))138 elif self.smartDash.getString(preference) == "Victor_SPX":139 self._Front_Left_Motor = ctre.VictorSPX(140 int(self.prefs.getString("Front_Left_Motor_ID")))141 else:142 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")143 if preference == "Front_Right_Motor":144 if self.smartDash.getString(preference) == "Spark_Max":145 self._Front_Right_Motor = rev.CANSparkMax(146 int(self.prefs.getString("Front_Right_Motor_ID")), self.CANSparkMaxType)147 elif self.smartDash.getString(preference) == "Talon_FX":148 self._Front_Right_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Right_Motor_ID")))149 elif self.smartDash.getString(preference) == "Talon_SRX":150 self._Front_Right_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Right_Motor_ID")))151 elif self.smartDash.getString(preference) == "Victor_SPX":152 self._Front_Right_Motor = ctre.VictorSPX(153 int(self.prefs.getString("Front_Right_Motor_ID")))154 else:155 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")156 if preference == "Back_Left_Motor":157 if self.smartDash.getString(preference) == "Spark_Max":158 self._Back_Left_Motor = rev.CANSparkMax(159 int(self.prefs.getString("Back_Left_Motor_ID")), self.CANSparkMaxType)160 elif self.smartDash.getString(preference) == "Talon_FX":161 self._Back_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Left_Motor_ID")))162 elif self.smartDash.getString(preference) == "Talon_SRX":163 self._Back_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Left_Motor_ID")))164 elif self.smartDash.getString(preference) == "Victor_SPX":165 self._Back_Left_Motor = ctre.VictorSPX(166 int(self.prefs.getString("Back_Left_Motor_ID")))167 else:168 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")169 if preference == "Back_Right_Motor":170 if self.smartDash.getString(preference) == "Spark_Max":171 self._Back_Right_Motor = rev.CANSparkMax(172 int(self.prefs.getString("Back_Right_Motor_ID")), self.CANSparkMaxType)173 elif self.smartDash.getString(preference) == "Talon_FX":174 self._Back_Right_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Right_Motor_ID")))175 elif self.smartDash.getString(preference) == "Talon_SRX":176 self._Back_Right_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Right_Motor_ID")))177 elif self.smartDash.getString(preference) == "Victor_SPX":178 self._Back_Right_Motor = ctre.VictorSPX(179 int(self.prefs.getString("Back_Right_Motor_ID")))180 else:181 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")182 if preference == "Shooter_Motor":183 if self.smartDash.getString(preference) == "Spark_Max":184 self._Shooter_Motor = rev.CANSparkMax(185 int(self.prefs.getString("Shooter_Motor_ID")), self.CANSparkMaxType)186 elif self.smartDash.getString(preference) == "Talon_FX":187 self._Shooter_Motor = ctre.TalonFX(int(self.prefs.getString("Shooter_Motor_ID")))188 elif self.smartDash.getString(preference) == "Talon_SRX":189 self._Shooter_Motor = ctre.TalonSRX(int(self.prefs.getString("Shooter_Motor_ID")))190 elif self.smartDash.getString(preference) == "Victor_SPX":191 self._Shooter_Motor = ctre.VictorSPX(192 int(self.prefs.getString("Shooter_Motor_ID")))193 else:194 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")195 if preference == "Intake_Motor":196 if self.smartDash.getString(preference) == "Spark_Max":197 self._Intake_Motor = rev.CANSparkMax(198 int(self.prefs.getString("Intake_Motor_ID")), self.CANSparkMaxType)199 elif self.smartDash.getString(preference) == "Talon_FX":200 self._Intake_Motor = ctre.TalonFX(int(self.prefs.getString("Intake_Motor_ID")))201 elif self.smartDash.getString(preference) == "Talon_SRX":202 self._Intake_Motor = ctre.TalonSRX(int(self.prefs.getString("Intake_Motor_ID")))203 elif self.smartDash.getString(preference) == "Victor_SPX":204 self._Intake_Motor = ctre.VictorSPX(205 int(self.prefs.getString("Intake_Motor_ID")))206 else:207 self.smartDash.putString(preference, f"Invalid String - Defaulted to {self.prefs.getString(preference)}")208 if preference == "Spark_Max_Brushed":209 if self.prefs.containsKey("Spark_Max_Brushed"):210 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(211 int(self.prefs.getString("Spark_Max_Brushed")))212 else:213 self.prefs.initString("Front_Left_Motor", "0")214 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(215 0) # 0 is Brushed and 1 is Brushless216 # Brownout Stuff217 if "Brownout_Detection" not in entries:218 self.smartDash.putValue("Brownout_Detection", True)219 # Define Static Variables220 if self.smartDash.containsKey("PDP_Total_Output_Joules"):221 self.smartDash.putValue("PDP_Total_Output_Joules", self.pdp.getTotalEnergy())222 else:223 self.smartDash.setDefaultValue("PDP_Total_Output_Joules", 0)224 if self.smartDash.containsKey("PDP_Temperature_Fahrenheit"):225 self.smartDash.putValue("PDP_Temperature_Fahrenheit", self.pdp.getTemperature())226 else:227 self.smartDash.setDefaultValue("PDP_Temperature_Fahrenheit", 0)228 if self.smartDash.containsKey("PDP_Total_Output_Amperage"):229 self.smartDash.putValue("PDP_Total_Output_Amperage", self.pdp.getTotalCurrent())230 else:231 self.smartDash.setDefaultValue("PDP_Total_Output_Amperage", 0)232 if self.smartDash.containsKey("PDP_Total_Output_Watts"):233 self.smartDash.putValue("PDP_Total_Output_Watts", self.pdp.getTotalPower())234 else:235 self.smartDash.setDefaultValue("PDP_Total_Output_Watts", 0)236 if self.smartDash.containsKey("PDP_Input_Voltage"):237 self.smartDash.putValue("PDP_Input_Voltage", self.pdp.getVoltage())238 else:239 self.smartDash.setDefaultValue("PDP_Input_Voltage", 0)240 if self.smartDash.containsKey("Battery_Percentage"):241 self.smartDash.putValue("Battery_Percentage", (self.pdp.getVoltage()-6.8)/5.2)242 else:243 self.smartDash.setDefaultValue("Battery_Percentage", 0)244 if self.smartDash.containsKey("RIO_Int_Accelerometer_XValue_MpS^2"):245 self.smartDash.putValue("RIO_Int_Accelerometer_XValue_MpS^2", self.bia.getX())246 else:247 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_XValue_MpS^2", 0)248 if self.smartDash.containsKey("RIO_Int_Accelerometer_YValue_MpS^2"):249 self.smartDash.putValue("RIO_Int_Accelerometer_YValue_MpS^2", self.bia.getY())250 else:251 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_YValue_MpS^2", 0)252 if self.smartDash.containsKey("RIO_Int_Accelerometer_ZValue_MpS^2"):253 self.smartDash.putValue("RIO_Int_Accelerometer_ZValue_MpS^2", self.bia.getZ())254 else:255 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_ZValue_MpS^2", 0)256 def brownoutDetection():257 nonlocal self258 if self.smartDash.getValue("Brownout_Detection"):259 if self.smartDash.containsKey("Brownout"):260 if self.driverstation.getBatteryVoltage() < 6.8:261 self.smartDash.putValue("Brownout", "BROWNOUT WARNING")262 self._Front_Left_Motor.set(0)263 self._Front_Right_Motor.set(0)264 self._Back_Right_Motor.set(0)265 self._Back_Left_Motor.set(0)266 self._Shooter_Motor.set(0)267 self._Intake_Motor.set(0)268 else:269 self.smartDash.setDefaultValue("Brownout", "Not Detected")270 else:271 self.smartDash.delete("Brownout")272 # Initialize Network Tables Interaction 2 seconds after init. Cycles every 0.25 seconds273 self.addPeriodic(getNetworkTables, 0.25, offset=2)274 # Flush Data every 5 seconds for synchronizing network updates275 self.addPeriodic(NetworkTables.flush, 5)276 # Initialize Brownout Detection 1 seconds after init. Cycles every 0.25 seconds277 self.addPeriodic(brownoutDetection, 0.25, offset=1)278 # Define Game Stuff getJoystickIsXbox()279 self.controller = wpilib.XboxController(0)280 self.timer = wpilib.Timer()281 def autonomousInit(self):282 """This function is run once each time the robot enters autonomous mode."""283 self.timer.reset()284 self.timer.start()285 def autonomousPeriodic(self):286 """This function is called periodically during autonomous."""287 # Drive for two seconds288 # if self.timer.get() < 2.0:289 # self.drive.arcadeDrive(-0.5, 0) # Drive forwards at half speed290 # else:291 # self.drive.arcadeDrive(0, 0) # Stop robot292 def teleopPeriodic(self):293 # TODO: Implement pnumatics and climber boi294 self._Shooter_Motor.set(self.controller.getRightTriggerAxis())295 self._Intake_Motor.set(self.controller.getLeftTriggerAxis())296 self._Back_Left_Motor.set(self.controller.getLeftY())297 self._Front_Left_Motor.set(self.controller.getLeftY())298 self._Back_Right_Motor.set(self.controller.getRightY())299 self._Front_Right_Motor.set(self.controller.getRightY())300if __name__ == "__main__":...
Robot.py
Source:Robot.py
1import ctre2import pyfrc.tests3import rev4import wpilib5from networktables import NetworkTables6from pyfrc.tests import *7class MyRobot(wpilib.TimedRobot):8 def robotInit(self):9 self.pdp = wpilib.PowerDistribution()10 self.bia = wpilib.BuiltInAccelerometer()11 self.pcm = wpilib.PneumaticsControlModule()12 NetworkTables.initialize()13 self.smartDash = NetworkTables.getTable("SmartDashboard")14 self.brownoutDetection = True # Enable Brownout Detection15 # Define Things16 if self.pcm.getCompressor():17 self.compressor = wpilib.Compressor(moduleType=self.pcm.getCompressorConfigType())18 self.solenoid = self.pcm.makeSolenoid(1) # Solenoid Number19 else:20 wpilib.reportWarning("Compressor Not Found!!!")21 # Controller stuff: self.Controller_Controllers = {"RightSide": }22 self.Motor_Controllers = {1: "RightSide", 9: "Shooter", 11: "Elevator", 2: "LeftSide", 5: "Intake"}23 self.CAN_Motors = []24 # Get all Motors25 for x in range(1, 64):26 try:27 self.CAN_Motors.append({"Object": rev.CANSparkMax(deviceID=x, type=rev.CANSparkMaxLowLevel.MotorType(0)), "Type": "SparkMax", "ID": x}) # 0 is brushed 1 is brushless28 except:29 pass30 try:31 self.CAN_Motors.append({"Object": ctre.TalonFX(x), "Type": "TalonFX", "ID": x})32 except:33 self.CAN_Motors.append({"Object": ctre.TalonSRX(x), "Type": "TalonSRX", "ID": x})34 try:35 self.CAN_Motors.append({"Object": ctre.VictorSPX(x), "Type": "VictorSPX", "ID": x})36 except:37 pass38 self.prefs = wpilib.Preferences()39 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(0) # 0 is Brushed and 1 is Brushless40 if self.prefs.containsKey("Front_Left_Motor"):41 if self.prefs.containsKey("Front_Left_Motor_ID"):42 pass43 else:44 self.prefs.initInt("Front_Left_Motor", "0")45 if self.prefs.getString("Front_Left_Motor") == "Spark_Max":46 self._Front_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Left_Motor_ID")),47 self.CANSparkMaxType)48 elif self.prefs.getString("Front_Left_Motor") == "Talon_FX":49 self._Front_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Left_Motor_ID")))50 elif self.prefs.getString("Front_Left_Motor") == "Talon_SRX":51 self._Front_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Left_Motor_ID")))52 elif self.prefs.getString("Front_Left_Motor") == "Victor_SPX":53 self._Front_Left_Motor = ctre.VictorSPX(int(self.prefs.getString("Front_Left_Motor_ID")))54 else:55 self.prefs.initString("Front_Left_Motor", "Spark_Max")56 self._Front_Left_Motor = rev.CANSparkMax(int(self.prefs.getString("Front_Left_Motor_ID")),57 self.CANSparkMaxType)58 # Start Network Tables Stuff59 def getNetworkTables():60 nonlocal self61 entries = self.smartDash.getEntries("")62 for preference in self.prefs.getKeys():63 if preference not in entries:64 self.smartDash.setDefaultString(str(preference), self.prefs.getString(preference))65 else:66 if self.smartDash.getString(preference) != self.prefs.getString(preference):67 if preference == "Front_Left_Motor":68 if self.smartDash.getString(preference) == "Spark_Max":69 self._Front_Left_Motor = rev.CANSparkMax(70 int(self.prefs.getString("Front_Left_Motor_ID")), self.CANSparkMaxType)71 elif self.smartDash.getString(preference) == "Talon_FX":72 self._Front_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Front_Left_Motor_ID")))73 elif self.smartDash.getString(preference) == "Talon_SRX":74 self._Front_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Front_Left_Motor_ID")))75 elif self.smartDash.getString(preference) == "Victor_SPX":76 self._Front_Left_Motor = ctre.VictorSPX(77 int(self.prefs.getString("Front_Left_Motor_ID")))78 else:79 self.smartDash.putString(preference,80 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")81 if preference == "Front_Right_Motor":82 if self.smartDash.getString(preference) == "Spark_Max":83 self._Front_Right_Motor = rev.CANSparkMax(84 int(self.prefs.getString("Front_Right_Motor_ID")), self.CANSparkMaxType)85 elif self.smartDash.getString(preference) == "Talon_FX":86 self._Front_Right_Motor = ctre.TalonFX(87 int(self.prefs.getString("Front_Right_Motor_ID")))88 elif self.smartDash.getString(preference) == "Talon_SRX":89 self._Front_Right_Motor = ctre.TalonSRX(90 int(self.prefs.getString("Front_Right_Motor_ID")))91 elif self.smartDash.getString(preference) == "Victor_SPX":92 self._Front_Right_Motor = ctre.VictorSPX(93 int(self.prefs.getString("Front_Right_Motor_ID")))94 else:95 self.smartDash.putString(preference,96 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")97 if preference == "Back_Left_Motor":98 if self.smartDash.getString(preference) == "Spark_Max":99 self._Back_Left_Motor = rev.CANSparkMax(100 int(self.prefs.getString("Back_Left_Motor_ID")), self.CANSparkMaxType)101 elif self.smartDash.getString(preference) == "Talon_FX":102 self._Back_Left_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Left_Motor_ID")))103 elif self.smartDash.getString(preference) == "Talon_SRX":104 self._Back_Left_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Left_Motor_ID")))105 elif self.smartDash.getString(preference) == "Victor_SPX":106 self._Back_Left_Motor = ctre.VictorSPX(107 int(self.prefs.getString("Back_Left_Motor_ID")))108 else:109 self.smartDash.putString(preference,110 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")111 if preference == "Back_Right_Motor":112 if self.smartDash.getString(preference) == "Spark_Max":113 self._Back_Right_Motor = rev.CANSparkMax(114 int(self.prefs.getString("Back_Right_Motor_ID")), self.CANSparkMaxType)115 elif self.smartDash.getString(preference) == "Talon_FX":116 self._Back_Right_Motor = ctre.TalonFX(int(self.prefs.getString("Back_Right_Motor_ID")))117 elif self.smartDash.getString(preference) == "Talon_SRX":118 self._Back_Right_Motor = ctre.TalonSRX(int(self.prefs.getString("Back_Right_Motor_ID")))119 elif self.smartDash.getString(preference) == "Victor_SPX":120 self._Back_Right_Motor = ctre.VictorSPX(121 int(self.prefs.getString("Back_Right_Motor_ID")))122 else:123 self.smartDash.putString(preference,124 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")125 if preference == "Shooter_Motor":126 if self.smartDash.getString(preference) == "Spark_Max":127 self._Shooter_Motor = rev.CANSparkMax(128 int(self.prefs.getString("Shooter_Motor_ID")), self.CANSparkMaxType)129 elif self.smartDash.getString(preference) == "Talon_FX":130 self._Shooter_Motor = ctre.TalonFX(int(self.prefs.getString("Shooter_Motor_ID")))131 elif self.smartDash.getString(preference) == "Talon_SRX":132 self._Shooter_Motor = ctre.TalonSRX(int(self.prefs.getString("Shooter_Motor_ID")))133 elif self.smartDash.getString(preference) == "Victor_SPX":134 self._Shooter_Motor = ctre.VictorSPX(135 int(self.prefs.getString("Shooter_Motor_ID")))136 else:137 self.smartDash.putString(preference,138 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")139 if preference == "Intake_Motor":140 if self.smartDash.getString(preference) == "Spark_Max":141 self._Intake_Motor = rev.CANSparkMax(142 int(self.prefs.getString("Intake_Motor_ID")), self.CANSparkMaxType)143 elif self.smartDash.getString(preference) == "Talon_FX":144 self._Intake_Motor = ctre.TalonFX(int(self.prefs.getString("Intake_Motor_ID")))145 elif self.smartDash.getString(preference) == "Talon_SRX":146 self._Intake_Motor = ctre.TalonSRX(int(self.prefs.getString("Intake_Motor_ID")))147 elif self.smartDash.getString(preference) == "Victor_SPX":148 self._Intake_Motor = ctre.VictorSPX(149 int(self.prefs.getString("Intake_Motor_ID")))150 else:151 self.smartDash.putString(preference,152 f"Invalid String - Defaulted to {self.prefs.getString(preference)}")153 if preference == "Spark_Max_Brushed":154 if self.prefs.containsKey("Spark_Max_Brushed"):155 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(156 int(self.prefs.getString("Spark_Max_Brushed")))157 else:158 self.prefs.initString("Front_Left_Motor", "0")159 self.CANSparkMaxType = rev.CANSparkMaxLowLevel.MotorType(160 0) # 0 is Brushed and 1 is Brushless161 # Brownout Stuff162 if "Brownout_Detection" not in entries:163 self.smartDash.putValue("Brownout_Detection", True)164 # Define Static Variables165 if self.smartDash.containsKey("PDP_Total_Output_Joules"):166 self.smartDash.putValue("PDP_Total_Output_Joules", self.pdp.getTotalEnergy())167 else:168 self.smartDash.setDefaultValue("PDP_Total_Output_Joules", 0)169 if self.smartDash.containsKey("PDP_Temperature_Fahrenheit"):170 self.smartDash.putValue("PDP_Temperature_Fahrenheit", self.pdp.getTemperature())171 else:172 self.smartDash.setDefaultValue("PDP_Temperature_Fahrenheit", 0)173 if self.smartDash.containsKey("PDP_Total_Output_Amperage"):174 self.smartDash.putValue("PDP_Total_Output_Amperage", self.pdp.getTotalCurrent())175 else:176 self.smartDash.setDefaultValue("PDP_Total_Output_Amperage", 0)177 if self.smartDash.containsKey("PDP_Total_Output_Watts"):178 self.smartDash.putValue("PDP_Total_Output_Watts", self.pdp.getTotalPower())179 else:180 self.smartDash.setDefaultValue("PDP_Total_Output_Watts", 0)181 if self.smartDash.containsKey("PDP_Input_Voltage"):182 self.smartDash.putValue("PDP_Input_Voltage", self.pdp.getVoltage())183 else:184 self.smartDash.setDefaultValue("PDP_Input_Voltage", 0)185 if self.smartDash.containsKey("Battery_Percentage"):186 self.smartDash.putValue("Battery_Percentage", (self.pdp.getVoltage() - 6.8) / 5.2)187 else:188 self.smartDash.setDefaultValue("Battery_Percentage", 0)189 if self.smartDash.containsKey("RIO_Int_Accelerometer_XValue_MpS^2"):190 self.smartDash.putValue("RIO_Int_Accelerometer_XValue_MpS^2", self.bia.getX())191 else:192 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_XValue_MpS^2", 0)193 if self.smartDash.containsKey("RIO_Int_Accelerometer_YValue_MpS^2"):194 self.smartDash.putValue("RIO_Int_Accelerometer_YValue_MpS^2", self.bia.getY())195 else:196 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_YValue_MpS^2", 0)197 if self.smartDash.containsKey("RIO_Int_Accelerometer_ZValue_MpS^2"):198 self.smartDash.putValue("RIO_Int_Accelerometer_ZValue_MpS^2", self.bia.getZ())199 else:200 self.smartDash.setDefaultValue("RIO_Int_Accelerometer_ZValue_MpS^2", 0)201 def brownoutDetection():202 nonlocal self203 if self.smartDash.getValue("Brownout_Detection"):204 if self.smartDash.containsKey("Brownout"):205 if wpilib.DriverStation.getBatteryVoltage() < 6.8:206 self.smartDash.putValue("Brownout", "BROWNOUT WARNING")207 for motor in self.CAN_Motors:208 # ctre.ControlMode.PercentOutput209 if motor["Type"] != "SparkMax":210 motor["Object"].set(ctre.ControlMode.PercentOutput, 0)211 else:212 motor["Object"].set(0)213 else:214 self.smartDash.setDefaultValue("Brownout", "Not Detected")215 else:216 self.smartDash.delete("Brownout")217 # Initialize Network Tables Interaction 2 seconds after init. Cycles every 0.25 seconds218 self.addPeriodic(getNetworkTables, 0.25, offset=2)219 # Flush Data every 5 seconds for synchronizing network updates220 self.addPeriodic(NetworkTables.flush, 5)221 # Initialize Brownout Detection 1 seconds after init. Cycles every 0.25 seconds222 self.addPeriodic(brownoutDetection, 0.25, offset=1)223 # Define Game Stuff224 self.timer = wpilib.Timer()225 def disabledInit(self):226 if self.compressor.getPressure() > self.safePSI:227 self.compressor.stop()228 else:229 self.compressor.start()230 for motor in self.CAN_Motors:231 if motor["Type"] != "SparkMax":232 motor["Object"].set(ctre.ControlMode.PercentOutput, 0)233 else:234 motor["Object"].set(0)235 def disabledPeriodic(self):236 if self.compressor.getPressure() > self.safePSI:237 self.compressor.stop()238 else:239 self.compressor.start()240 for motor in self.CAN_Motors:241 if motor["Type"] != "SparkMax":242 motor["Object"].set(ctre.ControlMode.PercentOutput, 0)243 else:244 motor["Object"].set(0)245 def autonomousInit(self):246 """This function is run once each time the robot enters autonomous mode."""247 self.timer.reset()248 self.timer.start()249 def autonomousPeriodic(self):250 """This function is called periodically during autonomous."""251 # Drive for two seconds252 # if self.timer.get() < 2.0:253 # self.drive.arcadeDrive(-0.5, 0) # Drive forwards at half speed254 # else:255 # self.drive.arcadeDrive(0, 0) # Stop robot256 def teleopPeriodic(self):257 # TODO: Get pressure rating258 if self.compressor.getPressure() > self.safePSI:259 self.compressor.stop()260 else:261 self.compressor.start()262 # self.Motor_Controllers = {1: "RightSide", 9: "Shooter", 11: "Elevator", 2: "LeftSide", 5: "Intake"}263 for motor in self.CAN_Motors:264 # ctre.ControlMode.PercentOutput265 if motor["Type"] != "SparkMax":266 motor["Object"].set(ctre.ControlMode.PercentOutput, 0)267 else:268 motor["Object"].set(0)269 # If Controller Button: self.solenoid.toggle()270if __name__ == "__main__":...
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