Cut out a lot of now-useless code, commented stuff better, especially…

… robot.py

framework/datastreams.py

@@ -52,7 +52,7 @@ def push(self, data, subsystem, autolock=False):
 
         #Check to see if we should automatically lock the stream to subsystem
         if autolock:
-            self._lock = subsystem
+            self.lock(subsystem)
 
         #Check lock
         if self._lock is not None and self._lock is not subsystem:

framework/events.py

@@ -1,11 +1,16 @@
 """
-This is an event system
+This is an event system. Modules can add callbacks to events, which will be run in a new thread once triggered.
+This is the primary mechanism for starting and stopping run loops.
+
+On the flip side, events can be either "triggered" which is a one-time call (For example: shoot_cannon or reset_gyro),
+ or they can be started and then stopped, for events with duration (For example: run, teleoperated, or enabled).
+ The main difference is that when modules are freshly loaded, the refresh_events method is called, which then finds all
+ of the "started" events and triggers them for the new module.
 """
 
 import logging
 import threading
 import framework.module_engine
-from framework.record import recorder
 
 __author__ = 'christian'
 

framework/filesystem.py

@@ -11,7 +11,7 @@
 root_dir = ""
 
 #The directory to store all logs and recordings from this run session
-log_dir = os.path.join(root_dir, "recs")
+log_dir = os.path.join(root_dir, "logs")
 
 #The log file, which is a dump of all console output
 log_file = os.path.join(log_dir, "main.log")
@@ -34,7 +34,7 @@ def gen_paths():
     global log_dir, events_file, log_file, datastream_dir
 
     #The root log directory
-    log_root_dir = os.path.join(root_dir, "recs")
+    log_root_dir = os.path.join(root_dir, "logs")
 
     #Figure out what log file index we should use
     #The log file index is a 4-digit number corresponding to an unused log folder

framework/wpiwrap.py

@@ -268,6 +268,8 @@ def init_wpilib_refrence(self, name, port):
 
     def set_semi_period(self):
         #TODO Remove this try/except once pyfrc is updated with my commit
+        #I submitted a patch to pyfrc with the (previously missing) function stub. But it appears that it may not have fully propogated to the
+        # public release yet.
         try:
             self.wpiobject.SetSemiPeriodMode(True)
         except AttributeError:
@@ -340,14 +342,18 @@ def init_wpilib_refrence(self, name, port):
 
     def get(self):
         angle = self.wpiobject.GetAngle()
+
+        #Run the value by the dog
         self.statmsg, self.status = self.dog.sniff(angle)
 
+        #If the dog says it is a bad value, raise an error
         if not self.status:
             raise DeviceInErrorStateError(self.statmsg)
         else:
             return angle
 
     def reset(self):
+        #Let the dog know, so he doesen't alert when the value jumps to zero
         self.dog.reset()
         return self.wpiobject.Reset()
 

modules/christian/auto/1-ball.py

@@ -28,7 +28,7 @@ def __init__(self):
         #Register autonomous event callback
         events.add_callback("autonomous", self.subsystem, callback=self.run, inverse_callback=self.stop)
 
-    class EndAuto(Exception):
+    class EndAutoError(Exception):
         """This is just a way to stop the autonomous routine at any time if we are told to"""
         pass
 
@@ -42,14 +42,13 @@ def run(self):
             config = self.autonomous_config.get({"second_shot": 7, "first_shot": 12, "distance_from_tape": 3, "start_position": 1})
 
             #Configure navigator
-            self.navigator_config.push({"max_values": [5, 4], "cycles_per_second": 10, "precision": .2}, self.subsystem, autolock=True)
+            self.navigator_config.push({"max_values": [5, 5], "cycles_per_second": 10, "precision": .2}, self.subsystem, autolock=True)
 
             #Mark drivetrain
             events.trigger_event("drivetrain.mark", self.subsystem)
 
             #Drop Arms
-            self.intake_stream.lock(self.subsystem)
-            self.intake_stream.push({"arms_down": True, "flipper_out": True, "intake_motor": 0}, self.subsystem)
+            self.intake_stream.push({"arms_down": True, "flipper_out": True, "intake_motor": 0}, self.subsystem, autolock=True)
 
             #Trigger Vision
             wpilib.SmartDashboard.PutNumber("hot goal", 0)
@@ -65,7 +64,7 @@ def run(self):
             # or the light sensor reports that we are on the line.
             while self.navigator_status.get(1) is 0 and time.time() - start_time < 5 and self.light_sensor.get() < 2.5:
                 if self.stop_flag:
-                    raise self.EndAuto()
+                    raise self.EndAutoError()
                 time.sleep(.2)
 
             #Stop the bot
@@ -98,7 +97,7 @@ def run(self):
             while self.navigator_status.get(1) is 0 and time.time() - start_time < 5 and abs(pos["distance"] - shot_point) > 1:
                 pos = self.drivetrain_state_stream.get({"distance": 0})
                 if self.stop_flag:
-                    raise self.EndAuto()
+                    raise self.EndAutoError()
                 time.sleep(.1)
 
             #Shoot
@@ -107,14 +106,15 @@ def run(self):
             #Wait for shooting to end
             time.sleep(.5)
 
-        except self.EndAuto:
+        except self.EndAutoError:
             pass
 
         #STOP!!!
         events.stop_event("navigator.run", self.subsystem)
 
     def stop(self):
         logging.info("Stopping autonomous")
+        events.stop_event("navigator.run", self.subsystem)
         self.stop_flag = True