How whearobotics/mako works
MAKO is a collection of FRC robotics learning examples rather than one deployed application. Its principal command-based workflow maps driver input or an autonomous selection into commands that operate drive and elevator subsystems. Separate examples demonstrate timed robot control, sensor reading, and Pixy camera vision. The graph preserves those distinct examples; command-based relationships are supported by excerpts and the source index, while some example entry-point wiring is only documented by source-index references.
Main entry points: command_based/robotcontainer.py Robot container · command_factory/robotcontainer.py Robot container · commands/autos.py Autonomous routines · commands/autos.py Autonomous routines
Components 27
Command-based robots
- Robot lifecycle
code/command_based/robot.py - Robot container
code/command_based/robotcontainer.py - Autonomous routines
code/command_based/commands/autos.py - Drive commands
code/command_based/commands/drivecommands.py - Elevator commands
code/command_based/commands/elevatorcommands.py - Drive subsystem
code/command_based/subsystems/drivesubsystem.py - Elevator subsystem
code/command_based/subsystems/elevatorsubsystem.py - Robot constants
code/command_based/constants
Command factory variant
- Robot lifecycle
code/command_factory/robot.py - Robot container
code/command_factory/robotcontainer.py - Autonomous routines
code/command_factory/commands/autos.py - Drive commands
code/command_factory/commands/drivecommands.py - Drive subsystem
code/command_factory/subsystems/drivesubsystem.py - Elevator subsystem
code/command_factory/subsystems/elevatorsubsystem.py - Robot constants
code/command_factory/constants
Timed robot examples
- Elevator demo
code/elevator/robot.py - Mecanum demo
code/mecanum/robot.py - Motor test
code/motor_test/robot.py - Hello robot
code/hello_robot/hello_robot.py
Sensor examples
- Sensor demo
code/sensors/robot.py - Color matching
code/sensors/color_util.py
Pixy vision
- Vision demo
code/pixyvision/robot.py - Pixy protocol API
code/pixyvision/pixy2api/pixy2.py - Color-connected blocks
code/pixyvision/pixy2api/pixy2ccc.py - SPI transport
code/pixyvision/pixy2api/links/spilink.py - Link interface
code/pixyvision/pixy2api/links/link.py
Other components
- Driver/operator
Connections 30
- Driver/operator → Robot container: controls robot
code/command_based/robotcontainer.py - Robot lifecycle → Robot container: creates
code/command_based/robot.py - Robot container → Autonomous routines: selects routine
code/command_based/robotcontainer.py - Robot container → Drive commands: binds controls
code/command_based/robotcontainer.py - Robot container → Elevator commands: binds controls
code/command_based/robotcontainer.py - Robot container → Drive subsystem: creates subsystem
code/command_based/robotcontainer.py - Robot container → Elevator subsystem: creates subsystem
code/command_based/robotcontainer.py - Robot container → Robot constants: uses settings
code/command_based/robotcontainer.py - Autonomous routines → Drive commands: builds routines
code/command_based/commands/autos.py - Autonomous routines → Elevator commands: builds routines
code/command_based/commands/autos.py - Autonomous routines → Drive subsystem: operates drive
code/command_based/commands/autos.py - Autonomous routines → Elevator subsystem: operates elevator
code/command_based/commands/autos.py - Drive commands → Drive subsystem: calls methods
code/command_based/commands/drivecommands.py - Elevator commands → Elevator subsystem: operates elevator
code/command_based/commands/elevatorcommands.py - Robot lifecycle → Robot container: creates
code/command_factory/robot.py - Robot container → Autonomous routines: selects routine
code/command_factory/robotcontainer.py - Robot container → Drive commands: binds controls
code/command_factory/robotcontainer.py - Robot container → Drive subsystem: creates subsystem
code/command_factory/robotcontainer.py - Robot container → Elevator subsystem: creates subsystem
code/command_factory/robotcontainer.py - Robot container → Robot constants: uses settings
code/command_factory/robotcontainer.py - Autonomous routines → Drive commands: builds routines
code/command_factory/commands/autos.py - Autonomous routines → Drive subsystem: operates drive
code/command_factory/commands/autos.py - Autonomous routines → Elevator subsystem: operates elevator
code/command_factory/commands/autos.py - Drive commands → Drive subsystem: calls methods
code/command_factory/commands/drivecommands.py - Sensor demo → Color matching: uses utilities
code/sensors/robot.py - Vision demo → Pixy protocol API: uses API
code/pixyvision/robot.py - Pixy protocol API → SPI transport: constructs transport
code/pixyvision/pixy2api/pixy2.py - Pixy protocol API → Color-connected blocks: uses blocks API
code/pixyvision/pixy2api/pixy2.py - Color-connected blocks → Pixy protocol API: uses protocol
code/pixyvision/pixy2api/pixy2ccc.py - SPI transport → Link interface: implements interface
code/pixyvision/pixy2api/links/spilink.py