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39 lines
1.4 KiB
Python
39 lines
1.4 KiB
Python
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
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class MyRobot(wpilib.TimedRobot):
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"""
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This is a demo program showing the use of the DifferentialDrive class.
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Runs the motors with tank steering and an Xbox controller.
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"""
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def __init__(self):
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"""Robot initialization function"""
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super().__init__()
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leftMotor = wpilib.PWMSparkMax(0)
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rightMotor = wpilib.PWMSparkMax(1)
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self.robotDrive = wpilib.DifferentialDrive(leftMotor, rightMotor)
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self.driverController = wpilib.NiDsXboxController(0)
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# We need to invert one side of the drivetrain so that positive voltages
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# result in both sides moving forward. Depending on how your robot's
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# gearbox is constructed, you might have to invert the left side instead.
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rightMotor.setInverted(True)
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def teleopPeriodic(self):
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# Drive with tank drive.
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# That means that the Y axis of the left stick moves the left side
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# of the robot forward and backward, and the Y axis of the right stick
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# moves the right side of the robot forward and backward.
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self.robotDrive.tankDrive(
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-self.driverController.getLeftY(), -self.driverController.getRightY()
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)
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