mirror of
https://github.com/wpilibsuite/allwpilib
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dca59147e1
This also updates the bazel scripts to behave more like the C++ and Java examples, and updates the copybara scripts to be able to sync up `mostrobotpy`
38 lines
1.3 KiB
Python
Executable File
38 lines
1.3 KiB
Python
Executable File
#!/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 split arcade 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 split arcade style
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# That means that the Y axis of the left stick moves forward
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# and backward, and the X of the right stick turns left and right.
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self.robotDrive.arcadeDrive(
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-self.driverController.getLeftY(), -self.driverController.getRightX()
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)
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