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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
35 lines
1.1 KiB
C++
35 lines
1.1 KiB
C++
// 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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#include <frc/GenericHID.h>
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#include <frc/TimedRobot.h>
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#include <frc/XboxController.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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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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class Robot : public frc::TimedRobot {
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frc::PWMSparkMax m_leftMotor{0};
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frc::PWMSparkMax m_rightMotor{1};
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frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
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frc::XboxController m_driverController{0};
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public:
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void TeleopPeriodic() override {
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// Drive with tank style
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m_robotDrive.TankDrive(
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m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
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m_driverController.GetY(frc::GenericHID::JoystickHand::kRightHand));
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}
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};
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#ifndef RUNNING_FRC_TESTS
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int main() {
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return frc::StartRobot<Robot>();
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}
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#endif
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