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47 lines
1.6 KiB
Python
Executable File
47 lines
1.6 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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import math
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class MyRobot(wpilib.TimedRobot):
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"""
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This sample program shows how to control a motor using a joystick. In the operator control part
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of the program, the joystick is read and the value is written to the motor.
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Joystick analog values range from -1 to 1 and motor controller inputs also range from -1 to 1
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making it easy to work together.
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In addition, the encoder value of an encoder connected to ports 0 and 1 is consistently sent
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to the Dashboard.
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"""
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kMotorPort = 0
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kJoystickPort = 0
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kEncoderPortA = 0
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kEncoderPortB = 1
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def __init__(self):
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"""Robot initialization function"""
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super().__init__()
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self.motor = wpilib.PWMSparkMax(self.kMotorPort)
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self.joystick = wpilib.Joystick(self.kJoystickPort)
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self.encoder = wpilib.Encoder(self.kEncoderPortA, self.kEncoderPortB)
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# Use SetDistancePerPulse to set the multiplier for GetDistance
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# This is set up assuming a 6 inch wheel with a 360 CPR encoder.
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self.encoder.setDistancePerPulse((math.pi * 6) / 360.0)
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def robotPeriodic(self):
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"""The RobotPeriodic function is called every control packet no matter the robot mode."""
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wpilib.SmartDashboard.putNumber("Encoder", self.encoder.getDistance())
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def teleopPeriodic(self):
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self.motor.set(self.joystick.getY())
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