MOAR TRANSLATIONS

12 - Digital and Analog Inputs/robot.py

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+import wpilib
+import wpilib.drive
+import ctre
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        self.leftFront = ctre.WPI_VictorSPX(0)
+        self.leftRear = ctre.WPI_VictorSPX(1)
+        self.rightFront = ctre.WPI_VictorSPX(2)
+        self.rightRear = ctre.WPI_VictorSPX(3)
+
+        self.left = wpilib.MotorControllerGroup(self.leftFront, self.leftRear)
+        self.right = wpilib.MotorControllerGroup(self.rightFront, self.rightRear)
+        self.right.setInverted(True)
+
+        self.drivetrain = wpilib.drive.DifferentialDrive(self.left, self.right)
+
+        self.primary = wpilib.XboxController(0)
+
+        self.wallTouchButton = wpilib.DigitalInput(0)
+
+        self.autoSpeedControl = wpilib.AnalogPotentiometer(0)
+
+
+    def autonomousInit(self):
+        pass
+
+    def autonomousPeriodic(self):
+        if not self.wallTouchButton.get():
+            self.drivetrain.tankDrive(self.autoSpeedControl.get() / 2, self.autoSpeedControl.get() / 2)
+        else:
+            self.drivetrain.tankDrive(0, 0)
+
+    def teleopInit(self):
+        pass
+
+    def teleopPeriodic(self):
+        self.drivetrain.arcadeDrive(self.primary.getLeftY(), self.primary.getLeftX())
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)