48 lines
1.6 KiB
Python
48 lines
1.6 KiB
Python
import wpilib
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import wpilib.drive
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import ctre
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class MyRobot(wpilib.TimedRobot):
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def robotInit(self):
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self.leftFront = ctre.WPI_VictorSPX(0)
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self.leftRear = ctre.WPI_VictorSPX(1)
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self.rightFront = ctre.WPI_VictorSPX(2)
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self.rightRear = ctre.WPI_VictorSPX(3)
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self.left = wpilib.MotorControllerGroup(self.leftFront, self.leftRear)
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self.right = wpilib.MotorControllerGroup(self.rightFront, self.rightRear)
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self.right.setInverted(True)
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self.drivetrain = wpilib.drive.DifferentialDrive(self.left, self.right)
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self.primary = wpilib.XboxController(0)
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self.autoTimer = wpilib.Timer()
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def autonomousInit(self):
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self.autoTimer.reset()
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self.autoTimer.start()
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def autonomousPeriodic(self):
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if self.autoTimer.get() < 2:
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self.drivetrain.tankDrive(.5, .5)
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elif self.autoTimer.get() >= 2 and self.autoTimer.get() < 2.5:
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self.drivetrain.tankDrive(.5, -.5)
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elif self.autoTimer.get() >= 2.5 and self.autoTimer.get() < 3.5:
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self.drivetrain.tankDrive(.5, .5)
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elif self.autoTimer.get() >= 3.5 and self.autoTimer.get() < 4.25:
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self.drivetrain.tankDrive(-.5, .5)
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elif self.autoTimer.get() >= 4.25 and self.autoTimer.get() < 6.25:
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self.drivetrain.tankDrive(-.5, -.5)
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else:
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self.drivetrain.tankDrive(0, 0)
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def teleopInit(self):
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self.autoTimer.stop()
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def teleopPeriodic(self):
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self.drivetrain.arcadeDrive(self.primary.getLeftY(), self.primary.getLeftX())
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if __name__ == "__main__":
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wpilib.run(MyRobot) |