47 lines
1.6 KiB
Python
47 lines
1.6 KiB
Python
import wpilib
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import wpilib.drive
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import math
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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.PULSES_PER_REVOLUTION = 512
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self.WHEEL_DIAMETER = 6
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self.DISTANCE_PER_PULSE = math.pi * self.WHEEL_DIAMETER / self.PULSES_PER_REVOLUTION
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self.leftDrivetrainEncoder = wpilib.Encoder(0, 1)
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self.leftDrivetrainEncoder.setDistancePerPulse(self.DISTANCE_PER_PULSE)
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self.rightDrivetrainEncoder = wpilib.Encoder(2, 3)
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self.rightDrivetrainEncoder.setDistancePerPulse(self.DISTANCE_PER_PULSE)
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def autonomousInit(self):
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self.leftDrivetrainEncoder.reset()
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self.rightDrivetrainEncoder.reset()
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def autonomousPeriodic(self):
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if (self.leftDrivetrainEncoder.getDistance() + self.rightDrivetrainEncoder.getDistance()) / 2 < 60:
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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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pass
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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) |