71 lines
2.0 KiB
Python
71 lines
2.0 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.leds = wpilib.AddressableLED(0)
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self.leds.setLength(20)
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self.buffer = wpilib.AddressableLED.LEDData(20)
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self.leds.setData(self.buffer)
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self.leds.start()
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self.rainbowTimer = wpilib.Timer()
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self.rainbowTimer.start()
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self.rainbowColorSelection = 0
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self.hsvColorSelection = 0
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self.RAINBOW = [
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wpilib.Color.kRed,
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wpilib.Color.kOrange,
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wpilib.Color.kYellow,
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wpilib.Color.kGreen,
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wpilib.Color.kBlue,
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wpilib.Color.kPurple]
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def robotPeriodic(self):
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if self.rainbowTimer.get() > 1:
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for i in range(10):
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self.buffer.setLED(i, self.RAINBOW[self.rainbowColorSelection % len(self.rainbowColorSelection)])
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self.rainbowColorSelection += 1
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self.rainbowTimer.reset()
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for i in range(10, 20):
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self.buffer.setHSV(i, self.hsvColorSelection % 180, 255, 255)
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self.hsvColorSelection += 1
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self.leds.setData(self.buffer)
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def autonomousInit(self):
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pass
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def autonomousPeriodic(self):
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pass
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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) |