Add gyro-mecanum example

Author: fletch3555

gyro-mecanum/robot.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+"""
+    This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
+    in relation to the starting orientation of the robot (field-oriented controls).
+"""
+
+import wpilib
+import wpilib.drive
+
+
+class MyRobot(wpilib.TimedRobot):
+
+    # gyro calibration constant, may need to be adjusted;
+    # gyro value of 360 is set to correspond to one full revolution
+    VOLTS_PER_DEGREE_PER_SECOND = 0.0128
+
+    FRONT_LEFT_CHANNEL = 0
+    REAR_LEFT_CHANNEL = 1
+    FRONT_RIGHT_CHANNEL = 2
+    REAR_RIGHT_CHANNEL = 3
+    GYRO_PORT = 0
+    JOYSTICK_PORT = 0
+
+    def robotInit(self):
+        """Robot initialization function"""
+
+        self.gyro = wpilib.AnalogGyro(self.GYRO_PORT)
+        self.joystick = wpilib.Joystick(self.JOYSTICK_PORT)
+
+        frontLeft = wpilib.PWMSparkMax(self.FRONT_LEFT_CHANNEL)
+        rearLeft = wpilib.PWMSparkMax(self.REAR_LEFT_CHANNEL)
+        frontRight = wpilib.PWMSparkMax(self.FRONT_RIGHT_CHANNEL)
+        rearRight = wpilib.PWMSparkMax(self.REAR_RIGHT_CHANNEL)
+
+        frontRight.setInverted(True)
+        rearRight.setInverted(True)
+
+        self.robotDrive = wpilib.drive.MecanumDrive(
+            frontLeft, rearLeft, frontRight, rearRight
+        )
+
+        self.gyro.setSensitivity(self.VOLTS_PER_DEGREE_PER_SECOND)
+
+    def teleopPeriodic(self):
+        self.robotDrive.driveCartesian(
+            -self.joystick.getY(), -self.joystick.getX(), -self.joystick.getZ(),
+            self.gyro.getRotation2d()
+        )
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)

run_tests.sh

@@ -25,6 +25,7 @@ BASE_TESTS="
   game-data
   getting-started
   gyro
+  gyro-mecanum
   i2c-communication
   magicbot-simple
   mecanum-drive