Merge pull request #84 from fletch3555/add_tank-drive-xbox-controller_example

add tank-drive-xbox-controller example

Author: virtuald

run_tests.sh

@@ -35,6 +35,7 @@ BASE_TESTS="
   stateful-autonomous
   state-space-flywheel
   tank-drive
+  tank-drive-xbox-controller
   timed/src
 "
 

tank-drive-xbox-controller/robot.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+"""
+    This is a demo program showing the use of the DifferentialDrive class.
+    Runs the motors with tank steering and an Xbox controller.
+"""
+
+import wpilib
+from wpilib.drive import DifferentialDrive
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        """Robot initialization function"""
+
+        # object that handles basic drive operations
+        left = wpilib.PWMSparkMax(0)
+        right = wpilib.PWMSparkMax(1)
+
+        self.robotDrive = DifferentialDrive(left, right)
+
+        # xbox controller 0 on the driver station
+        self.driverController = wpilib.XboxController(0)
+
+        # We need to invert one side of the drivetrain so that positive voltages
+        # result in both sides moving forward. Depending on how your robot's
+        # gearbox is constructed, you might have to invert the left side instead.
+        right.setInverted(True)
+
+    def teleopPeriodic(self):
+        # Drive with tank drive.
+        # That means that the Y axis of the left stick moves the left side
+        # of the robot forward and backward, and the Y axis of the right stick
+        # moves the right side of the robot forward and backward.
+        self.robotDrive.tankDrive(
+            -self.driverController.getLeftY(), -self.driverController.getRightY()
+        )
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)

tank-drive/robot.py

@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 """
-    This is a demo program showing the use of the RobotDrive class,
-    specifically it contains the code necessary to operate a robot with
-    tank drive.
+    This is a demo program showing the use of the DifferentialDrive class.
+    Runs the motors with tank steering.
 """
 
 import wpilib
@@ -14,30 +13,23 @@ def robotInit(self):
         """Robot initialization function"""
 
         # object that handles basic drive operations
-        self.frontLeftMotor = wpilib.Talon(0)
-        self.rearLeftMotor = wpilib.Talon(1)
-        self.frontRightMotor = wpilib.Talon(2)
-        self.rearRightMotor = wpilib.Talon(3)
+        left = wpilib.PWMSparkMax(0)
+        right = wpilib.PWMSparkMax(1)
 
-        self.left = wpilib.MotorControllerGroup(self.frontLeftMotor, self.rearLeftMotor)
-        self.right = wpilib.MotorControllerGroup(
-            self.frontRightMotor, self.rearRightMotor
-        )
-
-        self.myRobot = DifferentialDrive(self.left, self.right)
-        self.myRobot.setExpiration(0.1)
+        self.robotDrive = DifferentialDrive(left, right)
 
         # joysticks 1 & 2 on the driver station
         self.leftStick = wpilib.Joystick(0)
         self.rightStick = wpilib.Joystick(1)
 
-    def teleopInit(self):
-        """Executed at the start of teleop mode"""
-        self.myRobot.setSafetyEnabled(True)
+        # We need to invert one side of the drivetrain so that positive voltages
+        # result in both sides moving forward. Depending on how your robot's
+        # gearbox is constructed, you might have to invert the left side instead.
+        right.setInverted(True)
 
     def teleopPeriodic(self):
-        """Runs the motors with tank steering"""
-        self.myRobot.tankDrive(self.leftStick.getY() * -1, self.rightStick.getY() * -1)
+        """Drive with tank style"""
+        self.robotDrive.tankDrive(-self.leftStick.getY(), -self.rightStick.getY())
 
 
 if __name__ == "__main__":