add arcade-drive-xbox-controller example and update arcade-drive

Author: fletch3555

arcade-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 split arcade steering and an Xbox controller.
+"""
+
+import wpilib
+import wpilib.drive
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        """Robot initialization function"""
+
+        # create motor controller objects
+        left = wpilib.PWMSparkMax(0)
+        right = wpilib.PWMSparkMax(1)
+
+        # object that handles basic drive operations
+        self.robotDrive = wpilib.drive.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 split arcade style
+        # That means that the Y axis of the left stick moves forward
+        # and backward, and the X of the right stick turns left and right.
+        self.robotDrive.arcadeDrive(
+            -self.driverController.getLeftY(), -self.driverController.getRightX()
+        )
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)

arcade-drive/robot.py

@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 """
-    This is a demo program showing the use of the DifferentialDrive class,
-    specifically it contains the code necessary to operate a robot with
-    a single joystick
+    This is a demo program showing the use of the DifferentialDrive class.
+    Runs the motors with arcade steering.
 """
 
 import wpilib
@@ -14,24 +13,25 @@ def robotInit(self):
         """Robot initialization function"""
 
         # create motor controller objects
-        m_left = wpilib.Talon(0)
-        m_right = wpilib.Talon(1)
+        left = wpilib.PWMSparkMax(0)
+        right = wpilib.PWMSparkMax(1)
+
         # object that handles basic drive operations
-        self.myRobot = wpilib.drive.DifferentialDrive(m_left, m_right)
-        self.myRobot.setExpiration(0.1)
+        self.robotDrive = wpilib.drive.DifferentialDrive(left, right)
 
-        # joystick #0
+        # joystick 0 on the driver station
         self.stick = wpilib.Joystick(0)
 
-    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.arcadeDrive(
-            self.stick.getRawAxis(0), self.stick.getRawAxis(1), True
-        )
+        # Drive with split arcade style
+        # That means that the Y axis of the left stick moves forward
+        # and backward, and the X of the right stick turns left and right.
+        self.robotDrive.arcadeDrive(-self.stick.getY(), -self.stick.getX())
 
 
 if __name__ == "__main__":

run_tests.sh

@@ -6,6 +6,7 @@ cd "$(dirname $0)"
 BASE_TESTS="
   addressableled
   arcade-drive
+  arcade-drive-xbox-controller
   arm-simulation
   canpdp
   commands-v2/hatchbot