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Update Physics4Wheel #131

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Merged
merged 1 commit into from
May 6, 2025
Merged

Update Physics4Wheel #131

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11 changes: 8 additions & 3 deletions Physics4Wheel/src/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,15 +18,20 @@ def robotInit(self):
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)

# Define front and rear motors
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rf_motor = wpilib.Jaguar(3)
self.rr_motor = wpilib.Jaguar(4)

l_motor = wpilib.MotorControllerGroup(self.lf_motor, self.lr_motor)
r_motor = wpilib.MotorControllerGroup(self.rf_motor, self.rr_motor)
# add the followers to the left and right motors
self.lf_motor.addFollower(self.lr_motor)
self.rf_motor.addFollower(self.rr_motor)

self.drive = wpilib.drive.DifferentialDrive(l_motor, r_motor)
# Set the right side motors to be inverted
self.lf_motor.setInverted(True)

self.drive = wpilib.drive.DifferentialDrive(self.lf_motor, self.lr_motor)

# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)
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