Merge pull request #178 from martinrioux/frc-doc-getting-started

Getting Started example added (basic Drivetrain)

Author: virtuald

examples/getting-started/robot.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+import wpilib
+import wpilib.drive
+import ctre
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self):
+        """
+        This function is called upon program startup and
+        should be used for any initialization code.
+        """
+        self.leftDrive = ctre.WPI_TalonFX(1)
+        self.rightDrive = ctre.WPI_TalonFX(2)
+        self.robotDrive = wpilib.drive.DifferentialDrive(
+            self.leftDrive, self.rightDrive
+        )
+        self.controller = wpilib.XboxController(0)
+        self.timer = wpilib.Timer()
+
+        # 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.
+        self.rightDrive.setInverted(True)
+
+    def autonomousInit(self):
+        """This function is run once each time the robot enters autonomous mode."""
+        self.timer.restart()
+
+    def autonomousPeriodic(self):
+        """This function is called periodically during autonomous."""
+
+        # Drive for two seconds
+        if self.timer.get() < 2.0:
+            # Drive forwards half speed, make sure to turn input squaring off
+            self.robotDrive.arcadeDrive(0.5, 0, squareInputs=False)
+        else:
+            self.robotDrive.stopMotor()  # Stop robot
+
+    def teleopInit(self):
+        """This function is called once each time the robot enters teleoperated mode."""
+
+    def teleopPeriodic(self):
+        """This function is called periodically during teleoperated mode."""
+        self.robotDrive.arcadeDrive(
+            -self.controller.getLeftY(), -self.controller.getRightX()
+        )
+
+    def testInit(self):
+        """This function is called once each time the robot enters test mode."""
+
+    def testPeriodic(self):
+        """This function is called periodically during test mode."""
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)