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Robot.py
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Robot.py
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import wpilib
class MyRobot(wpilib.timedRobot,self):
def robotInit(self):
#drive define
self.fL = wpilib.PWMTalonFX(0)
self.fR = wpilib.PWMTalonFX(1)
self.bL = wpilib.PWMTalonFX(2)
self.bR = wpilib.PWMTalonFX(3)
#shooter define
self.wheelL = wpilib.PWMVictorSPX(4)
self.wheelR = wpilib.PWMVictorSPX(5)
self.conveyor = wpilib.PWMVictorSPX(6)
#lift
self.liftUp = wpilib.PWMVictorSPX(7)
self.liftDown = wpilib.PWMVictorSPX(8)
self.driverXbox = wpilib.XboxController(0)
self.dXL = 1
self.dYL = 2
self.dXR = 4
self.dYR = 5
self.dTrig = 3
self.operatorXbox = wpilib.XboxController(1)
self.oXL = 1
self.oYL = 2
self.oXR = 4
self.oYR = 5
self.oTrig = 3
def autounomousInit(self):
pass
def teleopPeriodic(self):
#shoot
self.wheelL.set(self.operatorXbox.getRawAxis(3)+self.operatorXbox.getRawAxis(1))
self.wheelR.set(self.operatorXbox.getRawAxis(3)-self.operatorXbox.getRawAxis(1))
self.conveyor.set(self.operatorXbox.getRawAxis(6))
#lift
if self.operatorXbox.getRawButton(5)== True :
self.liftUp.set(self.operatorXbox.getRawAxis(5))
if self.operatorXbox.getRawButton(6) == True :
self.liftDown.set(self.operatorXbox.getRawAxis(5))
self.fL.set( (self.driverXbox.getRawAxis(2) ) + (2* ( self.driverXbox.getRawAxis(1)) ))
self.fR.set( (self.driverXbox.getRawAxis(2) ) - ( 2* (self.driverXbox.getRawAxis(1) )))
self.bL.set( (self.driverXbox.getRawAxis(2)) + ( 2* (self.driverXbox.getRawAxis(1))) + ( 2* (self.driverXbox.getRawAxis(4))))
self.bR.set( (self.driverXbox.getRawAxis(2) ) - (2* (self.driverXbox.getRawAxis(1))) -(2* (self.driverXbox.getRawAxis(4))))
if __name__ == "__main__":
wpilib.run(MyRobot)