Updating to match cpp examples verbatim and adding to run_tests.sh

arcade-drive-xbox-controller/robot.py

@@ -13,31 +13,27 @@ 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)
 
-        # xbox controller #0
-        self.stick = wpilib.XboxController(0)
+        # 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.
-        m_right.setInverted(True)
-
-    def teleopInit(self):
-        """Executed at the start of teleop mode"""
-        self.myRobot.setSafetyEnabled(True)
+        right.setInverted(True)
 
     def teleopPeriodic(self):
-        """Runs the motors with tank steering"""
-
-        # 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.myRobot.arcadeDrive(-self.stick.getLeftY(), -self.stick.getRightX())
+        """
+        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__":

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 +13,23 @@ 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 arcade style"""
+        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
   commands-v2/hatchbot
   commands-v2/hatchbot-inlined