class MyRobot(magicbot.MagicRobot):
drivetrain : Drivetrain
# led_driver : LEDDriver
def createObjects(self):
self.front_left_motor = WPI_TalonSRX(robotmap.front_left_drive)
self.front_right_motor = WPI_TalonSRX(robotmap.front_right_drive)
self.back_left_motor = WPI_TalonSRX(robotmap.back_left_drive)
self.back_right_motor = WPI_TalonSRX(robotmap.back_right_drive)
motor_configuration.bulk_configure(self.front_left_motor, self.front_right_motor, self.back_left_motor, self.back_right_motor)
self.left_motors = wpilib.SpeedControllerGroup(self.front_left_motor, self.back_left_motor)
self.right_motors = wpilib.SpeedControllerGroup(self.front_right_motor, self.back_right_motor)
self.front_left_motor.setInverted(True)
self.front_right_motor.setInverted(True)
self.drivetrain_object = wpilib.drive.DifferentialDrive(self.left_motors, self.right_motors)
self.oi = OI()
# self.arduino_serial_connection = serial.Serial(
# port=robotmap.com_port,
# baudrate=9600,
# parity=serial.PARITY_ODD,
# stopbits=serial.STOPBITS_TWO,
# bytesize=serial.SEVENBITS
# )
wpilib.CameraServer.launch('vision.py:main')
def teleopInit(self):
# self.led_driver.write_color()
pass
def teleopPeriodic(self):
self.oi.execute()
