class DriveBase(Subsystem):
def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(ctre.CANTalon(1), ctre.CANTalon(3),
ctre.CANTalon(4), ctre.CANTalon(2))
def drive(self, left, right):
self.diabloDrive.tankDrive(-left, -right, squaredInputs=False)
class DriveBase(Subsystem):
def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(wpilib.Spark(robotMap.L1DRIVE),
wpilib.Spark(robotMap.L2DRIVE),
wpilib.Spark(robotMap.R1DRIVE),
wpilib.Spark(robotMap.R2DRIVE))
self.diabloDrive.frontLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.frontRightMotor.enableDeadbandElimination(True)
self.diabloDrive.rearLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.rearRightMotor.enableDeadbandElimination(True)
def drive(self, left, right):
self.diabloDrive.tankDrive(left, right, squaredInputs=False)
class DriveBase(Subsystem):
def __init__(self):
super().__init__()
self.diabloDrive = RobotDrive(wpilib.Spark(robotMap.L1DRIVE),
wpilib.Spark(robotMap.L2DRIVE),
wpilib.Spark(robotMap.R1DRIVE),
wpilib.Spark(robotMap.R2DRIVE))
print("Drive Has been created")
self.diabloDrive.frontLeftMotor.enableDeadbandElimination(True)
print("front left motor channel: {}\n".format(
self.diabloDrive.frontLeftMotor.getChannel()))
print("front left motor deadband elimination: {}\n".format(
hal.getPWMEliminateDeadband(
self.diabloDrive.frontLeftMotor.handle)))
self.diabloDrive.frontRightMotor.enableDeadbandElimination(True)
self.diabloDrive.rearLeftMotor.enableDeadbandElimination(True)
self.diabloDrive.rearRightMotor.enableDeadbandElimination(True)
def drive(self, left, right):
self.diabloDrive.tankDrive(-left, -right)
