DC Motor CANcode

/*----------------------------------------------------------------------------*/

/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */

/* Open Source Software - may be modified and shared by FRC teams. The code   */

/* must be accompanied by the FIRST BSD license file in the root directory of */

/* the project.                                                               */

/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;

import edu.wpi.first.wpilibj.XboxController;

import edu.wpi.first.wpilibj.GenericHID.Hand;

import com.ctre.phoenix.motorcontrol.can.*;

/**

 * The VM is configured to automatically run this class, and to call the

 * functions corresponding to each mode, as described in the TimedRobot

 * documentation. If you change the name of this class or the package after

 * creating this project, you must also update the build.gradle file in the

 * project.

 */

public class Robot extends TimedRobot {

  private XboxController xbox; 

  private WPI_TalonSRX m_Left;

  /**

   * This function is run when the robot is first started up and should be

   * used for any initialization code.

   */

  @Override

  public void robotInit() {

    xbox = new XboxController(0); // Xbox controller on port 0

    m_Left = new WPI_TalonSRX(4); // CAN Talon ID 4

  }

  /**

   * This function is called every robot packet, no matter the mode. Use

   * this for items like diagnostics that you want ran during disabled,

   * autonomous, teleoperated and test.

   *

   * <p>This runs after the mode specific periodic functions, but before

   * LiveWindow and SmartDashboard integrated updating.

   */

  @Override

  public void robotPeriodic() {

  }

  @Override

  public void autonomousInit() {

  }

  /**

   * This function is called periodically during autonomous.

   */

  @Override

  public void autonomousPeriodic() {

  }

  /**

   * This function is called periodically during operator control.

   */

  @Override

  public void teleopPeriodic() {

    // Read xbox controller left joystick Y axis

    // value returned is between -1.0 and 1.0

    // For xbox controller, uncomment the following line

    // double x = xbox.getY(Hand.kLeft); 

    // For Logitech F310 controller, uncomment the following line

    double x = -xbox.getRawAxis(1);

    // DC Motor controllers apply between -1.0 (full reverse)

    // 0=stop and +1.0 (full forward) power

    // Set motor speed based on joystick

    m_Left.set(x);

  }

  /**

   * This function is called periodically during test mode.

   */

  @Override

  public void testPeriodic() {

  }

}