Servo Motor Example 1

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;

import edu.wpi.first.wpilibj.XboxController;

import edu.wpi.first.wpilibj.Servo;

public class Robot extends TimedRobot {

  // variables to hold the objects used

  private XboxController xbox;

  private Servo servo;

  /**

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

   * used for any initialization code.  Create (instantiate) your objects here.

   */

  @Override

  public void robotInit() {

    // instantiate (create) the contained objects and store them in the variables

    xbox = new XboxController(0);  // First Xbox/game controller

    servo = new Servo(2);          // Servo connected to PWM2

  }

  /**

   * 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() {

      if (xbox.getXButton()) {

          // X button moves servo all the way left

          servo.set(-1.0);

      } else if (xbox.getYButton()) {

          // Y button moves servo all the way right

          servo.set(1.0);

      } else {

        // If neither X nor Y are pressed, servo position is

        // controlled by the left joystick X-axis position

        // Read xbox controller left joystick x axis (axis 0)

        // value returned is between -1.0 and 1.0

        double x = xbox.getRawAxis(0); 

        // Servo motors are controlled on a scale of 0.0 to 1.0

        // so re-scale the X value to that range (-1.0->0, 0->0.5, 1.0->1.0)

        x = (x + 1.0) / 2;

        // Set servo motor position based on joystick

        servo.set(x); 

      }

  }

  /**

   * This function is called periodically during test mode.

   */

  @Override

  public void testPeriodic() {

  }

}