/*----------------------------------------------------------------------------*/ /* 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() { }

}