Tank Drive with one xbox controller
 

This is Tank Drive with one controller using left analog to control left drive train and right analog to control right drive.


public class Robot extends IterativeRobot {

RobotDrive Leftdrive;
RobotDrive Rightdrive;
Joystick mXboxController;
Joystick controlStick;
Talon frontLeft,frontRight, rearLeft, rearRight;

public void robotInit() { // this code will be ran each time we power on the robot

mXboxController = new Joystick(1); // depends on the usb connected to computer
controlStick = new Joystick(0);
frontLeft = new Talon(2);
frontLeft.setInverted(true);
frontRight = new Talon(1);

rearLeft = new Talon(3);
rearRight = new Talon(0);
rearRight.setInverted(true);
Leftdrive = new RobotDrive(frontLeft, rearLeft);
Rightdrive = new RobotDrive(frontRight, rearRight);
}


public void autonomousInit() { // triggers when we enter autonomous


}


public void autonomousPeriodic() { // this code runs periodically in autonomous
while (isAutonomous() && isEnabled()) {
Leftdrive.drive(0.5, 0.0);
Rightdrive.drive(0.5, 0.0);
Timer.delay(0.5);
Leftdrive.drive(0.0, 0.0);
Rightdrive.drive(0.0, 0.0);

}
}




public void teleopInit(){ // This triggers every time we enter telop mode.

mXboxController = new Joystick(0); // the number within the parathesis depends on the controllers usb order always check
controlStick = new Joystick(1);

}




public void teleopPeriodic() {
while (isOperatorControl() && isEnabled()) {
Leftdrive.setSafetyEnabled(true);
Rightdrive.setSafetyEnabled(true);
Leftdrive.tankDrive(mXboxController.getRawAxis(1), mXboxController.getRawAxis(1));
Rightdrive.tankDrive(mXboxController.getRawAxis(5) , mXboxController.getRawAxis(5));
Timer.delay(0.01); } } // this will constantly update motors and speed controllers periodically


At the speedcontroller setInverted you do not have to invert the controller thats just how ours was set up