robot.py

import magicbot
import wpilib
from wpilib.drive import DifferentialDrive
from robotpy_ext.control.button_debouncer import ButtonDebouncer


class MyRobot(magicbot.MagicRobot):

    def createObjects(self):

        self.leftStick = wpilib.Joystick(2)
        self.elevatorStick = wpilib.Joystick(1)
        self.rightStick = wpilib.Joystick(0)
        self.elevatorMotorOne = wpilib.Victor(2)
        self.elevatorMotorTwo = wpilib.Victor(3)
        self.left = wpilib.Victor(0)
        self.right = wpilib.Victor(1)
        self.myRobot = DifferentialDrive(self.left, self.right)
        self.elevator = wpilib.SpeedControllerGroup(self.elevatorMotorOne, self.elevatorMotorTwo)
        self.elevatorPot = wpilib.AnalogPotentiometer(0)

        self.gearshift = wpilib.DoubleSolenoid(0, 0, 1)
        self.trigger = ButtonDebouncer(self.rightStick, 1, period=.5)
        self.gearshift.set(1)

    def teleopInit(self):
        pass

    def teleopPeriodic(self):

        self.myRobot.tankDrive(-self.leftStick.getY(), -self.rightStick.getY())
        if (self.trigger.get()):
            if (self.gearshift.get() == 1):
                self.gearshift.set(2)
            elif (self.gearshift.get() == 2):
                self.gearshift.set(1)
        self.elevator.set(self.elevatorStick.getY())


if __name__ == '__main__':
    wpilib.run(MyRobot)