drive.py

import wpilib

from magicbot import magic_motion_profile


class Drive(magic_motion_profile):
    robot_drive = wpilib.RobotDrive

    left_drive_motor = wpilib.Spark
    right_drive_motor = wpilib.Spark

    rotation_speed = resetsTo(0)
    forwards_speed = resetsTo(0)

    def __init__(self):
        self.set_profile_forwards(max_feet_per_second=8, acceleration_seconds=1.5, deceleration_seconds=1)
        self.set_profile_rotation(max_degrees_per_second=90, acceleration_seconds=0.5, deceleration_seconds=0.5)

    def execute(self):
        self.robot_drive.arcadeDrive(self.forwards, self.rotation)

left_lift.py

from components import drive
from robotpy_ext.autonomous import state, StatefulAutonomous
import wpilib
from magicbot.magic_tunable import tunable

class sideLift(StatefulAutonomous):
    
    MODE_NAME = "Side Lift"
    DEFAULT = False

    drive = drive.Drive
    camera = camera.Camera

    @state(first=True)
    def forward(self):
        if self.drive.forwards(feet=3):
          self.next_state('turn')

    @state
    def turn(self):
        if self.drive.turn_right(degrees=60):
          self.next_state('forward_to_airship')


    @state
    def forward_to_airship(self):
        self.drive.forwards(feet=2)