Simple code that works : how to program a big FRC arcade/tank drivetrain, based on Rev brushless motors (Neo or Vortex).
Code from this video
https://github.com/epanov1602/TimedRevTank/
Once you are happy with this simple first step -- go ahead and spread your wings and check the real Rev examples:
github.com/robotpy/robotpy-rev/tree/main/
(go to "examples")
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FRC Python From Absolute Zero - 4. Simple Rev Tank | NatokHD