From a7863f153ba363fe39f357f8c2e767e99bcfb888 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 11 Jan 2020 11:51:21 -0700
Subject: [PATCH] Configure Normal Mode for Drive

- Brake when auto and teleop
- Coast when disabled
---
 src/main/java/frc4388/robot/Robot.java            | 6 ++++++
 src/main/java/frc4388/robot/RobotContainer.java   | 6 ++++++
 src/main/java/frc4388/robot/subsystems/Drive.java | 7 +++++++
 3 files changed, 19 insertions(+)

diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 7735364..8c15e6a 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -7,6 +7,8 @@
 
 package frc4388.robot;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -58,6 +60,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void disabledInit() {
+    m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
   }
 
   @Override
@@ -71,6 +74,7 @@ public class Robot extends TimedRobot {
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
+    m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
     /*
      * String autoSelected = SmartDashboard.getString("Auto Selector",
      * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
@@ -93,6 +97,8 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
+    m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
+
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
     // continue until interrupted by another command, remove
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1aaaddc..06b85f2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -7,6 +7,8 @@
 
 package frc4388.robot;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -69,6 +71,10 @@ public class RobotContainer {
             .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     }
 
+    public void setDriveNeutralMode(NeutralMode mode) {
+        m_robotDrive.setDriveTrainNeutralMode(mode);
+    }
+
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index c5640e1..c50f5c0 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -73,6 +73,13 @@ public class Drive extends SubsystemBase {
     }
   }
 
+  public void setDriveTrainNeutralMode(NeutralMode mode) {
+    m_leftFrontMotor.setNeutralMode(mode);
+    m_rightFrontMotor.setNeutralMode(mode);
+    m_leftFrontMotor.setNeutralMode(mode);
+    m_rightFrontMotor.setNeutralMode(mode);
+  }
+
   /**
    * Add your docs here.
    */