From c72a32efb2183ffbccee4479b58ff40728ccde2a Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Sat, 18 Jan 2020 09:27:53 -0800
Subject: [PATCH] Fixed Deadband Issue

Made motors running at same speed.
---
 src/main/java/frc4388/robot/RobotContainer.java   | 4 ++--
 src/main/java/frc4388/robot/subsystems/Drive.java | 9 ++++++---
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 202f647..8f58f44 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -88,8 +88,8 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
 
-        new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
-            .whenPressed(new InstantCommand(null, m_robotDrive));
+        //new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
+            //.whenPressed(new InstantCommand(null, m_robotDrive));
     }
     
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 2ad83d9..24fe71c 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -61,6 +61,9 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
+    m_leftBackMotor.configNeutralDeadband(0.0); // DO NOT CHANGE
+    m_rightBackMotor.configNeutralDeadband(0.0); //Ensures motors run at the same speed
+
     /* Motor Encoders */
     //m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
     //m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -83,7 +86,7 @@ public class Drive extends SubsystemBase {
     m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
-
+    
     m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
 
@@ -142,8 +145,8 @@ 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);
+    m_leftBackMotor.setNeutralMode(mode);
+    m_rightBackMotor.setNeutralMode(mode);
   }
 
   /**