Merge pull request #7 from Team4388/configure-normal-mode-for-drivetrain

Configure Normal Mode for Drive

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

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;
@@ -68,6 +70,14 @@ public class RobotContainer {
             .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
             .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     }
+    
+    /**
+     * Sets Motors to a NeutralMode.
+     * @param mode NeutralMode to set motors to
+     */
+    public void setDriveNeutralMode(NeutralMode mode) {
+        m_robotDrive.setDriveTrainNeutralMode(mode);
+    }
 
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -58,10 +58,7 @@ public class Drive extends ProfiledPIDSubsystem {
     m_rightBackMotor.follow(m_rightFrontMotor);
 
     /* set neutral mode */
-    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+    setDriveTrainNeutralMode(NeutralMode.Brake);
 
     /* flip input so forward becomes back, etc */
     m_leftFrontMotor.setInverted(false);
@@ -83,6 +80,17 @@ public class Drive extends ProfiledPIDSubsystem {
     }
   }
 
+  /**
+   * Sets Motors to a NeutralMode.
+   * @param mode NeutralMode to set motors to
+   */
+  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.
    */