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Implement Drive Code

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HFocus
2019-08-07 19:20:10 -06:00
parent 7a19b683f6
commit c9da9d8585
3 changed files with 15 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+12 -5
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.RobotMap;
import frc4388.robot.OI;
import frc4388.robot.Robot;
import frc4388.utility.controller.XboxController;
@@ -27,12 +28,14 @@ public class Drive extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
private static double m_inputMove, m_inputSteer;
public Drive(){
/* factory default values */
@@ -60,6 +63,10 @@ public class Drive extends Subsystem {
@Override
public void periodic() {
m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
m_driveTrain.arcadeDrive(m_inputMove, m_inputSteer);
}
@Override