| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.RobotMap; |
| 4 | import org.usfirst.frc.team3501.robot.commands.DriveWithJoysticks; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.CANJaguar; |
| 7 | import edu.wpi.first.wpilibj.RobotDrive; |
| 8 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 9 | |
| 10 | public class Drivetrain extends Subsystem { |
| 11 | |
| 12 | private RobotDrive robotDrive; |
| 13 | |
| 14 | public Drivetrain() { |
| 15 | CANJaguar frontLeft = new CANJaguar(RobotMap.FRONT_LEFT_ADDRESS); |
| 16 | CANJaguar frontRight = new CANJaguar(RobotMap.FRONT_RIGHT_ADDRESS); |
| 17 | CANJaguar rearLeft = new CANJaguar(RobotMap.REAR_LEFT_ADDRESS); |
| 18 | CANJaguar rearRight = new CANJaguar(RobotMap.REAR_RIGHT_ADDRESS); |
| 19 | |
| 20 | robotDrive = new RobotDrive( |
| 21 | frontLeft, rearLeft, |
| 22 | frontRight, rearRight); |
| 23 | } |
| 24 | |
| 25 | public void drive(double forward, double twist) { |
| 26 | if (Math.abs(forward) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT) |
| 27 | forward = 0; |
| 28 | if (Math.abs(twist) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT) |
| 29 | twist = 0; |
| 30 | |
| 31 | robotDrive.arcadeDrive( |
| 32 | RobotMap.MAX_DRIVE_SPEED * adjust(forward), |
| 33 | RobotMap.MAX_DRIVE_SPEED * adjust(twist), |
| 34 | false); |
| 35 | } |
| 36 | |
| 37 | public void goForward(double speed) { |
| 38 | robotDrive.arcadeDrive(speed, 0); |
| 39 | } |
| 40 | |
| 41 | public void stop() { |
| 42 | robotDrive.arcadeDrive(0, 0); |
| 43 | } |
| 44 | |
| 45 | // output is avg of `x` and `sqrt(x)` |
| 46 | private double adjust(double x) { |
| 47 | return (x + Math.signum(x) * Math.sqrt(Math.abs(x))) / 2; |
| 48 | } |
| 49 | |
| 50 | public void initDefaultCommand() { |
| 51 | setDefaultCommand(new DriveWithJoysticks()); |
| 52 | } |
| 53 | } |
| 54 | |