challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/SlaveWheel.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 public class SlaveWheel {
   6
   7   // Left motor and wheel(s) are Master, right motor and wheel(s) are slave
   8
   9   double masterVal = Robot.getDriveTrain().getLeftSpeed();
  10   double slaveVal = Robot.getDriveTrain().getRightSpeed();
  11
  12   double distL, distR;
  13
  14   double error = 0;
  15   double k = 0.1;
  16
  17   public double calculateError() {
  18     distL = Robot.getDriveTrain().getLeftEncoderDistance();
  19     distR = Robot.getDriveTrain().getRightEncoderDistance();
  20     error = distL - distR;
  21     return error;
  22   }
  23
  24   // repeat every 20 milliseconds?
  25
  26 }