+ return driveTrain;
+ }
+
+ // DRIVE METHODS
+ public void setMotorValues(final double left, final double right) {
+ robotDrive.tankDrive(left, right);
+ }
+
+ public void joystickDrive(final double left, final double right) {
+ robotDrive.tankDrive(left, right);
+ }
+
+ public void stop() {
+ setMotorValues(0, 0);
+ }
+
+ public double getFrontLeftMotorVal() {
+ return frontLeft.get();
+ }
+
+ public double getFrontRightMotorVal() {
+ return frontRight.get();
+ }
+
+ public double getRearLeftMotorVal() {
+ return frontLeft.get();
+ }
+
+ public double getRearRightMotorVal() {
+ return frontLeft.get();
+ }
+
+ public CANTalon getFrontLeft() {
+ return frontLeft;
+ }
+
+ public CANTalon getFrontRight() {
+ return frontRight;
+ }
+
+ public CANTalon getRearLeft() {
+ return rearLeft;
+ }
+
+ public CANTalon getRearRight() {
+ return rearRight;
+ }
+
+ // ENCODER METHODS
+
+ public double getLeftEncoder() {
+ return leftEncoder.getDistance();
+ }
+
+ public double getRightEncoder() {
+ return rightEncoder.getDistance();
+ }
+
+ public double getAvgEncoderDistance() {
+ return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+ }
+
+ public void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ public double getLeftSpeed() {
+ return leftEncoder.getRate();
+ }
+
+ public double getRightSpeed() {
+ return rightEncoder.getRate();
+ }
+
+ public double getSpeed() {
+ return (getLeftSpeed() + getRightSpeed()) / 2.0;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }