fix setMotorVal method in DriveTrain to not use robotDrive

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5389b235380b3a081a6c9c7b34b4e1b72b93edfe..1e9bb33e7428677f1a83e9374e1052229206afe5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import com.ctre.CANTalon;
 
@@ -43,11 +44,15 @@ public class DriveTrain extends Subsystem {
 
   // DRIVE METHODS
   public void setMotorValues(final double left, final double right) {
-    robotDrive.tankDrive(left, right);
+    frontLeft.set(left);
+    rearLeft.set(left);
+
+    frontRight.set(right);
+    rearRight.set(right);
   }
 
-  public void joystickDrive(final double left, final double right) {
-    robotDrive.tankDrive(left, right);
+  public void joystickDrive(final double thrust, final double twist) {
+    robotDrive.arcadeDrive(thrust, twist);
   }
 
   public void stop() {
@@ -119,6 +124,7 @@ public class DriveTrain extends Subsystem {
 
   @Override
   protected void initDefaultCommand() {
+    setDefaultCommand(new JoystickDrive());
   }
 
 }