// ENCODERS
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
- Constants.DriveTrain.ENCODER_LEFT_B);
+ Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
- Constants.DriveTrain.ENCODER_RIGHT_B);
+ Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
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() {
+ public double getLeftEncoderDistance() {
return leftEncoder.getDistance();
}
- public double getRightEncoder() {
+ public double getRightEncoderDistance() {
return rightEncoder.getDistance();
}