move inches per pulse constant from constants.java to drivetrain.java

[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 1e9bb33e7428677f1a83e9374e1052229206afe5..b4fcd636777f3fccf353084cca32c4d113537045 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -10,6 +10,11 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
+  public static final double WHEEL_DIAMETER = 6; // inches
+  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+  public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
+      / ENCODER_PULSES_PER_REVOLUTION;
+
   private static DriveTrain driveTrain;
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private final RobotDrive robotDrive;
@@ -28,8 +33,8 @@ public class DriveTrain extends Subsystem {
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
         Constants.DriveTrain.ENCODER_RIGHT_B);
 
-    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
 
     // ROBOT DRIVE
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
@@ -47,12 +52,12 @@ public class DriveTrain extends Subsystem {
     frontLeft.set(left);
     rearLeft.set(left);
 
-    frontRight.set(right);
-    rearRight.set(right);
+    frontRight.set(-right);
+    rearRight.set(-right);
   }
 
   public void joystickDrive(final double thrust, final double twist) {
-    robotDrive.arcadeDrive(thrust, twist);
+    robotDrive.arcadeDrive(thrust, twist, true);
   }
 
   public void stop() {