Remove sendable choosers, fix joystick driving bug, use right twist instead of right...

[3501/stronghold-2016] / 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 73dcde7087954b041c3e102516b973dfa4de42d1..eb819f1cb37aa6ed900d2a18cc046bc0c8dcde73 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -193,28 +193,12 @@ public class DriveTrain extends PIDSubsystem {
     return getAvgEncoderDistance();
   }
 
-  public void joystickDrive(double left, double right) {
-    int type = Constants.DriveTrain.DRIVE_TYPE;
-
+  public void drive(double left, double right) {
     // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
 
-    if (type == Constants.DriveTrain.TANK) {
-      // TODO Test this for negation and for voltage vs. [-1,1] outputs
-      double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
-      double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
-      left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
-          / Constants.DriveTrain.kADJUST;
-      right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
-          / Constants.DriveTrain.kADJUST;
-      robotDrive.tankDrive(-left * k, -right * k);
-    } else if (type == Constants.DriveTrain.ARCADE) {
-      double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() + -rearRight
-          .get()) / 2;
-      left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
-          / Constants.DriveTrain.kADJUST;
-      robotDrive.arcadeDrive(left * k, right);
-    }
+    // During teleop, leftY is throttle, rightX is twist.
+    robotDrive.arcadeDrive(-left * k, -right);
   }
 
   public void setMotorSpeeds(double left, double right) {