X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;ds=sidebyside;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=2bb3c7a65422789fdacec52f957313b752a510c1;hb=89dad1e0fb923df053c895423a209d2017d3947c;hp=fd8f612278c760f5760c3ebcf9b20b04b601ea15;hpb=1884c3cf667ee1356e8ca8833f1ff28f39b85b1b;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index fd8f6122..2bb3c7a6 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -15,9 +15,9 @@ public class DriveTrain extends Subsystem {
   // Drivetrain specific constants that relate to the inches per pulse value for
   // the encoders
   private final static double WHEEL_DIAMETER = 6.0; // in inches
-  private final static double PULSES_PER_ROTATION = 256;
-  private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
-  private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
+  private final static double PULSES_PER_ROTATION = 256; // in pulses
+  private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+  private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
 
   public final static double INCHES_PER_PULSE = (((Math.PI)
       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
@@ -46,31 +46,28 @@ public class DriveTrain extends Subsystem {
     rightEncoder.reset();
   }
 
-  // Returns inches per second
   public double getRightSpeed() {
-    return rightEncoder.getRate();
+    return rightEncoder.getRate(); // in inches per second
   }
 
   public double getLeftSpeed() {
-    return leftEncoder.getRate();
+    return leftEncoder.getRate(); // in inches per second
   }
 
   public double getSpeed() {
-    return (getLeftSpeed() + getRightSpeed()) / 2.0;
+    return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
   }
 
-  // Returns distance in in
   public double getRightDistance() {
-    return rightEncoder.getDistance();
+    return rightEncoder.getDistance(); // in inches
   }
 
-  // Returns distance in in
   public double getLeftDistance() {
-    return leftEncoder.getDistance();
+    return leftEncoder.getDistance(); // in inches
   }
 
   public double getDistance() {
-    return (getRightDistance() + getLeftDistance()) / 2.0;
+    return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
   }
 
   public void stop() {