X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=a0b75c6de0bffb327ea0bc2397cf30320a714900;hb=d64e0d6930af22cc1ca7cc3c75a311166d321d4c;hp=32ec7b221ab237ef17747dfa46f47f8246ace31b;hpb=fca066b62b8397aed068671c3ac90e7139177467;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 32ec7b2..a0b75c6 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.006, driveI = 0.0011, driveD = -0.002;
-  public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+  public static double driveP = 0.008, driveI = 0.0011, driveD = -0.002;
+  public static double turnP = 0.006, turnI = 0.0013, turnD = -0.005;
   public static double driveStraightGyroP = 0.01;
 
   public static final double WHEEL_DIAMETER = 4; // inches
@@ -77,8 +77,8 @@ public class DriveTrain extends Subsystem {
 
   // DRIVE METHODS
   public void setMotorValues(double left, double right) {
-    left = MathLib.restrictToRange(left, 0.0, 1.0);
-    right = MathLib.restrictToRange(right, 0.0, 1.0);
+    left = MathLib.restrictToRange(left, -1.0, 1.0);
+    right = MathLib.restrictToRange(right, -1.0, 1.0);
 
     frontLeft.set(left);
     rearLeft.set(left);