X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=af22b6812d5d20125a1959d47b64365b6db490a7;hb=ccbc35aedc081a0fa699a5ce8ccd4e52599358e5;hp=d3d9edf18618f4f61946aefcb2650eb6424af36e;hpb=04743f96b4f14a88a7315e1ea0a6aa47651358f5;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 d3d9edf..af22b68 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -4,27 +4,35 @@ import org.usfirst.frc.team3501.robot.Constants;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  private static DriveTrain driveTrain;
-  private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-
-  private DriveTrain() {
-    frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
-    frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
-    rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
-    rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-  }
-
-  public static DriveTrain getDriveTrain() {
-    if (driveTrain == null)
-      driveTrain = new DriveTrain();
-    return driveTrain;
-  }
-
-  @Override
-  protected void initDefaultCommand() {
-  }
+    private static DriveTrain driveTrain;
+    private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+    private RobotDrive robotDrive;
+
+    private DriveTrain() {
+        frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
+        frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
+        rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
+        rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+        robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+    }
+
+    public static DriveTrain getDriveTrain() {
+        if (driveTrain == null)
+            driveTrain = new DriveTrain();
+        return driveTrain;
+    }
+
+    public void setMotorSpeeds(double left, double right) {
+        robotDrive.tankDrive(left, right);
+    }
+
+    @Override
+    protected void initDefaultCommand() {
+    }
 
 }