X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=bad303aebe622f0db77aa8a41d45e79b92c68325;hb=f56e6ebf87134eccc3b8bb0e1d2529bd6cb061dd;hp=32ec7b221ab237ef17747dfa46f47f8246ace31b;hpb=ac77a7b890c794f807b764221ff72d9044791fab;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..bad303a 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -14,8 +14,10 @@ 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 = 0.012, driveI = 0.0011, driveD = -0.002;
+  public static double smallTurnP = 0.004, smallTurnI = 0.0013,
+      smallTurnD = 0.005;
+  public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
   public static double driveStraightGyroP = 0.01;
 
   public static final double WHEEL_DIAMETER = 4; // inches
@@ -27,6 +29,9 @@ public class DriveTrain extends Subsystem {
   public static final double TIME_TO_CLIMB_FOR = 0;
   public static final double CLIMBER_SPEED = 0;
 
+  public static final boolean DRIVE_BRAKE_MODE = true;
+  public static final boolean DRIVE_COAST_MODE = false;
+
   private static DriveTrain driveTrain;
 
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
@@ -77,8 +82,8 @@ 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);
@@ -191,4 +196,12 @@ public class DriveTrain extends Subsystem {
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
+
+  public void setCANTalonsBrakeMode(boolean mode) {
+    frontLeft.enableBrakeMode(mode);
+    rearLeft.enableBrakeMode(mode);
+
+    frontRight.enableBrakeMode(mode);
+    rearRight.enableBrakeMode(mode);
+  }
 }