X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Fsubsystems%2FDriveTrain.java;fp=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Fsubsystems%2FDriveTrain.java;h=a8716b6ba9f472edf2e0ddd3d2bc3090e8fab7d6;hb=ba4d69ce1108cae1741a75ad77ad0f0518c27a82;hp=1dfe9d8759989964c41b5ec4fb0c059702130821;hpb=c9ab1206ca64f8a427a1cf0220bc5f3eadb77914;p=3501%2F2015-FRC-Spark

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
index 1dfe9d8..a8716b6 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
@@ -37,6 +37,10 @@ public class DriveTrain extends Subsystem {
     public double getLeftSpeed() {
         return leftEncoder.getRate();
     }
+    
+    public double getAverageSpeed() {
+    	return (getRightSpeed() + getLeftSpeed())/2;
+    }
 
     public double getRightDistance() {
         // Returns distance in inches
@@ -48,6 +52,10 @@ public class DriveTrain extends Subsystem {
         return leftEncoder.getDistance();
     }
 
+    public void stop() {
+    	setMotorSpeeds(0, 0);
+    }
+    
     public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
         if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
             leftSpeed = 0;