X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Fsubsystems%2FDriveTrain.java;h=c02dea95c941048dd6fd9651de673386fb576864;hb=eb9e6bd8da48f0833680f6e6705542bacacd4dd8;hp=dda70f85b0fc09390cbf931149d4bc066dc3c673;hpb=fb376f02820fc8dd8404759e2b45fa582969dc3e;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 dda70f8..c02dea9 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
@@ -8,108 +8,108 @@ import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-    private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
-    private Encoder leftEncoder, rightEncoder;
+  private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
+  private Encoder leftEncoder, rightEncoder;
 
-    public DriveTrain() {
-        frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
-        frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
-        rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
-        rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
-        leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
-                false, EncodingType.k4X);
-        rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A,
-                RobotMap.DRIVE_RIGHT_B, false, EncodingType.k4X);
-        leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
-        rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
-    }
+  public DriveTrain() {
+    frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
+    frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
+    rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
+    rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
+    leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
+        false, EncodingType.k4X);
+    rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A, RobotMap.DRIVE_RIGHT_B,
+        false, EncodingType.k4X);
+    leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+    rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+  }
 
-    public void resetEncoders() {
-        leftEncoder.reset();
-        rightEncoder.reset();
-    }
+  public void resetEncoders() {
+    leftEncoder.reset();
+    rightEncoder.reset();
+  }
 
-    public double getRightSpeed() {
-        // Returns inches per second
-        return rightEncoder.getRate();
-    }
+  public double getRightSpeed() {
+    // Returns inches per second
+    return rightEncoder.getRate();
+  }
 
-    public double getLeftSpeed() {
-        return leftEncoder.getRate();
-    }
-    
-    public double getAverageSpeed() {
-    	return (getRightSpeed() + getLeftSpeed())/2;
-    }
+  public double getLeftSpeed() {
+    return leftEncoder.getRate();
+  }
 
-    public double getRightDistance() {
-        // Returns distance in inches
-        return rightEncoder.getDistance();
-    }
+  public double getAverageSpeed() {
+    return (getRightSpeed() + getLeftSpeed()) / 2;
+  }
 
-    public double getLeftDistance() {
-        // Returns distance in inches
-        return leftEncoder.getDistance();
-    }
+  public double getRightDistance() {
+    // Returns distance in inches
+    return rightEncoder.getDistance();
+  }
+
+  public double getLeftDistance() {
+    // Returns distance in inches
+    return leftEncoder.getDistance();
+  }
+
+  public void stop() {
+    setMotorSpeeds(0, 0);
+  }
 
-    public void stop() {
-    	setMotorSpeeds(0, 0);
+  public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+    if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+      leftSpeed = 0;
     }
-    
-    public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
-        if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
-            leftSpeed = 0;
-        }
-        if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
-            rightSpeed = 0;
-        }
-        this.frontLeft.set(leftSpeed);
-        this.frontRight.set(-rightSpeed);
-        this.rearLeft.set(leftSpeed);
-        this.rearRight.set(-rightSpeed);
+    if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+      rightSpeed = 0;
     }
+    this.frontLeft.set(leftSpeed);
+    this.frontRight.set(-rightSpeed);
+    this.rearLeft.set(leftSpeed);
+    this.rearRight.set(-rightSpeed);
+  }
 
-    public void arcadeDrive(double yVal, double twist) {
-        if (yVal < 0 && Math.abs(yVal) < 0.1125) {
-            yVal = 0;
-        } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
-            yVal = 0;
-        } else if (yVal > 0) {
-            yVal -= 0.25;
-        } else if (yVal < 0) {
-            yVal += 0.15;
-        }
-        if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
-            twist = 0;
-        }
-
-        double leftMotorSpeed;
-        double rightMotorSpeed;
-        // adjust the sensitivity (yVal+rootof (yval)) / 2
-        yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
-        // adjust the sensitivity (twist+rootof (twist)) / 2
-        twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
-        if (yVal > 0) {
-            if (twist > 0) {
-                leftMotorSpeed = yVal - twist;
-                rightMotorSpeed = Math.max(yVal, twist);
-            } else {
-                leftMotorSpeed = Math.max(yVal, -twist);
-                rightMotorSpeed = yVal + twist;
-            }
-        } else {
-            if (twist > 0.0) {
-                leftMotorSpeed = -Math.max(-yVal, twist);
-                rightMotorSpeed = yVal + twist;
-            } else {
-                leftMotorSpeed = yVal - twist;
-                rightMotorSpeed = -Math.max(-yVal, -twist);
-            }
-        }
-        setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
+  public void arcadeDrive(double yVal, double twist) {
+    if (yVal < 0 && Math.abs(yVal) < 0.1125) {
+      yVal = 0;
+    } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
+      yVal = 0;
+    } else if (yVal > 0) {
+      yVal -= 0.25;
+    } else if (yVal < 0) {
+      yVal += 0.15;
+    }
+    if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
+      twist = 0;
     }
 
-    @Override
-    protected void initDefaultCommand() {
+    double leftMotorSpeed;
+    double rightMotorSpeed;
+    // adjust the sensitivity (yVal+rootof (yval)) / 2
+    yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
+    // adjust the sensitivity (twist+rootof (twist)) / 2
+    twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
+    if (yVal > 0) {
+      if (twist > 0) {
+        leftMotorSpeed = yVal - twist;
+        rightMotorSpeed = Math.max(yVal, twist);
+      } else {
+        leftMotorSpeed = Math.max(yVal, -twist);
+        rightMotorSpeed = yVal + twist;
+      }
+    } else {
+      if (twist > 0.0) {
+        leftMotorSpeed = -Math.max(-yVal, twist);
+        rightMotorSpeed = yVal + twist;
+      } else {
+        leftMotorSpeed = yVal - twist;
+        rightMotorSpeed = -Math.max(-yVal, -twist);
+      }
     }
+    setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
 }