+ public void configureTalons() {
+ frontLeft.changeControlMode(TalonControlMode.Speed);
+ frontRight.changeControlMode(TalonControlMode.Speed);
+ rearLeft.changeControlMode(TalonControlMode.Speed);
+ rearRight.changeControlMode(TalonControlMode.Speed);
+
+ frontLeft.configEncoderCodesPerRev(256);
+ frontRight.configEncoderCodesPerRev(256);
+ rearLeft.configEncoderCodesPerRev(256);
+ rearRight.configEncoderCodesPerRev(256);
+
+ frontLeft.enableControl();
+ frontRight.enableControl();
+ rearLeft.enableControl();
+ rearRight.enableControl();
+ }
+
+ public void enablePIDControllers() {
+ frontLeftC.enable();
+ frontRightC.enable();
+ rearLeftC.enable();
+ rearRightC.enable();
+ }
+
+ public void drive(double left, double right) {
+ frontLeftC.setSetpoint(left);
+ rearLeftC.setSetpoint(left);
+ frontRightC.setSetpoint(right);
+ rearRightC.setSetpoint(right);
+ }
+