finish MoveDistance command with acceleration function

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
index 1dfe9d8759989964c41b5ec4fb0c059702130821..a8716b6ba9f472edf2e0ddd3d2bc3090e8fab7d6 100644 (file)
--- 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;