add setMotorSpeeds method to DriveTrain subsystem

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;

import com.ctre.CANTalon;

import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;

public class DriveTrain extends Subsystem {
    private static DriveTrain driveTrain;
    private CANTalon frontLeft, frontRight, rearLeft, rearRight;
    private RobotDrive robotDrive;

    private DriveTrain() {
        frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
        frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
        rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
        rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);

        robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
    }

    public static DriveTrain getDriveTrain() {
        if (driveTrain == null)
            driveTrain = new DriveTrain();
        return driveTrain;
    }

    public void setMotorSpeeds(double left, double right) {
        robotDrive.tankDrive(left, right);
    }

    @Override
    protected void initDefaultCommand() {
    }

}