challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4
   5 import com.ctre.CANTalon;
   6
   7 import edu.wpi.first.wpilibj.RobotDrive;
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 public class DriveTrain extends Subsystem {
  11     private static DriveTrain driveTrain;
  12     private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  13     private RobotDrive robotDrive;
  14
  15     private DriveTrain() {
  16         frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  17         frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  18         rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  19         rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  20
  21         robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  22     }
  23
  24     public static DriveTrain getDriveTrain() {
  25         if (driveTrain == null)
  26             driveTrain = new DriveTrain();
  27         return driveTrain;
  28     }
  29
  30     public void setMotorSpeeds(double left, double right) {
  31         robotDrive.tankDrive(left, right);
  32     }
  33
  34     @Override
  35     protected void initDefaultCommand() {
  36     }
  37
  38 }