import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.utils.PIDController;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.utils.PIDController;
this.driveP = driveTrain.driveP;
this.driveI = driveTrain.driveI;
this.driveD = driveTrain.driveD;
this.driveP = driveTrain.driveP;
this.driveI = driveTrain.driveI;
this.driveD = driveTrain.driveD;
- double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
- double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
+ double leftDrive = yVal - xVal;
+ double rightDrive = yVal + xVal;