package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+ public static double driveP = 0.006, driveI = 0.0011, driveD = -0.002;
public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
public static double driveStraightGyroP = 0.01;
- public static final double WHEEL_DIAMETER = 6; // inches
- public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+ public static final double WHEEL_DIAMETER = 4; // inches
+ public static final double ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, 0.0, 1.0);
+ right = MathLib.restrictToRange(right, 0.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);