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code review changes and add code for braking cantalons
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5422e973078ba2d99b0d9556732de89a0d8d4b31..bad303aebe622f0db77aa8a41d45e79b92c68325 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-29,6
+29,9
@@
public class DriveTrain extends Subsystem {
public static final double TIME_TO_CLIMB_FOR = 0;
public static final double CLIMBER_SPEED = 0;
public static final double TIME_TO_CLIMB_FOR = 0;
public static final double CLIMBER_SPEED = 0;
+ public static final boolean DRIVE_BRAKE_MODE = true;
+ public static final boolean DRIVE_COAST_MODE = false;
+
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
@@
-185,7
+188,6
@@
public class DriveTrain extends Subsystem {
* Changes the gear to a DoubleSolenoid.Value
*/
private void changeGear(DoubleSolenoid.Value gear) {
* Changes the gear to a DoubleSolenoid.Value
*/
private void changeGear(DoubleSolenoid.Value gear) {
- System.out.println(gear);
leftGearPiston.set(gear);
rightGearPiston.set(gear);
}
leftGearPiston.set(gear);
rightGearPiston.set(gear);
}
@@
-194,4
+196,12
@@
public class DriveTrain extends Subsystem {
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
+
+ public void setCANTalonsBrakeMode(boolean mode) {
+ frontLeft.enableBrakeMode(mode);
+ rearLeft.enableBrakeMode(mode);
+
+ frontRight.enableBrakeMode(mode);
+ rearRight.enableBrakeMode(mode);
+ }
}
}