robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
- shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
- Constants.DriveTrain.SHIFTER_REVERSE);
+
+ // TODO: Not sure if MODULE_NUMBER should be the same for both
leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
- Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
- Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
}
public static DriveTrain getDriveTrain() {
// System.out.println("left: " + getLeftEncoderDistance());
// System.out.println("right: " + getRightEncoderDistance());
System.out.println(getAvgEncoderDistance());
+ System.out.println("left: " + getLeftEncoderDistance());
+ System.out.println("right: " + getRightEncoderDistance());
}
public double getAvgEncoderDistance() {
public double getZeroAngle() {
return this.gyroZero;
+ }
+
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward
}
/*
- * @return a value that is the current setppoint for the piston kReverse or
- * kForward
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
*/
public Value getRightGearPistonValue() {
return rightGearPiston.get();