X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=bad303aebe622f0db77aa8a41d45e79b92c68325;hp=5422e973078ba2d99b0d9556732de89a0d8d4b31;hb=f56e6ebf87134eccc3b8bb0e1d2529bd6cb061dd;hpb=b70398a7d5ac5f4ce64156d84227ccb4828c0615

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5422e97..bad303a 100644
--- 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 boolean DRIVE_BRAKE_MODE = true;
+  public static final boolean DRIVE_COAST_MODE = false;
+
   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) {
-    System.out.println(gear);
     leftGearPiston.set(gear);
     rightGearPiston.set(gear);
   }
@@ -194,4 +196,12 @@ public class DriveTrain extends Subsystem {
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
+
+  public void setCANTalonsBrakeMode(boolean mode) {
+    frontLeft.enableBrakeMode(mode);
+    rearLeft.enableBrakeMode(mode);
+
+    frontRight.enableBrakeMode(mode);
+    rearRight.enableBrakeMode(mode);
+  }
 }