Add branch for robot auton command group 1

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 4bbda0fb1168a8ef9e490d356c771e5f08626779..c83487325eb75655a9eb6b913c036338e12fbe2b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -10,117 +10,115 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  private static DriveTrain driveTrain;
-  private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
-  private final RobotDrive robotDrive;
-  private final Encoder leftEncoder, rightEncoder;
-
-  private DriveTrain() {
-    // MOTOR CONTROLLERS
-    frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
-    frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
-    rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
-    rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-
-    // ENCODERS
-    leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
-        Constants.DriveTrain.ENCODER_LEFT_B);
-    rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
-        Constants.DriveTrain.ENCODER_RIGHT_B);
-
-    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-
-    // ROBOT DRIVE
-    robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
-  }
-
-  public static DriveTrain getDriveTrain() {
-    if (driveTrain == null) {
-      driveTrain = new DriveTrain();
-    }
-    return driveTrain;
-  }
-
-  // DRIVE METHODS
-  public void setMotorValues(final double left, final double right) {
-    robotDrive.tankDrive(left, right);
-  }
-
-  public void joystickDrive(final double thrust, final double twist) {
-    robotDrive.arcadeDrive(thrust, twist);
-  }
-
-  public void stop() {
-    setMotorValues(0, 0);
-  }
-
-  public double getFrontLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getFrontRightMotorVal() {
-    return frontRight.get();
-  }
-
-  public double getRearLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getRearRightMotorVal() {
-    return frontLeft.get();
-  }
-
-  public CANTalon getFrontLeft() {
-    return frontLeft;
-  }
-
-  public CANTalon getFrontRight() {
-    return frontRight;
-  }
-
-  public CANTalon getRearLeft() {
-    return rearLeft;
-  }
-
-  public CANTalon getRearRight() {
-    return rearRight;
-  }
-
-  // ENCODER METHODS
-
-  public double getLeftEncoder() {
-    return leftEncoder.getDistance();
-  }
-
-  public double getRightEncoder() {
-    return rightEncoder.getDistance();
-  }
-
-  public double getAvgEncoderDistance() {
-    return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
-  }
-
-  public void resetEncoders() {
-    leftEncoder.reset();
-    rightEncoder.reset();
-  }
-
-  public double getLeftSpeed() {
-    return leftEncoder.getRate();
-  }
-
-  public double getRightSpeed() {
-    return rightEncoder.getRate();
-  }
-
-  public double getSpeed() {
-    return (getLeftSpeed() + getRightSpeed()) / 2.0;
-  }
-
-  @Override
-  protected void initDefaultCommand() {
-    setDefaultCommand(new JoystickDrive());
-  }
+       private static DriveTrain driveTrain;
+       private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
+       private final RobotDrive robotDrive;
+       private final Encoder leftEncoder, rightEncoder;
+
+       private DriveTrain() {
+               // MOTOR CONTROLLERS
+               frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
+               frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
+               rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
+               rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+               // ENCODERS
+               leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, Constants.DriveTrain.ENCODER_LEFT_B);
+               rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, Constants.DriveTrain.ENCODER_RIGHT_B);
+
+               leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+               rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+               // ROBOT DRIVE
+               robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+       }
+
+       public static DriveTrain getDriveTrain() {
+               if (driveTrain == null) {
+                       driveTrain = new DriveTrain();
+               }
+               return driveTrain;
+       }
+
+       // DRIVE METHODS
+       public void setMotorValues(final double left, final double right) {
+               robotDrive.tankDrive(left, right);
+       }
+
+       public void joystickDrive(final double thrust, final double twist) {
+               robotDrive.arcadeDrive(thrust, twist);
+       }
+
+       public void stop() {
+               setMotorValues(0, 0);
+       }
+
+       public double getFrontLeftMotorVal() {
+               return frontLeft.get();
+       }
+
+       public double getFrontRightMotorVal() {
+               return frontRight.get();
+       }
+
+       public double getRearLeftMotorVal() {
+               return frontLeft.get();
+       }
+
+       public double getRearRightMotorVal() {
+               return frontLeft.get();
+       }
+
+       public CANTalon getFrontLeft() {
+               return frontLeft;
+       }
+
+       public CANTalon getFrontRight() {
+               return frontRight;
+       }
+
+       public CANTalon getRearLeft() {
+               return rearLeft;
+       }
+
+       public CANTalon getRearRight() {
+               return rearRight;
+       }
+
+       // ENCODER METHODS
+
+       public double getLeftEncoder() {
+               return leftEncoder.getDistance();
+       }
+
+       public double getRightEncoder() {
+               return rightEncoder.getDistance();
+       }
+
+       public double getAvgEncoderDistance() {
+               return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+       }
+
+       public void resetEncoders() {
+               leftEncoder.reset();
+               rightEncoder.reset();
+       }
+
+       public double getLeftSpeed() {
+               return leftEncoder.getRate();
+       }
+
+       public double getRightSpeed() {
+               return rightEncoder.getRate();
+       }
+
+       public double getSpeed() {
+               return (getLeftSpeed() + getRightSpeed()) / 2.0;
+       }
+
+       @Override
+       protected void initDefaultCommand() {
+               setDefaultCommand(new JoystickDrive());
+       }
 
 }