fix setMotorVal method in DriveTrain to not use robotDrive

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index c83487325eb75655a9eb6b913c036338e12fbe2b..1e9bb33e7428677f1a83e9374e1052229206afe5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -10,115 +10,121 @@ 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) {
+    frontLeft.set(left);
+    rearLeft.set(left);
+
+    frontRight.set(right);
+    rearRight.set(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());
+  }
 
 }