import com.ctre.CANTalon;
+import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- private static DriveTrain driveTrain;
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-
- private DriveTrain() {
- 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);
- }
-
- public static DriveTrain getDriveTrain() {
- if (driveTrain == null)
- driveTrain = new DriveTrain();
- return driveTrain;
- }
-
- @Override
- protected void initDefaultCommand() {
- }
+ private static DriveTrain driveTrain;
+ private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ private RobotDrive robotDrive;
+
+ private DriveTrain() {
+ 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);
+
+ robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+ }
+
+ public static DriveTrain getDriveTrain() {
+ if (driveTrain == null)
+ driveTrain = new DriveTrain();
+ return driveTrain;
+ }
+
+ public void setMotorSpeeds(double left, double right) {
+ robotDrive.tankDrive(left, right);
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
}