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1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.RobotMap; | |
3e4790a8 | 4 | import org.usfirst.frc.team3501.robot.commands.DriveWithJoysticks; |
b449387d | 5 | |
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6 | import edu.wpi.first.wpilibj.RobotDrive; |
7 | import edu.wpi.first.wpilibj.command.Subsystem; | |
8 | ||
9 | public class Drivetrain extends Subsystem { | |
10 | ||
56625a79 | 11 | private final RobotDrive robotDrive; |
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12 | |
13 | public Drivetrain() { | |
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14 | |
15 | robotDrive = new RobotDrive( | |
56625a79 | 16 | RobotMap.frontLeft, RobotMap.rearLeft, |
17 | RobotMap.frontRight, RobotMap.rearRight); | |
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18 | } |
19 | ||
20 | public void drive(double forward, double twist) { | |
21 | if (Math.abs(forward) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT) | |
22 | forward = 0; | |
3cd438bd | 23 | if (Math.abs(twist) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT) |
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24 | twist = 0; |
25 | ||
26 | robotDrive.arcadeDrive( | |
27 | RobotMap.MAX_DRIVE_SPEED * adjust(forward), | |
28 | RobotMap.MAX_DRIVE_SPEED * adjust(twist), | |
29 | false); | |
30 | } | |
31 | ||
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32 | public void driveRaw(double forward, double twist) { |
33 | robotDrive.arcadeDrive(forward, twist, false); | |
34 | } | |
35 | ||
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36 | public void goForward(double speed) { |
37 | robotDrive.arcadeDrive(speed, 0); | |
38 | } | |
39 | ||
40 | public void stop() { | |
41 | robotDrive.arcadeDrive(0, 0); | |
42 | } | |
43 | ||
44 | // output is avg of `x` and `sqrt(x)` | |
45 | private double adjust(double x) { | |
46 | return (x + Math.signum(x) * Math.sqrt(Math.abs(x))) / 2; | |
47 | } | |
48 | ||
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49 | public void initDefaultCommand() { |
50 | setDefaultCommand(new DriveWithJoysticks()); | |
51 | } | |
b449387d | 52 | } |