Modify code to allow switching of joystick drive type (tank vs. arcade)

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a703b0b9f849e6210b4be36fa256b16feb16f7a6..0b376c7181d4aef8ca55b632ade5ed708d72713f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -37,18 +37,17 @@ public class Constants {
   }
 
   public static class DriveTrain {
-    // Drivetrain Motor Related Ports
+    public static final int TANK_DRIVE = 0;
+    public static final int ARCADE_DRIVE = 1;
+    public static final int DRIVE_TYPE = TANK_DRIVE;
+
+    // Drivetrain Motor related ports
     public static final int DRIVE_FRONT_LEFT = 1;
     public static final int DRIVE_REAR_LEFT = 2;
     public static final int DRIVE_FRONT_RIGHT = 6;
     public static final int DRIVE_REAR_RIGHT = 5;
 
-    // Encoder related ports
-    public final static int ENCODER_LEFT_A = 0;
-    public final static int ENCODER_LEFT_B = 1;
-    public final static int ENCODER_RIGHT_A = 3;
-    public final static int ENCODER_RIGHT_B = 4;
-
+    // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
     public static final int LEFT_SHIFT_FORWARD = 3;
     public static final int LEFT_SHIFT_REVERSE = 6;
@@ -56,6 +55,12 @@ public class Constants {
     public static final int RIGHT_SHIFT_FORWARD = 2;
     public static final int RIGHT_SHIFT_REVERSE = 7;
 
+    // Encoder related ports
+    public final static int ENCODER_LEFT_A = 0;
+    public final static int ENCODER_LEFT_B = 1;
+    public final static int ENCODER_RIGHT_A = 3;
+    public final static int ENCODER_RIGHT_B = 4;
+
     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;