output = Math.signum(output) * 0.3;
left = output;
right = output + drift * Constants.DriveTrain.kp / 10;
+ drive(left, right);
} else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
left = output;
right = -output;
+ arcadeDrive(0, output);
}
- drive(left, right);
pidOutput = output;
}
robotDrive.tankDrive(right, left);
}
+ public void arcadeDrive(double y, double twist) {
+ robotDrive.arcadeDrive(y, twist);
+ }
+
/*
* constrains the distance to within -100 and 100 since we aren't going to
* drive more than 100 inches