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Change turning to using arcade drive turning to be smoother
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5fa529335b57c5315c3000e9ffbc89d734ae17b3..a7fa8eea4a053d43ea27ced0f196ccbf2735e556 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-213,11
+213,12
@@
public class DriveTrain extends PIDSubsystem {
output = Math.signum(output) * 0.3;
left = output;
right = output + drift * Constants.DriveTrain.kp / 10;
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;
} else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
left = output;
right = -output;
+ arcadeDrive(0, output);
}
}
- drive(left, right);
pidOutput = output;
}
pidOutput = output;
}
@@
-257,6
+258,10
@@
public class DriveTrain extends PIDSubsystem {
robotDrive.tankDrive(right, left);
}
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
/*
* constrains the distance to within -100 and 100 since we aren't going to
* drive more than 100 inches