robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
- lidar = new Lidar(I2C.Port.kOnboard);
-
+ lidar = new Lidar(I2C.Port.kMXP);
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
this.disable();
gyro.start();
- leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD,
+ leftGearPiston = new DoubleSolenoid(10, Constants.DriveTrain.LEFT_FORWARD,
Constants.DriveTrain.LEFT_REVERSE);
- rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD,
+ rightGearPiston = new DoubleSolenoid(10,
+ Constants.DriveTrain.RIGHT_FORWARD,
Constants.DriveTrain.RIGHT_REVERSE);
Constants.DriveTrain.inverted = false;
}
}
/*
- * Checks the drive mode <<<<<<< 9728080f491e9fb09795494349dba1297f447c0f
+ * Checks the drive mode
*
* @return the current state of the robot in each state Average distance from
* both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
- * =======
- *
- * @return the current state of the robot in each state Average distance from
- * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
- * >>>>>>> Move all constants in DeadReckoning to Auton class because it makes
- * more sense
*/
private double sensorFeedback() {
if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
rightGearPiston.set(gear);
}
- public void toggleTimeDeadReckoning() {
- Constants.Auton.isUsingTimeToPassDefense = !Constants.Auton.isUsingTimeToPassDefense;
- }
}