/*
* Method is a required method that the PID Subsystem uses to return the
* calculated PID value to the driver
- *
+ *
* @param Gives the user the output from the PID algorithm that is calculated
* internally
- *
+ *
* Body: Uses the output, does some filtering and drives the robot
*/
@Override
/*
* 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
*/
public void setMotorSpeeds(double left, double right) {
double k = (isFlipped() ? -1 : 1);
- cheese.cheesyDrive(-left * k, -right,
- getGearPistonValue() == Constants.DriveTrain.HIGH_GEAR);
+ /*
+ * cheese.cheesyDrive(-left * k, -right, getGearPistonValue() ==
+ * Constants.DriveTrain.HIGH_GEAR);
+ */
+
+ frontLeft.set(left);
+ rearLeft.set(left);
+ frontRight.set(right);
+ rearRight.set(right);
}
/**
*/
public void switchGear() {
Value currentValue = getGearPistonValue();
- Value setValue = (currentValue == Constants.DriveTrain.HIGH_GEAR) ? Constants.DriveTrain.LOW_GEAR
- : Constants.DriveTrain.HIGH_GEAR;
+ Value setValue = (currentValue == Constants.DriveTrain.HIGH_GEAR)
+ ? Constants.DriveTrain.LOW_GEAR : Constants.DriveTrain.HIGH_GEAR;
changeGear(setValue);
}