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 203078ccfd7f88d9103b8a6ddf4ac529b6212c4c..a7fa8eea4a053d43ea27ced0f196ccbf2735e556 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -62,9 +62,10 @@ public class DriveTrain extends PIDSubsystem {
     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;
   }
@@ -196,10 +197,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * 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
@@ -212,11 +213,12 @@ public class DriveTrain extends PIDSubsystem {
         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;
   }
 
@@ -227,7 +229,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * 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
    */
@@ -256,12 +258,16 @@ public class DriveTrain extends PIDSubsystem {
       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
-   * 
+   *
    * Configure Encoder PID
-   * 
+   *
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -301,10 +307,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   * 
+   *
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   * 
+   *
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {