Add camera, change to arcade drive, front chooser only, minor driving fixes

[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 1a4e6e5b96c04dfc58689e377aa2ec5ba9dd1ae8..f1daa63772ded83dc26599c42a098148c79129a3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -193,36 +193,17 @@ public class DriveTrain extends PIDSubsystem {
     return getAvgEncoderDistance();
   }
 
-  public void joystickDrive(double left, double right) {
-    int type = Constants.DriveTrain.DRIVE_TYPE;
-
+  public void drive(double left, double right) {
     // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
 
-    robotDrive.tankDrive(-left, -right);
-
-    // if (type == Constants.DriveTrain.TANK) {
-    // // TODO Test this for negation and for voltage vs. [-1,1] outputs
-    // double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
-    // double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
-    // left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
-    // / Constants.DriveTrain.kADJUST;
-    // right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
-    // / Constants.DriveTrain.kADJUST;
-    // robotDrive.tankDrive(-left * k, -right * k);
-    // } else if (type == Constants.DriveTrain.ARCADE) {
-    // double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() +
-    // -rearRight
-    // .get()) / 2;
-    // left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
-    // / Constants.DriveTrain.kADJUST;
-    // robotDrive.arcadeDrive(left * k, right);
-    // }
+    // During teleop, leftY is throttle, rightX is twist.
+    robotDrive.arcadeDrive(-left * k, -right * k);
   }
 
   public void setMotorSpeeds(double left, double right) {
     double k = (isFlipped() ? -1 : 1);
-    robotDrive.tankDrive(-left, -right);
+    robotDrive.tankDrive(-left * k, -right * k);
   }
 
   /**