Add descriptive comments to the Drivetrain

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index d344ee9b3d3426bdef41f8435e3040ca94a87c58..fd8f612278c760f5760c3ebcf9b20b04b601ea15 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -8,10 +8,12 @@ import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
+  // Drivetrain related objects
+  private Encoder leftEncoder, rightEncoder;
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-  // operational constants
-  // TODO: More descriptive comments
-  // inches/pulse
+
+  // Drivetrain specific constants that relate to the inches per pulse value for
+  // the encoders
   private final static double WHEEL_DIAMETER = 6.0; // in inches
   private final static double PULSES_PER_ROTATION = 256;
   private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
@@ -20,15 +22,13 @@ public class DriveTrain extends Subsystem {
   public final static double INCHES_PER_PULSE = (((Math.PI)
       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
       * WHEEL_DIAMETER;
-  private Encoder leftEncoder, rightEncoder;
 
   public DriveTrain() {
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-    // TODO: Same thing add newlines between different groups of declarations
-    // and add comments
+
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -78,11 +78,12 @@ public class DriveTrain extends Subsystem {
   }
 
   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+    // speed passed to right motor is negative because right motor rotates in
+    // opposite direction
     this.frontLeft.set(leftSpeed);
     this.frontRight.set(-rightSpeed);
     this.rearLeft.set(leftSpeed);
     this.rearRight.set(-rightSpeed);
-    // TODO: add comment here to explain - in speed
   }
 
 }