- 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);