- public void configureTalons() {
- frontLeft.changeControlMode(TalonControlMode.Speed);
- frontRight.changeControlMode(TalonControlMode.Speed);
- rearLeft.changeControlMode(TalonControlMode.Speed);
- rearRight.changeControlMode(TalonControlMode.Speed);
-
- frontLeft.configEncoderCodesPerRev(256);
- frontRight.configEncoderCodesPerRev(256);
- rearLeft.configEncoderCodesPerRev(256);
- rearRight.configEncoderCodesPerRev(256);
-
- frontLeft.enableControl();
- frontRight.enableControl();
- rearLeft.enableControl();
- rearRight.enableControl();
- }
-
- public void enablePIDControllers() {
- frontLeftC.enable();
- frontRightC.enable();
- rearLeftC.enable();
- rearRightC.enable();
- }
-
- public void drive(double left, double right) {
- frontLeftC.setSetpoint(left);
- rearLeftC.setSetpoint(left);
- frontRightC.setSetpoint(right);
- rearRightC.setSetpoint(right);
- }
-