import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- // Drivetrain Related Objects
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ // Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
+ private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- // Drivetrain Specific Constants that relate to the Inches per Pulse value of
+ // 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;
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
+ private final static double PULSES_PER_ROTATION = 256; // in pulses
+ private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
public final static double INCHES_PER_PULSE = (((Math.PI)
* OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)