Package frc.team670.robot.subsystems

Class DriveBase

java.lang.Object
edu.wpi.first.wpilibj.command.Subsystem
frc.team670.robot.subsystems.DriveBase
public class DriveBase
extends Subsystem
Represents a tank drive base.
Author:
lakshbhambhani, ctychen

  • Constructor Summary

    Constructors 
    Constructor Description
    DriveBase()  

  • Method Summary

    Modifier and Type Method Description
    void correct()  
    Encoder getLeftEncoder()  
    Encoder getRightEncoder()  
    void initDefaultCommand()  
    void stop()
    Stops the motors on the drive base (sets them to 0).
    void tankDrive​(double leftSpeed, double rightSpeed)
    Drives the Robot using a tank drive configuration (two joysticks, or auton).
    void tankDrive​(double leftSpeed, double rightSpeed, boolean squaredInputs)
    Drives the Robot using a tank drive configuration (two joysticks, or auton)

    Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

    getCurrentCommand, getDefaultCommand, periodic, setDefaultCommand

    Methods inherited from class java.lang.Object

    equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

  • Method Details

    • tankDrive

      public void tankDrive​(double leftSpeed, double rightSpeed)
      Drives the Robot using a tank drive configuration (two joysticks, or auton). Squares inputs to linearize them.
      Parameters:
      leftSpeed - Speed for left side of drive base [-1, 1]. Automatically squares this value to linearize it.
      rightSpeed - Speed for right side of drive base [-1, 1]. Automatically squares this value to linearize it.
      Throws:
      java.lang.InterruptedException

    • correct

      public void correct()

    • tankDrive

      public void tankDrive​(double leftSpeed, double rightSpeed, boolean squaredInputs)
      Drives the Robot using a tank drive configuration (two joysticks, or auton)
      Parameters:
      leftSpeed - Speed for left side of drive base [-1, 1]
      rightSpeed - Speed for right side of drive base [-1, 1]
      squaredInputs - If true, decreases sensitivity at lower inputs
      Throws:
      java.lang.InterruptedException

    • stop

      public void stop()
      Stops the motors on the drive base (sets them to 0).

    • initDefaultCommand

      public void initDefaultCommand()

    • getLeftEncoder

      public Encoder getLeftEncoder()

    • getRightEncoder

      public Encoder getRightEncoder()