Package org.mort11.drivetrain

Class Drivetrain

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Subsystem

org.mort11.drivetrain.Drivetrain

public final class Drivetrain
extends edu.wpi.first.wpilibj.command.Subsystem

This class represents the drivetrain subsystem.

Version:

06/12/2018

Author:

Joshua Ciffer

Constructor Summary

Constructors

Constructor	Description
Drivetrain()	Constructs a new Drivetrain subsystem.

Method Summary

Modifier and Type	Method	Description
void	halt()	Stops the drivetrain.
protected void	initDefaultCommand()	Sets default command to be operated off of the joystick.
void	setBothSpeed(double speed)	Sets both sides of the drivetrain to the same speed.
void	setBothVelocity(double velocity)	Sets both sides of the drivetrain to the same velocity.
void	setLeftSpeed(double speed)	Sets the left drive speed based on percent output.
void	setLeftVelocity(double velocity)	Sets the left drive speed based on encoder ticks per 100ms.
void	setRightSpeed(double speed)	Sets the right drive speed based on percent output.
void	setRightVelocity(double velocity)	Sets the right drive speed based on encoder ticks per 100ms.
void	shift(HardwareStates.DrivetrainGear gear)	Shifts the gear of the drivetrain.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

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

addChild, addChild, getCurrentCommand, getCurrentCommandName, getDefaultCommand, getDefaultCommandName, initSendable, periodic, setDefaultCommand, toString

Constructor Detail

Drivetrain

public Drivetrain()

Constructs a new Drivetrain subsystem.

Method Detail

initDefaultCommand

protected void initDefaultCommand()

Sets default command to be operated off of the joystick.

Specified by:

initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem

setLeftSpeed

public void setLeftSpeed(double speed)

Sets the left drive speed based on percent output.

Parameters:

speed - The speed to set.

setRightSpeed

public void setRightSpeed(double speed)

Sets the right drive speed based on percent output.

Parameters:

speed - The speed to set.

setBothSpeed

public void setBothSpeed(double speed)

Sets both sides of the drivetrain to the same speed.

Parameters:

speed - The speed to set.

setLeftVelocity

public void setLeftVelocity(double velocity)

Sets the left drive speed based on encoder ticks per 100ms.

Parameters:

velocity - The velocity to set.

setRightVelocity

public void setRightVelocity(double velocity)

Sets the right drive speed based on encoder ticks per 100ms.

Parameters:

velocity - The velocity to set.

setBothVelocity

public void setBothVelocity(double velocity)

Sets both sides of the drivetrain to the same velocity.

Parameters:

velocity - The velocity to set.

halt

public void halt()

Stops the drivetrain.

shift

public void shift(HardwareStates.DrivetrainGear gear)

Shifts the gear of the drivetrain.

Parameters:

gear - The gear to shift to.