Arcade drive tutorial code

Team766 · Feb 9, 2024 · 5f3b656 · 5f3b656
1 parent 45b0b05
commit 5f3b656
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/main/java/com/team766/robot/OI.java b/src/main/java/com/team766/robot/OI.java
@@ -34,7 +34,7 @@ public void run(final Context context) {
 
 			// Add driver controls here - make sure to take/release ownership
 			// of mechanisms when appropriate.
-			Robot.drive.setDrivePower(joystick0.getAxis(1), joystick1.getAxis(1));
+			Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(0));
 		}
 	}
 }
diff --git a/src/main/java/com/team766/robot/mechanisms/Drive.java b/src/main/java/com/team766/robot/mechanisms/Drive.java
@@ -19,4 +19,10 @@ public void setDrivePower(double leftPower, double rightPower) {
 		leftMotor.set(leftPower);
 		rightMotor.set(rightPower);
 	}
+
+	public void setArcadeDrivePower(double forward, double turn) {
+		double leftMotorPower = turn + forward;
+		double rightMotorPower = -turn + forward;
+		setDrivePower(leftMotorPower, rightMotorPower);
+	}
 }