From 5f3b656ac5b57e09b8d5dc6f12e9d40d1b7ecb00 Mon Sep 17 00:00:00 2001 From: Ryan Cahoon Date: Sun, 4 Oct 2020 19:11:35 +0000 Subject: [PATCH] Arcade drive tutorial code --- src/main/java/com/team766/robot/OI.java | 2 +- src/main/java/com/team766/robot/mechanisms/Drive.java | 6 ++++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/team766/robot/OI.java b/src/main/java/com/team766/robot/OI.java index b31ada97..3773523a 100644 --- 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 index 7968eace..791ead32 100644 --- 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); + } } \ No newline at end of file