Drivetrain

This subsystem represents the drive system of our robot. It is defined in Drivetrain.java. Provides methods for driving the motors and interfacing with the encoders.

Default Command

DTManualTankCmd

Method Reference

driveLR(double lPower, double rPower)

Controls each motor independently, no fancy scaling or anything

driveCheesy(double throttle, double wheel, boolean quickTurn)

Implements cheesyDrive. Basically this means we pass in a throttle and an angular velocity and the robot will steer that way. May be useful for high speed robots.

stop()

Stops applying power to the drive motors.