Update both ramsete drive examples

Author: LED-esma

RamseteCommand/subsystems/driveSubsystem.py

@@ -6,7 +6,7 @@
 
 from commands2 import Subsystem
 
-from wpilib import MotorControllerGroup, PWMSparkMax, Encoder, ADXRS450_Gyro
+from wpilib import PWMSparkMax, Encoder, ADXRS450_Gyro
 from wpilib.drive import DifferentialDrive
 
 from wpimath.kinematics import DifferentialDriveOdometry, DifferentialDriveWheelSpeeds
@@ -19,19 +19,23 @@ def __init__(self):
         super().__init__()
 
         # The motors on the left side of the drive.
-        self.leftMotors = MotorControllerGroup(
-            PWMSparkMax(constants.kLeftMotor1Port),
-            PWMSparkMax(constants.kLeftMotor2Port),
-        )
+        self.left1 = PWMSparkMax(constants.kLeftMotor1Port)
+        self.left2 = PWMSparkMax(constants.kLeftMotor2Port)
 
         # The motors on the right side of the drive.
-        self.rightMotors = MotorControllerGroup(
-            PWMSparkMax(constants.kRightMotor1Port),
-            PWMSparkMax(constants.kRightMotor2Port),
-        )
+        self.right1 = PWMSparkMax(constants.kRightMotor1Port)
+        self.right2 = PWMSparkMax(constants.kRightMotor2Port)
+
+        self.left1.addFollower(self.left2)
+        self.right1.addFollower(self.right2)
 
         # The robot's drive
-        self.drive = DifferentialDrive(self.leftMotors, self.rightMotors)
+        self.drive = DifferentialDrive(self.left1, self.right1)
+
+        # We need to invert one side of the drivetrain so that positive voltages
+        # result in both sides moving forward. Depending on how your robot's
+        # gearbox is constructed, you might have to invert the left side instead.
+        self.right1.setInverted(True)
 
         # The left-side drive encoder
         self.leftEncoder = Encoder(
@@ -50,10 +54,7 @@ def __init__(self):
         # The gyro sensor
         self.gyro = ADXRS450_Gyro()
 
-        # We need to invert one side of the drivetrain so that positive voltages
-        # result in both sides moving forward. Depending on how your robot's
-        # gearbox is constructed, you might have to invert the left side instead.
-        self.rightMotors.setInverted(True)
+        
 
         # Sets the distance per pulse for the encoders
         self.leftEncoder.setDistancePerPulse(constants.kEncoderDistancePerPulse)
@@ -101,8 +102,8 @@ def arcadeDrive(self, fwd, rot):
 
     def tankDriveVolts(self, leftVolts, rightVolts):
         """Controls the left and right sides of the drive directly with voltages."""
-        self.leftMotors.setVoltage(leftVolts)
-        self.rightMotors.setVoltage(rightVolts)
+        self.left1.setVoltage(leftVolts)
+        self.right1.setVoltage(rightVolts)
         self.drive.feed()
 
     def resetEncoders(self):

RamseteController/drivetrain.py

@@ -24,16 +24,16 @@ class Drivetrain:
     kEncoderResolution = 4096  # counts per revolution
 
     def __init__(self):
-        leftLeader = wpilib.PWMSparkMax(1)
-        leftFollower = wpilib.PWMSparkMax(2)
-        rightLeader = wpilib.PWMSparkMax(3)
-        rightFollower = wpilib.PWMSparkMax(4)
+        self.leftLeader = wpilib.PWMSparkMax(1)
+        self.leftFollower = wpilib.PWMSparkMax(2)
+        self.rightLeader = wpilib.PWMSparkMax(3)
+        self.rightFollower = wpilib.PWMSparkMax(4)
 
         self.leftEncoder = wpilib.Encoder(0, 1)
         self.rightEncoder = wpilib.Encoder(2, 3)
 
-        self.leftGroup = wpilib.MotorControllerGroup(leftLeader, leftFollower)
-        self.rightGroup = wpilib.MotorControllerGroup(rightLeader, rightFollower)
+        self.leftLeader.addFollower(self.leftFollower)
+        self.rightLeader.addFollower(self.rightFollower)
 
         self.gyro = wpilib.AnalogGyro(0)
 
@@ -52,7 +52,7 @@ def __init__(self):
         # We need to invert one side of the drivetrain so that positive voltages
         # result in both sides moving forward. Depending on how your robot's
         # gearbox is constructed, you might have to invert the left side instead.
-        self.rightGroup.setInverted(True)
+        self.rightLeader.setInverted(True)
 
         # Set the distance per pulse for the drive encoders. We can simply use the
         # distance traveled for one rotation of the wheel divided by the encoder
@@ -85,8 +85,8 @@ def setSpeeds(self, speeds: wpimath.kinematics.DifferentialDriveWheelSpeeds):
             self.rightEncoder.getRate(), speeds.right
         )
 
-        self.leftGroup.setVoltage(leftOutput + leftFeedforward)
-        self.rightGroup.setVoltage(rightOutput + rightFeedforward)
+        self.leftLeader.setVoltage(leftOutput + leftFeedforward)
+        self.rightLeader.setVoltage(rightOutput + rightFeedforward)
 
     def drive(self, xSpeed, rot):
         """Drives the robot with the given linear velocity and angular velocity."""