public void drive() {
// Driving controls
/* flips which direction on the joysticks is 'forward'
* the variable 'controlFlipClean' needs some explanation:
* it forces the driver to release the button before it recognizes
* another click. */
if (xboxDriver.getBtnL3()) { // left stick click
if (controlFlipClean) {
controlFlipClean = false;
controlFlip = !controlFlip;
}
} else {
controlFlipClean = true;
}
// controls right side
double yRight = -xboxDriver.getRightY();
// controls left side
double yLeft = xboxDriver.getLeftY();
// trigger values will change the maximum speed of the robot
double throttle = xboxDriver.getTriggers();
// half speed
if (throttle > 0.5) {
yRight = yRight * 0.5;
yLeft = yLeft * 0.5;
}
// quarter speed
if (throttle < -0.5) {
yRight = yRight * 0.25;
yLeft = yLeft * 0.25;
}
// flip controls if we need to. Make them go 'backwards'.
// We need to swap and yRight and yLeft values.
if (controlFlip) {
double tempRight = yRight;
yRight = yLeft;
yLeft = tempRight;
}
/* DEADZONE **
* The springs in the joysticks wear out so they don't always come
* back to the centre. To fix this we're going to ignore a small region
* around the centre.
*/
if (yRight > -DEADZONE && yRight < DEADZONE) {
yRight = 0;
}
if (yLeft > -DEADZONE && yLeft < DEADZONE) {
yLeft = 0;
}
vicDriveRight.set(yRight);
vicDriveLeft.set(yLeft);
} // end of drive
