public void enable() {
rightEncoder.reset();
leftEncoder.reset();
rightEncoder.start();
leftEncoder.start();
// pidRight.enable();
// pidLeft.enable();
} // end enable
public void disable() {
setSetpoint(0.0);
// pidRight.disable();
// pidLeft.disable();
leftMotor.set(0.0);
rightMotor.set(0.0);
rightEncoder.reset();
leftEncoder.reset();
} // end disable
public void enable() {
rightEncoder.reset();
leftEncoder.reset();
rightEncoder.start();
leftEncoder.start();
gyro.reset();
final boolean kReverseDirection =
Preferences.getInstance().getBoolean("DriveTrainReverseDirection", false);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
} // end enable
// moves elevator to starting position and sets encoder
public void homingSequence() {
if (homeUp) {
while (!getUpperLimit()) {
climberMotor.set(homingSpeed);
}
while (getUpperLimit()) {
climberMotor.set(-homingReverseSpeed);
}
climberEncoder.reset();
} else {
while (!getLowerLimit()) {
climberMotor.set(-homingSpeed);
}
while (getLowerLimit()) {
climberMotor.set(homingReverseSpeed);
}
climberEncoder.reset();
}
}
// Reset. Use at init + whenever you want get() = 0
public void resetQuadEncoder() {
quadEncoderSensor.reset();
}
public void disable() {
leftMotor.set(0.0);
rightMotor.set(0.0);
rightEncoder.reset();
leftEncoder.reset();
} // end disable
