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