Example #1
0
 public void setWheelPowers(double power1, double power2, double power3, double power4) {
   // TODO: USE PID CONTROL
   _swervePod1.setDriveMotor(power1);
   _swervePod2.setDriveMotor(power2);
   _swervePod3.setDriveMotor(power3);
   _swervePod4.setDriveMotor(power4);
 }
Example #2
0
 public void setAllWheelPowers(double power) { // Set all wheel pods to the same power
   // TODO: USE PID CONTROL
   _swervePod1.setDriveMotor(power);
   _swervePod2.setDriveMotor(power);
   _swervePod3.setDriveMotor(power);
   _swervePod4.setDriveMotor(power);
 }
Example #3
0
 public void setCrab(double podAngles, double powerLeft, double powerRight) {
   setAllWheelAngles(podAngles);
   // TODO: Set drive power with PID
   _swervePod1.setDriveMotor(powerLeft); // Left
   _swervePod4.setDriveMotor(powerLeft); // Left
   _swervePod2.setDriveMotor(powerRight); // Right
   _swervePod3.setDriveMotor(powerRight); // Right
 }