public Drive(DriveGearbox motors) {
super();
this.motors = motors;
leftEncoder = new RelativeEncoder(motors.getLeftEncoder());
rightEncoder = new RelativeEncoder(motors.getRightEncoder());
leftEncoder.start();
rightEncoder.start();
disableControllers();
}
public void resetEncoders() {
motors.getLeftEncoder().reset();
motors.getRightEncoder().reset();
leftEncoder.reset();
rightEncoder.reset();
}
public double getRightEncoderDistance() {
return rightEncoder.get() / 256.0 * 3.5 * Math.PI;
}
public double getLeftEncoderDistance() {
return leftEncoder.get() / 256.0 * 3.5 * Math.PI;
}