public Drivetrain() {
frontLeft = new CANTalon(RobotMap.FRONT_LEFT_MOTOR);
frontLeft.changeControlMode(CANTalon.TalonControlMode.Follower);
frontLeft.enableControl();
rearLeft = new CANTalon(RobotMap.REAR_LEFT_MOTOR);
rearLeft.enableControl();
frontRight = new CANTalon(RobotMap.FRONT_RIGHT_MOTOR);
frontRight.changeControlMode(CANTalon.TalonControlMode.Follower);
frontRight.enableControl();
rearRight = new CANTalon(RobotMap.REAR_RIGHT_MOTOR);
rearRight.enableControl();
drive = new RobotDrive(rearLeft, rearRight);
drive.setInvertedMotor(MotorType.kRearLeft, true);
drive.setInvertedMotor(MotorType.kRearRight, true);
}
/** Begin running the PIDController */
public synchronized void enable() {
m_talon.ClearIaccum();
m_talon.enableControl();
if (m_debugging) SmartDashboard.putBoolean(m_name + " Enabled", true);
}