/**
* ******************************
*
* <p>Configures motors: - Sets which side is inverted - Configures the secondary motors to be in
* follow mode - Sets ramp rate
*
* <p>******************************
*/
private void setupMotors() {
leftMotor1.setInverted(invertLeft);
leftMotor2.setInverted(invertLeft);
rightMotor1.setInverted(invertRight);
rightMotor1.setInverted(invertRight);
leftMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
leftMotor2.set(leftMotor1.getDeviceID());
rightMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
rightMotor2.set(rightMotor1.getDeviceID());
leftMotor1.setVoltageRampRate(RAMP_RATE);
rightMotor1.setVoltageRampRate(RAMP_RATE);
}
@Override
public TalonSRX setVoltageRampRate(double rampRate) {
talon.setVoltageRampRate(rampRate);
return this;
}