// basic arcadeDrive: y=forward/backward speed, x=left/right speed
public void arcadeDrive(double y, double x) {
SmartDashboard.putNumber("RightEncoder", rightEncoder.get());
SmartDashboard.putNumber("LeftEncoder", leftEncoder.get());
Preferences p = Preferences.getInstance();
final boolean kReverseDirection = p.getBoolean("DriveTrainReverseDirection", false);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
robotDrive.arcadeDrive(y, x);
} // end arcadeDrive
// basic arcadeDrive: y=forward/backward speed, x=left/right speed
public void arcadeDrive(double y, double x) {
Preferences p = Preferences.getInstance();
final boolean kReverseDirection = p.getBoolean("DriveTrainReverseDirection", false);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
robotDrive.arcadeDrive(y, x + 0.05);
SmartDashboard.putNumber("DriveTrainGyro", -gyro.getAngle()); // upside down
SmartDashboard.putNumber("RangefinderVoltage", ultraDist.getVoltage());
} // end arcadeDrive
public void tankDrive(double leftSpeed, double rightSpeed) {
Preferences p = Preferences.getInstance();
final boolean kReverseDirection = p.getBoolean("DriveTrainReverseDirection", false);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
// if (kReverseDirection) {
// robotDrive.tankDrive(rightSpeed, leftSpeed);
// return;
// }
robotDrive.tankDrive(leftSpeed, rightSpeed);
SmartDashboard.putNumber("gyroErr", gyro.getAngle());
SmartDashboard.putNumber("encoder", rightEncoder.get());
} // end tankDrive