public void calcEncoders() {
leftFrontDriveEncoder.calc();
rightFrontDriveEncoder.calc();
leftRearDriveCounter.calc();
rightRearDriveCounter.calc();
catapultEncoder.calc();
frontIntakeTiltPotentiometer.run();
rearIntakeTiltPotentiometer.run();
}
public void resetEncoders() {
leftFrontDriveEncoder.reset();
rightFrontDriveEncoder.reset();
leftRearDriveCounter.reset();
rightRearDriveCounter.reset();
catapultEncoder.reset();
frontIntakeTiltPotentiometer.reset();
rearIntakeTiltPotentiometer.reset();
gyro.reset();
}
private void startEncoders() {
// 1 foot = ??? clicks
leftFrontDriveEncoder.start();
rightFrontDriveEncoder.start();
leftRearDriveCounter.start();
rightRearDriveCounter.start();
catapultEncoder.start();
frontIntakeTiltPotentiometer.reset();
rearIntakeTiltPotentiometer.reset();
gyro.reset();
}
public double getCatapultEncoder() {
return catapultEncoder.get();
}
public double getRightFrontDriveEncoderAcceleration() {
return (rightFrontDriveEncoder.getRate());
}
public double getLeftFrontDriveEncoderAcceleration() {
return (leftFrontDriveEncoder.getRate());
}
public double getRightFrontDriveEncoderRate() {
return (rightFrontDriveEncoder.getRate());
}
public double getLeftFrontDriveEncoderRate() {
return (leftFrontDriveEncoder.getRate());
}
public void resetDriveEncoders() {
leftFrontDriveEncoder.reset();
rightFrontDriveEncoder.reset();
leftRearDriveCounter.reset();
rightRearDriveCounter.reset();
}
public void resetCatapultEncoder() {
catapultEncoder.reset();
}