Package frc.robot.subsystems

Class Drivetrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Drivetrain

All Implemented Interfaces:

Sendable, Subsystem

public class Drivetrain
extends SubsystemBase

Subsystem that controls the drivetrain.

Constructor Summary

Constructors

Constructor	Description
Drivetrain()	Creates a new Drivetrain.

Method Summary

Modifier and Type	Method	Description
void	periodic()
void	setMotorSpeeds(double leftPercentage, double rightPercentage)	Set motor speeds
Command	TankDrive(double leftPercentage, double rightPercentage)	Set motor speeds for tank drive

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd

Constructor Details

Drivetrain

public Drivetrain()

Creates a new Drivetrain.

Method Details

periodic

public void periodic()

setMotorSpeeds

public void setMotorSpeeds(double leftPercentage,
 double rightPercentage)

Set motor speeds

Parameters:

leftPercentage - left side speed [-1,1]

rightPercentage - right side speed [-1,1]

TankDrive

public Command TankDrive(double leftPercentage,
 double rightPercentage)

Set motor speeds for tank drive

Parameters:

leftPercentage - left side speed [-1,1]

rightPercentage - right side speed [-1,1]

Returns:

Command