Package frc.robot.subsystems

Class DriveTrain

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.DriveTrain
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class DriveTrain extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    edu.wpi.first.math.filter.SlewRateLimiter
    limiter
     
    com.revrobotics.CANSparkMax
    m_bL
     
    com.revrobotics.CANSparkMax
    m_bR
     
    com.revrobotics.CANSparkMax
    m_fL
     
    com.revrobotics.CANSparkMax
    m_fR
     
    com.revrobotics.CANSparkMax
    m_mL
     
    com.revrobotics.CANSparkMax
    m_mR
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    DriveTrain()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static DriveTrain
    getInstance()
     
    double
    getRightEncoder()
    Gets the position of the mid-right motor.
    void
    periodic()
    Runs constantly, checks for the mid right motor
    void
    tankDrive(double x, double z, double speed)
    Takes in three doubles: whether the robot is going forward or backward, the turning rate and direction, and the speed.

    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

  • Field Details

    • m_bL

      public com.revrobotics.CANSparkMax m_bL

    • m_mL

      public com.revrobotics.CANSparkMax m_mL

    • m_fL

      public com.revrobotics.CANSparkMax m_fL

    • m_bR

      public com.revrobotics.CANSparkMax m_bR

    • m_mR

      public com.revrobotics.CANSparkMax m_mR

    • m_fR

      public com.revrobotics.CANSparkMax m_fR

    • limiter

      public edu.wpi.first.math.filter.SlewRateLimiter limiter

  • Constructor Details

    • DriveTrain

      public DriveTrain()

  • Method Details

    • getInstance

      public static DriveTrain getInstance()

    • tankDrive

      public void tankDrive(double x, double z, double speed)
      Takes in three doubles: whether the robot is going forward or backward, the turning rate and direction, and the speed.
      Parameters:
      x -
      z -
      speed -

    • getRightEncoder

      public double getRightEncoder()
      Gets the position of the mid-right motor.
      Returns:

    • periodic

      public void periodic()
      Runs constantly, checks for the mid right motor