Drivetrain¶
The drivetrain subsytem controls the six motors which drive the robot’s tank drive.
Methods¶
TankDrive¶
Drives the drive train. Also automatically updates the SmartDashboard with the power levels the drive train is set to.
Arguments:
float leftAxis
- The power level to set the left set of motors to.
float rightAxis
- The power level to set the right set of motors to.
PowerDistOutput¶
Returns the current draw on LEFT_MOTOR_FOLLOWER
according to the PDP board.
Arguments:
null
Returns:
Current draw on LEFT_MOTOR_FOLLOWER
, as an int
.
PowerSide¶
Gets the total current draw on a given side of the drive train.
Arguments:
int value
- An
int
, preferably 0 or 1, the specifies which side to get the current draw of.
Returns:
- The current on the side specified by the
value
argument. - If
value
is 0, the current draw of the left side is returned. - If
value
is 1, the current draw of the right side is returned. - For any other value, 0 is returned.
- If
Variables¶
- LeftTalonMaster
- Type:
CANTalon
- Private: Yes
Notes: This is the master talon on the left side of the drive train. Driving it will (read: should) make the other ones follow it automatically.
- Type:
- LeftTalonFollower
- Type:
CANTalon
- Master: LeftTalonMaster
- Private: Yes
Notes: This talon should automatically follow LeftTalonMaster.
- Type:
- LeftTalonFollower_2
- Type:
CANTalon
- Master: LeftTalonMaster
- Private: Yes
Notes: See LeftTalonFollower
- Type:
- RightTalonMaster
- Type:
CANTalon
- Private: Yes
Notes: This is the master talon on the right side of the drive train. Driving it will (read: should) make the other ones follow it automatically.
- Type:
- RightTalonFollower
- Type:
CANTalon
- Master: RightTalonMaster
- Private: Yes
Notes: This talon should automatically follow RightTalonMaster.
- Type:
- pdp
The power distribution panel.
- Private: Yes