Drive Train Code

[scottbot95]

As a driver, I want to control the drive train, so that I can control the position and orientation of the robot on the field.

Our robot will be using a differential drive train. We can start setting up at least some basics around driver control.

• [x] #10
  • Curvature Drive Control
  • Arcade Drive Control
  • Tank Drive Control
  • Reverse Mode (flag to invert forward/reverse)
• [x] #13
  • Read driver inputs (joysticks/xbox)
  • Select drive mode (arcade, tank, etc)
  • Shuffleboard selector?
  • Button on controller?
  • Display Current drive mode to ShuffleBoard
  • Select reverse mode
• [x] User input transform
  • [x] Deadband
  • [x] Scaling?

[jtechau]

Also need to consider which operator input method(s) to implement - tank, arcade, etc. Or make it selectable.

[isabellebowdey]

We tested the drive train code on Knightmare, everything worked. I commented out the Knightmare code but it's still there (for now) if we ever want to test our code.

We've decided to close the issue and check off scaling, we're going with the defaults for now. We can always come back to it.

[scottbot95]

Physical drivetrain has been built. Steps to test on the actual drivetrain:

• [ ] Update TalonFX's
• [ ] Program TalonFX's with correct CAN IDs
• [ ] Deploy code to robot
• [ ] Test controls