2018 Drive Train with Arcade Drive and CTRE Phoenix

[DrewTheRat]

Goal

Functional drivetrain subsystem that can be driven with two JoySticks using the Arcade Drive method

• Left Stick = Forward/Back speed
• Right Stick = Left/Right steering

We need to use Talson SRX motor controllers with mag encoders. Do not use RobotDrive class, as it can interfere with Talons in closed-loop mode

Acceptance Criteria

• [x] CTRE Phoenix libraries added to 2018 project
• [x] Standalone ArcadeDrive helper class with methods copied from RobotDrive source
• [x] DriveTrain class (extends Subsystem) provides interface to Talons
• [x] DriveWithJoysticks command (extends Command) is the default command and implements the ArcadeDrive Joystick-driven control
• [x] Uses Talon SRX controllers via new CTRE Phoenix libraries
• [x] All IDs (e.g. for CAN) are defined in RobotMap class
• [x] JoyStick deadzone values in constants, single method used to apply deadzone value
• [x] Code drive-tested on 2017 robot (Crossfire)

[Endoman123]

Can we call this done?

[DrewTheRat]

I think we can call this done, yes.