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SachemAftershock / 2019-robot-code

Sachem Aftershock's code for FRC 2019 Destination: Deep Space
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Pull Working Drivebase to master #3

Closed shreyasprasad14 closed 5 years ago

shreyasprasad14 commented 5 years ago

Tested and debugged Drivebase & Transmission Speed Switch, works as intended.

DanWaxman commented 5 years ago

Right now all of the drive methods are dependent on controller input -- this is fine for testing, but with a large emphasis on semi-autonomous movement it might be worth it to write your drive methods in a more controller-agnostic way. That is, have a drive(float leftInput, float rightInput, ...) method and overload it with a drive(XboxController controller) method which will parse input to drive(float ...) and maybe do a few controller-exclusive functions. This will make the code more scalable when adding autonomous function calls.

shreyasprasad14 commented 5 years ago

Doesn't the driveMotors method already do that, or am I misinterpreting what you're saying?

DanWaxman commented 5 years ago

A drive method would probably do something a bit more general than what driveMotors does. You can choose the design, but I think generally it would be difficult for some outside autonomous class to directly call driveMotors in a coherent way without doubling all the information that SWDrive is already using. That said, I know @rbapat wanted to change the style of implementation from previous few years', so it's possible that drive is purposefully limited to manual control and you want to completely separate calls for different drive modes (e.g. manual and autonomous), in which case this is a total non-issue.