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Team-Voltage-386 / Software-Team

DEPRECATED REPO (Use Individual Repos now)
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Move drive code into TyRapXVIII drive subsystem #22

Closed aeden closed 6 years ago

aeden commented 6 years ago

Clean up the drive code in the phoenix drive prototype and move it into the TyRapXVIII drive subsystem. Depends on #21

aeden commented 6 years ago

Once the logic from phoenix drive is fully integrated and testing, we will replace the use of WPI_TalonSRX.follow with SpeedControllerGroup as in the phoenix drive groups: https://github.com/Team-Voltage-386/Software-Team/tree/master/PhoenixTankDriveGroups

aeden commented 6 years ago

http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.html

aeden commented 6 years ago

It looks like deadband control can be handled by the DifferentialDrive class directly through the RobotDriveBase. The documentation also seems to indicate that manual inversion may not be necessary:

Each drive() function provides different inverse kinematic relations for a differential drive robot. Motor outputs for the right side are negated, so motor direction inversion by the user is usually unnecessary.

aeden commented 6 years ago

This task is complete.