6. Driving

Let's learn about the drive trains under DifferentialDrive.

Go to WPILIB Java API, find DifferentialDrive, and read the descriptions.

Constructor for DifferentialDrive:

public DifferentialDrive(SpeedController leftMotor,

                         SpeedController rightMotor)

• Now how to construct a SpeedController? You'll jump to the WPI_TalonSRX class, found in the CTRE library. WPI_TalonSRX implements SpeedController. (Read Chapter 1.8 to learn more)
• public WPI_TalonSRX(int deviceNumber)

Tank drive:

public void tankDrive(double leftSpeed,

                      double rightSpeed)

Speed on the left side, speed on the right side.

Arcade Drive:

public void arcadeDrive(double xSpeed,

                        double zRotation)

The speed you want, the rotation rate (from -1 to 1).

Created: Dexin, 12/18/2018

Edited: Dexin, 12/20/2018