Attributes Two motors For each motor Spark - Motor controller Ids 0, 1 Encoder - Encoder controller Left Ids A: 4, B: 5 Right Ids A: 6, B: 7
DifferentialDrive Requires spark motor controllers RomiGyro (utilize Gyro class in project) - returns given position
BuiltInAccelerometer - returns acceleration in a given direction Initialization Make right motor inverted Set Encoder Distance Per Pulse Counts Per Revolutions = 1440.0 Wheel Diameter In Inch = 2.75591 Distance per rotation = (PI * WheelDiameter)/CountsPerRev Reset encoders Methods needed arcadeDrive Args: X-AxisSpeed, Y-AxisSpeed Call arcadeDrive from DifferentialDrive attributes.
Commands Utilize IO Class in project Command to drive robot with input Command to drive robot automatically Command of your choice