/** Go Straight using the IMU */
public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle, ServoParameters parameters, float targetHeading, float maxOutput)
{
_pidgey = pigeonImu;
_driveTrain = driveTrain;
_selectedStyle = selectedStyle;
_targetHeading = targetHeading;
_servoParams = parameters;
_maxOutput = maxOutput;
}
public CasterDrive()
{
var leftDriveTalon = new TalonSRX(RobotMap.LEFT_DRIVE_MOTOR);
gyro = new PigeonIMU(leftDriveTalon);
casters = new CasterModule[] {
new CasterModule(leftDriveTalon, new TalonSRX(RobotMap.LEFT_TURN_MOTOR), new Vector2(-14.75, 13.625), 0), //left
new CasterModule(new TalonSRX(RobotMap.RIGHT_DRIVE_MOTOR), new TalonSRX(RobotMap.RIGHT_TURN_MOTOR), new Vector2(14.75, 13.625), 0), //right
new CasterModule(new TalonSRX(RobotMap.BACK_DRIVE_MOTOR), new TalonSRX(RobotMap.BACK_TURN_MOTOR), new Vector2(0.0, -13.625), 0), //back
};
}
private Chassis()
{
Robotmap map = Robotmap.GetInstance();
//Constants for variables to use
left_motor = new TalonSRX(map.GetLeftDrive_ID());
left_motor.SetNeutralMode(NeutralMode.Brake);
left_motor.SetInverted(true); // Can invert the direction the motors are moving
right_motor = new TalonSRX(map.GetRightDrive_ID());
right_motor.SetNeutralMode(NeutralMode.Brake);
right_motor.SetInverted(false); // Can invert the direction the motors are moving
drive_assister = new PigeonIMU(map.Get_ID_Pigeon()); //TODO Get real name of pigeon from Christina
bumper_switch = Robotmap.GETCANController();
}
/** Go Straight using the IMU */
public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle)
{
_pidgey = pigeonImu;
_driveTrain = driveTrain;
_selectedStyle = selectedStyle;
}
