public DriveHelper(ref Drive drive_)
{
drive = drive_;
oldTurn = quickStopAccumulator = oldSpeed = oldWheel = negInertiaAccumulator = lastShift = 0;
throttleAccel = new InputFilter(0);
wheelAccel = new InputFilter(0);
isHighGear = false;
}
/// <summary>
/// Instantiates the Motor COntrollers, Encoders, Gyroscope.
/// </summary>
public Drive()
{
#region Instantiating
L1 = new RampMotor<Talon>(Constants.Drive_L1Channel);
L2 = new RampMotor<Talon>(Constants.Drive_L2Channel);
L3 = new RampMotor<Talon>(Constants.Drive_L3Channel);
R1 = new RampMotor<Talon>(Constants.Drive_R1Channel);
R2 = new RampMotor<Talon>(Constants.Drive_R2Channel);
R3 = new RampMotor<Talon>(Constants.Drive_R3Channel);
LShift = new Solenoid(Constants.Drive_LShiftChannel);
RShift = new Solenoid(Constants.Drive_RShiftChannel);
LEncode = new Encoder(Constants.Drive_LEncoderAChannel, Constants.Drive_LEncoderBChannel);
REncode = new Encoder(Constants.Drive_REncoderAChannel, Constants.Drive_REncoderBChannel);
LSpeedFilter = new InputFilter(0);
RSpeedFilter = new InputFilter(0);
gyro = new Gyro(Constants.Drive_GyroChannel);
#endregion
//Invert the Right Side Motors and Encoder
R1.Inverted = true;
R2.Inverted = true;
R3.Inverted = true;
REncode.ReverseDirection = true;
L1.MaxChange = Constants.Drive_MaxPowerChange;
L2.MaxChange = Constants.Drive_MaxPowerChange;
L3.MaxChange = Constants.Drive_MaxPowerChange;
R1.MaxChange = Constants.Drive_MaxPowerChange;
R2.MaxChange = Constants.Drive_MaxPowerChange;
R3.MaxChange = Constants.Drive_MaxPowerChange;
gyro.Reset();
LShift.Set(false);
RShift.Set(false);
//Secondary Motors are set to the same max acceleration as the primary motors by default, until we get these numbers tuned.
shiftingMotorValue = Constants.Drive_MaxPowerChange;
}
