static DriveTestBase() { SimPWMController lMotor = new SimPWMController(0); SimPWMController rMotor = new SimPWMController(1); SimEncoder lEncoder = new SimEncoder(0); SimEncoder rEncoder = new SimEncoder(1); DriveWheelMechanism left = new DriveWheelMechanism(DCMotor.MakeCIM(), lMotor, 1, 1, lEncoder); DriveWheelMechanism right = new DriveWheelMechanism(DCMotor.MakeCIM(), rMotor, 1, 1, rEncoder); _drive = new TankDriveTrainMechanism(left, right, 11); }
/// <summary> /// Initializes a new instance of the <see cref="TankDriveTrainMechanism"/> class. /// </summary> /// <param name="leftDrive">The left drive.</param> /// <param name="rightDrive">The right drive.</param> /// <param name="massKg">The mass kg.</param> public TankDriveTrainMechanism(DriveWheelMechanism leftDrive, DriveWheelMechanism rightDrive, double massKg) { m_leftDrive = leftDrive; m_rightDrive = rightDrive; m_mass = massKg; }