Chief Delphi - Using Jaguar() instead of RobotDrive()

well if you used 4 separate Jaguar objects the only difference is having to make the driving methods yourself, or making an alternative setup for driving the Jaguars, with RobotDrive the methods are already there.

I make the 4 Jaguar objects and then use those for the robot Drive as shown.

Code:

Jaguar leftFront = new Jaguar(3);

Jaguar leftBack = new Jaguar(4);

Jaguar rightFront = new Jaguar(1);

Jaguar rightBack = new Jaguar(2);

RobotDrive robotDrive = new RobotDrive(leftFront, leftBack, rightFront, rightBack);

This way if I needed to I could set Jaguars individually and get the individual speeds for the dashboard and stuff as well as use the RobotDrive for handling mass changes and regular driving.

Code for a DriveTrain I wrote for testing:

Code:

package edu.wpi.first.wpilibj.test;





import edu.wpi.first.wpilibj.Jaguar;

import edu.wpi.first.wpilibj.RobotDrive;



/**

 *

 * @author Gus Michel

 */

public class DriveTrain {

    private int LEFT_FRONT_JAG_PORT = 1;

    private int LEFT_BACK_JAG_PORT = 2;

    private int RIGHT_FRONT_JAG_PORT = 3;

    private int RIGHT_BACK_JAG_PORT = 4;

    private static DriveTrain instance = null;

    private Jaguar leftFront;

    private Jaguar leftBack;

    private Jaguar rightFront;

    private Jaguar rightBack;

    private RobotDrive robotDrive;

    

    private DriveTrain() {

        leftFront = new Jaguar(LEFT_FRONT_JAG_PORT);

        leftBack = new Jaguar(LEFT_BACK_JAG_PORT);

        rightFront = new Jaguar(RIGHT_FRONT_JAG_PORT);

        rightBack = new Jaguar(RIGHT_BACK_JAG_PORT);

        robotDrive = new RobotDrive(leftFront, leftBack, rightFront, rightBack);

    }

    

    public static DriveTrain getInstance() {

        if(instance == null) {

            instance = new DriveTrain();

        }

        return instance;

    }

    

    public void drive(double throttle, double turn) {

        robotDrive.drive(throttle, turn);

    }

    

    public void arcadeDrive(double throttle, double turn) {

        robotDrive.arcadeDrive(throttle, turn);

    }

    

    public void tankDrive(double left, double right) {

        robotDrive.tankDrive(left, right);

    }

    

    public double getLeftFrontSpeed() {

        return leftFront.getSpeed();

    }

    

    public double getLeftBackSpeed() {

        return leftBack.getSpeed();

    }

    

    public double getRightFrontSpeed() {

        return rightFront.getSpeed();

    }

    

    public double getRightBackSpeed() {

        return rightBack.getSpeed();

    }

    

    public void stop() {

        robotDrive.drive(0,0);

    }

}