[1452-Leo]

Originally Posted by ozrien

This might help, I ran this code on my mec bot, with gyro and CANTalons. I use IterativeRobot (it's just my preference).

http://www.chiefdelphi.com/forums/sh...3&postcount=20

Thanks! I'll have to try this later. I did just get RobotDrive working by putting this before the drive function:

leftFront->SetControlMode(CANSpeedController::kPercentVbus);
leftBack->SetControlMode(CANSpeedController::kPercentVbus);
rightFront->SetControlMode(CANSpeedController::kPercentVbus);
rightBack->SetControlMode(CANSpeedController::kPercentVbus);

There are problems with this solution though. For example, I can't reverse the motors anymore (it doesn't drive as soon as I add SetInvertedMotor in). I have another idea though that I will try later.