[curtis0gj]

Originally Posted by techkid86

More or less yes. So you're using talons. PWM I assume? if so, the following code should be enough to set up your drive.

using only basic classes:

Talon leftDrive=new Talon(1);
Talon rightDrive=new Talon(2);

//if using gamepad
Joystick gamepad=new Joystick(1);

//if using two individual joysticks
Joystick leftJoy=new Joystick(1);
Joystick leftJoy=new Joystick(2);

Encoder leftEncoder=new Encoder(1,2);
Encoder rightEncoder=new Encoder(1,2);

PIDController leftPID=new PIDController(0.1,0,0, leftEncoder, leftDrive);
PIDController rightPID=new PIDController(0.1,0,0, rightEncoder, rightDrive);

public void robotInit()
{

leftEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
rightEncoder.setPIDSourceType(PIDSourceType.kDisplacement);

rightEncoder.setReverseDirection(true);
rightDrive.setInverted(true); //only one side needs inversion

leftEncoder.reset();
rightEncoder.reset();

leftPID.setOutputRange(-0.75,0.75); //max speed it can set to motors
rightPID.setOutputRange(-0.75,0.75); //max speed it can set to motors

leftPID.enable();
rightPID.enable();
}

public void 	autonomousPeriodic()
{

leftPID.setSetpoint(400);
rightPID.setSetpoint(400);
 //set distance. you can change distance per tick through the encoder
}

public void teleopInit()
{

leftPID.disable();
rightPID.disable();
}
public void teleopPeriodic()
{

//for two joysticks
leftDrive.set(leftJoy.getY());
rightDrive.set(rightJoy.getY());

//for one gamepad
leftDrive.set(gamepad.getRawAxis(1));
rightDrive.set(gamepad.getRawAxis(2));
//replace 1 and 2 axis with actual axis number. 
}

Is it complicated to set this up for arcade drive with one Logitech attack 3? We don't own two matching joysticks so tank drive would be funky.

This is what I thought of doing to have it work for arcade drive I have the PID setup stuff added on I just took it out for this.

public class Robot extends IterativeRobot {
	Talon leftDrive = new Talon(0);
	Talon rightDrive = new Talon(1);

	RobotDrive tankDrive = new RobotDrive(leftDrive, rightDrive);

	Joystick joystick = new Joystick(0);

	Encoder rightEncoder = new Encoder(0, 1, true,
			EncodingType.k4X);

	PIDController rightPID = new PIDController(0.1, 0, 0, rightEncoder, rightDrive);

	public void robotInit() {
	}

	public void autonomousInit() {
	}

	public void autonomousPeriodic() {
	}

	public void teleopPeriodic() {
		tankDrive.arcadeDrive(-joystick.getY(), -joystick.getX());
	}
}