[curtis0gj]

Originally Posted by techkid86

yes, just switch out the teleop init and periodic with the following.

RobotDrive drive;

public void teleopInit()
{

leftPID.disable();
rightPID.disable();

drive=new RobotDrive(leftDrive, rightDrive);

}

public void teleopPeriodic()
{

drive.arcadeDrive(//however you setup the stick);
}

Alright I've got that setup nicely next step is to actually add in the PID jazz.

public class Robot extends IterativeRobot {
	RobotDrive tankDrive;

	Talon leftDrive = new Talon(Defines.DRIVE_CHANNEL_ZERO);
	Talon rightDrive = new Talon(Defines.DRIVE_CHANNEL_ONE);

	Joystick joystick = new Joystick(Defines.JOYSTICK_CHANNEL);

	Encoder rightEncoder = new Encoder(Defines.ENCODER_CHANNEL_ZERO, Defines.ENCODER_CHANNEL_ONE, true,
			EncodingType.k4X);

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

	public void robotInit() {
	}

	public void autonomousInit() {
		final double distancePerPulse = Math.PI * Defines.WHEEL_DIAMETER / Defines.PULSE_PER_REVOLUTION
				/ Defines.ENCODER_GEAR_RATIO / Defines.GEAR_RATIO * Defines.FUDGE_FACTOR;

		rightEncoder.setDistancePerPulse(distancePerPulse);
		rightEncoder.get();
	}

	public void autonomousPeriodic() {
	}

	public void teleopInit() {
		rightPID.disable();
		tankDrive = new RobotDrive(leftDrive, rightDrive);
	}

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

	}
}