[curtis0gj]

PROGRESS! Sorry for doing a double post.

So I just enable autonomous and the robot drove backwards very quickly right. I guess I need to change the direction the robot drives, so going forwards instead of backwards and then make the leftPID mask the rightPID so it drives straight.

public class Robot extends IterativeRobot {
	double xThrottle = 0;

	RobotDrive tankDrive;

	Talon leftDrive = new Talon(0);
	Talon rightDrive = new Talon(1);

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

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

		rightEncoder.reset();

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

		rightPID.enable();
	}

	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.reset();
	}

	public void autonomousPeriodic() {
		rightPID.setSetpoint(20);
	}

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

	public void teleopPeriodic() {
		double throttle = joystick.getRawAxis(Defines.THROTTLE);
		xThrottle = (-throttle + 2) / 4;

		tankDrive.arcadeDrive(joystick.getX() * xThrottle, -joystick.getY() * xThrottle);
	}
}