Using Jaguar() instead of RobotDrive()

[gixxy]

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.

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:

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);
    }
}