Automatic 2 Speed Drivetrain Shifting Code

[joelg236]

Originally Posted by apples000

This can be detected if the actual speed of the robot is >10% away from where the joysticks are and if the average deceleration over the last second or so exceeds a certain amount.

I've not used Encoder.getRate() much. What kind of units would it return? (assuming default setup with the gear box and whatnot) How would I compare it to the joystick speed (-1 to +1)?

Also, is it bad to shift up if it is turning, but going forwards as well? (ie. +0.7 speed, -0.4 turn)