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mikets mikets is offline
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FRC #0492 (Titan Robotics)
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Re: Can I use gyro to drive straight in teleop period?

Here is the code from our FTC library.
Code:
    /**
     * This method implements tank drive where leftPower controls the left motors and right power controls the right
     * motors.
     *
     * @param leftPower specifies left power value.
     * @param rightPower specifies right power value.
     * @param inverted specifies true to invert control (i.e. robot front becomes robot back).
     */
    public void tankDrive(double leftPower, double rightPower, boolean inverted)
    {
        leftPower = TrcUtil.clipRange(leftPower);
        rightPower = TrcUtil.clipRange(rightPower);

        if (inverted)
        {
            double swap = leftPower;
            leftPower = -rightPower;
            rightPower = -swap;
        }

        if (gyro != null)
        {
            //
            // Gyro assist is enabled.
            //
            double drivePower = (leftPower + rightPower)/2.0;
            double diffPower = (leftPower - rightPower)/2.0;
            double turnPower = gyroAssistKp*(diffPower - gyroRateScale*gyro.getZRotationRate().value);
            leftPower = drivePower + turnPower;
            rightPower = drivePower - turnPower;
            double maxMag = Math.max(Math.abs(leftPower), Math.abs(rightPower));
            if (maxMag > 1.0)
            {
                leftPower /= maxMag;
                rightPower /= maxMag;
            }
        }

        if (frontLeftMotor != null)
        {
            frontLeftMotor.setPower(leftPower);
        }

        if (frontRightMotor != null)
        {
            frontRightMotor.setPower(rightPower);
        }

        if (rearLeftMotor != null)
        {
            rearLeftMotor.setPower(leftPower);
        }

        if (rearRightMotor != null)
        {
            rearRightMotor.setPower(rightPower);
        }
    }   //tankDrive
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