So I am looking to use the setVoltage API calls to drive a 6 motor, tank drive, drivetrain.
I am aware of the setReference kCurrent API call and was wondering do I need to set both voltage and current individually to get the robot to move, or do I need just the setVoltage and the current will be auto-calculated based upon if the setVoltage is reached? Or how might I get this to work?
My goal is to take an input joystick Y val, and I can only assume to scale it between -12 and 12 using a math function, then set the voltage that way. I want constant speed and everything a PID could provide without it being a closed system. If someone can tell me if I need to do some math to also calculate the necessary current for such a system, give me the heads up.