ready for encoder ratio testing

commented out VPID stuff in robotDrive constructor (and passed in
SpdCtrGrps instead) and any enabling (TeleopDrive init and Robot
testPeriodic)

Author: DriverStationComputer

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -171,10 +171,10 @@ public void teleopPeriodic() {
 	 */
 	@Override
 	public void testPeriodic() {
-		if(firstTime) {
-			Robot.dt.enableVelocityPIDs();
-			firstTime = false;
-		}
+//		if(firstTime) {
+//			Robot.dt.enableVelocityPIDs();
+//			firstTime = false;
+//		}
 		Robot.dt.setVPIDs(Robot.getConst("VPID Test Set", 0.5));
 		SmartDashboard.putNumber("Drivetrain/Left VPID Targ", Robot.dt.getLeftVPIDSetpoint());
 		SmartDashboard.putNumber("Drivetrain/Right VPID Targ", Robot.dt.getRightVPIDSetpoint());

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -147,8 +147,10 @@ public RobotMap() {
 		rightVelocityController.setContinuous(false);
 		rightVelocityController.setAbsoluteTolerance(Robot.getConst("VelocityToleranceRight", 2));
 
-		robotDrive = new DifferentialDrive(leftVelocityController, rightVelocityController);
-		robotDrive.setMaxOutput(Robot.getConst("Max High Speed", 204));
+//		robotDrive = new DifferentialDrive(leftVelocityController, rightVelocityController);
+//		robotDrive.setMaxOutput(Robot.getConst("Max High Speed", 204));
+		robotDrive = new DifferentialDrive(dtLeft, dtRight);
+		
 		distEncAvg = new PIDSourceAverage(leftEncDist, rightEncDist);
 		fancyGyro = new AHRS(SerialPort.Port.kMXP);
 		// dtGear = new DoubleSolenoid(getPort("1dtGearSolenoid", 0), getPort("2dtGearSolenoid", 1));

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/TeleopDrive.java

@@ -23,7 +23,7 @@ public TeleopDrive() {
 	// Called just before this Command runs the first time
 	@Override
 	protected void initialize() {
-		Robot.dt.enableVelocityPIDs();
+//		Robot.dt.enableVelocityPIDs();
 	}
 
 	// Called repeatedly when this Command is scheduled to run