added basic velocityPID functionality to the drivetrain using the talons. Not implemented yet

Author: dfang314

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

@@ -0,0 +1,41 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class TalonDrive extends Command {
+
+	public TalonDrive() {
+		// Use requires() here to declare subsystem dependencies
+		// eg. requires(chassis);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.dt.dtRightPIDDrive(Robot.oi.leftJoy.getY());
+		Robot.dt.dtLeftPIDDrive(Robot.oi.rightJoy.getY());
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+		end();
+	}
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -13,6 +13,9 @@
 import org.usfirst.frc.team199.Robot2018.autonomous.VelocityPIDController;
 import org.usfirst.frc.team199.Robot2018.commands.TeleopDrive;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
@@ -25,6 +28,10 @@ public class Drivetrain extends Subsystem implements DrivetrainInterface {
 	// Put methods for controlling this subsystem
 	// here. Call these from Commands.
 
+	private final WPI_TalonSRX dtLeftMaster = RobotMap.dtLeftMaster;
+	private final WPI_VictorSPX dtLeftSlave = RobotMap.dtLeftSlave;
+	private final WPI_TalonSRX dtRightMaster = RobotMap.dtRightMaster;
+	private final WPI_VictorSPX dtRightSlave = RobotMap.dtRightSlave;
 	private final Encoder leftEncDist = RobotMap.leftEncDist;
 	private final Encoder rightEncDist = RobotMap.rightEncDist;
 	private final PIDSourceAverage distEncAvg = RobotMap.distEncAvg;
@@ -42,6 +49,32 @@ public void initDefaultCommand() {
 		setDefaultCommand(new TeleopDrive());
 	}
 
+	/**
+	 * Sets the left side of the drivetrain to use the talons' pids to run at the
+	 * specified speed.
+	 * 
+	 * @param value
+	 *            The speed to run at
+	 */
+	public void dtLeftPIDDrive(double value) {
+		double setValue = value * Robot.getConst("Units per 100ms", 3413);
+		dtLeftMaster.set(ControlMode.Velocity, setValue);
+		dtLeftSlave.set(ControlMode.Velocity, setValue);
+	}
+
+	/**
+	 * Sets the right side of the drivetrain to use the talons' pids to run at the
+	 * specified speed.
+	 * 
+	 * @param value
+	 *            The speed to run at
+	 */
+	public void dtRightPIDDrive(double value) {
+		double setValue = value * Robot.getConst("Units per 100ms", 3413);
+		dtRightMaster.set(ControlMode.Velocity, setValue);
+		dtRightSlave.set(ControlMode.Velocity, setValue);
+	}
+
 	/**
 	 * Drives based on joystick input and SmartDashboard values
 	 */