From ade2ce7bfb4a25b4292849cfd366719be616aad1 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sat, 17 Jan 2015 10:34:08 -0500
Subject: [PATCH] Added drivetrain code

---
 src/Subsystems/Drivetrain.cpp | 11 +++++++++++
 src/Subsystems/Drivetrain.h   |  4 ++++
 2 files changed, 15 insertions(+)

diff --git a/src/Subsystems/Drivetrain.cpp b/src/Subsystems/Drivetrain.cpp
index a99eb15..c152a4a 100644
--- a/src/Subsystems/Drivetrain.cpp
+++ b/src/Subsystems/Drivetrain.cpp
@@ -2,6 +2,17 @@
 #include "../RobotMap.h"
 
 Drivetrain::Drivetrain() : Subsystem("Drivetrain") {
+  frontLeft=new Talon(0);
+  frontRight=new Talon(1);
+  backLeft=new Talon(2);
+  backRight=new Talon(3);
+  drive=new RobotDrive(frontLeft, frontRight, backLeft, backRight);
 }
 void Drivetrain::InitDefaultCommand() {
 }
+void Drivetrain::DriveMecanum(float x, float y, float rotation){
+  drive->MecanumDrive_Cartesian(x, y, rotation);
+}
+void Drivetrain::DriveArcade(float x, float y){
+  drive->ArcadeDrive(x, y);
+}
diff --git a/src/Subsystems/Drivetrain.h b/src/Subsystems/Drivetrain.h
index 1e5e039..84274b1 100644
--- a/src/Subsystems/Drivetrain.h
+++ b/src/Subsystems/Drivetrain.h
@@ -5,8 +5,12 @@
 class Drivetrain: public Subsystem
 {
   private:
+    Talon *frontLeft, *frontRight, *backLeft, *backRight;
+    RobotDrive *drive;
   public:
     Drivetrain();
     void InitDefaultCommand();
+    void DriveMecanum(float, float, float);
+    void DriveArcade(float, float);
 };
 #endif