From d50d7e85561654f879b63419700420cc23d731bc Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Fri, 22 Jul 2016 16:46:56 -0400
Subject: [PATCH] Possible case issue fix

---
 .../team2059/robot/subsystems/DriveBase.java  | 21 ++++++++++++++
 .../robot/subsystems/EncoderBase.java         | 29 +++++++++++++++++++
 2 files changed, 50 insertions(+)
 create mode 100644 src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
 create mode 100644 src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java

diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
new file mode 100644
index 0000000..722b67d
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -0,0 +1,21 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.CANTalon;
+public class DriveBase extends Subsystem {
+  CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
+  CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
+  CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
+  CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
+  public void initDefaultCommand() {
+    setDefaultCommand(new Drive());
+  }
+  public void driveArcade(double x, double y, double z, double sensitivity) {
+    leftMotorOne.set(-y + (x + z));
+    leftMotorTwo.set(-y + (x + z));
+    rightMotorOne.set(y + (x + z));
+    rightMotorTwo.set(y + (x + z));
+  }
+}
+// vim: sw=2:ts=2:sts=2
\ No newline at end of file
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java
new file mode 100644
index 0000000..5beb9c7
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.Encoder;
+import org.usfirst.frc.team2059.robot.structs.EncoderValues;
+public class EncoderBase extends Subsystem {
+  Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
+  public void initDefaultCommand() {
+    //TODO: Not sure if we need a default command, not settingo one
+    //TODO: These are just defaults, they wil lneed to be changed
+    enc.setMaxPeriod(.1);
+    enc.setMinRate(10);
+    enc.setDistancePerPulse(5);
+    enc.setReverseDirection(false);
+    enc.setSamplesToAverage(7);
+  }
+  public void resetEncoder() {
+    enc.reset();
+  }
+  public EncoderValues getValues() {
+    //TODO: There are two ways to get distance:
+    //enc.getDistance();
+    //enc.getRaw();
+    //figure out which to use
+    return new EncoderValues(enc.get() , enc.getRaw() , enc.getPeriod() , enc.getRate() , enc.getDirection() , enc.getStopped());
+  }
+}
+// vim: sw=2:ts=2:sts=2