src/Subsystems/DriveBase.cpp
DriveBase::DriveBase() : Subsystem("DriveBase") {
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
	frontLeft = RobotMap::driveBaseFrontLeft;
	backLeft = RobotMap::driveBaseBackLeft;
	frontRight = RobotMap::driveBaseFrontRight;
	backRight = RobotMap::driveBaseBackRight;
	dbTank = RobotMap::driveBasedbTank;
	dbGyro = RobotMap::driveBasedbGyro;
	dbLeftEncoder = RobotMap::driveBasedbLeftEncoder;
	dbRightEncoder = RobotMap::driveBasedbRightEncoder;
	dbMidEncoder = RobotMap::driveBasedbMidEncoder;
	middleLeft = RobotMap::driveBaseMiddleLeft;
	middleRight = RobotMap::driveBaseMiddleRight;
	dbMiddle = RobotMap::driveBasedbMiddle;

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
	dbSigmoid = new ghettoPID(1.0, 0.5, "dbghettoPID");
	dbLeftEncoder->SetDistancePerPulse(DRIVE_DISTANCE_PER_PULSE);
	dbRightEncoder->SetDistancePerPulse(DRIVE_DISTANCE_PER_PULSE);
	dbMidEncoder->SetDistancePerPulse(MIDDLE_DISTANCE_PER_PULSE);
}
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
END AUTOGENERATED CODE SOURCE = ROBOTBUILDER ID = INCLUDES
DriveBase::DriveBase() : Subsystem("DriveBase") {
	frontLeft = RobotMap::driveBaseFrontLeft;
	backLeft = RobotMap::driveBaseBackLeft;
	frontRight = RobotMap::driveBaseFrontRight;
	backRight = RobotMap::driveBaseBackRight;
	dbTank = RobotMap::driveBasedbTank;
	dbGyro = RobotMap::driveBasedbGyro;
	dbLeftEncoder = RobotMap::driveBasedbLeftEncoder;
	dbRightEncoder = RobotMap::driveBasedbRightEncoder;
	dbMidEncoder = RobotMap::driveBasedbMidEncoder;
	middleLeft = RobotMap::driveBaseMiddleLeft;
	middleRight = RobotMap::driveBaseMiddleRight;
	dbMiddle = RobotMap::driveBasedbMiddle;
	dbSigmoid = new ghettoPID(1.0, 0.5, "dbghettoPID");
	dbLeftEncoder->SetDistancePerPulse(DRIVE_DISTANCE_PER_PULSE);
	dbRightEncoder->SetDistancePerPulse(DRIVE_DISTANCE_PER_PULSE);
	dbMidEncoder->SetDistancePerPulse(MIDDLE_DISTANCE_PER_PULSE);
}
DriveBase :: DriveBase ( ) : Subsystem ( " " ) { frontLeft = RobotMap :: driveBaseFrontLeft ; backLeft = RobotMap :: driveBaseBackLeft ; frontRight = RobotMap :: driveBaseFrontRight ; backRight = RobotMap :: driveBaseBackRight ; dbTank = RobotMap :: driveBasedbTank ; dbGyro = RobotMap :: driveBasedbGyro ; dbLeftEncoder = RobotMap :: driveBasedbLeftEncoder ; dbRightEncoder = RobotMap :: driveBasedbRightEncoder ; dbMidEncoder = RobotMap :: driveBasedbMidEncoder ; middleLeft = RobotMap :: driveBaseMiddleLeft ; middleRight = RobotMap :: driveBaseMiddleRight ; dbMiddle = RobotMap :: driveBasedbMiddle ; dbSigmoid = new ghettoPID ( 1.0 , 0.5 , " " ) ; dbLeftEncoder -> SetDistancePerPulse ( DRIVE_DISTANCE_PER_PULSE ) ; dbRightEncoder -> SetDistancePerPulse ( DRIVE_DISTANCE_PER_PULSE ) ; dbMidEncoder -> SetDistancePerPulse ( MIDDLE_DISTANCE_PER_PULSE ) ; }
END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
END AUTOGENERATED CODE SOURCE = ROBOTBUILDER ID = INCLUDES
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS