Separate DriveTank multipliers and use ips instead of power

Inches per second -- set speed directly, not a power from 0 to 1

Author: Tony Brar

config/commands.yml

@@ -1,6 +1,7 @@
 DriveTank:
   deadzone: .05
-  multiplier: 1.0
+  leftMultiplier: 120.0
+  rightMultiplier: 120.0
   exponent: 2.0
 
 PickerToHome:
@@ -110,4 +111,4 @@ AutoInit:
   commands:
     - PickerToCheval
     - PickerToHome
-    - PickerToPick
+    - PickerToPick

config/subsystems.yml

@@ -12,7 +12,7 @@ Drive:
     maxIError: 24.0
 #    dataLogging: true
   driveMode: CONTROLLER
-  maxSpeed: 156.0
+  maxSpeed: 120.0
 Picker:
   pickMotor: { channel: 6, inverted: false }
   longCylinder: 4

core/src/main/java/org/teamtators/rotator/commands/DriveTank.java

@@ -41,9 +41,9 @@ protected boolean step() {
         double leftPower = -driverJoystick.getAxisValue(LogitechF310.Axis.LEFT_STICK_Y);
         double rightPower = -driverJoystick.getAxisValue(LogitechF310.Axis.RIGHT_STICK_Y);
         leftPower = DriveUtils.applyDriveModifiers(leftPower,
-                config.deadzone, config.multiplier, config.exponent);
+                config.deadzone, config.leftMultiplier, config.exponent);
         rightPower = DriveUtils.applyDriveModifiers(rightPower,
-                config.deadzone, config.multiplier, config.exponent);
+                config.deadzone, config.rightMultiplier, config.exponent);
 
         drive.setSpeeds(leftPower, rightPower);
 
@@ -52,7 +52,8 @@ protected boolean step() {
 
     static class Config {
         public double deadzone;
-        public double multiplier;
+        public double leftMultiplier;
+        public double rightMultiplier;
         public double exponent;
     }
 }

core/src/main/java/org/teamtators/rotator/subsystems/AbstractDrive.java

@@ -22,32 +22,42 @@ public AbstractDrive() {
     /**
      * It sets the power to the  drivetrain motors
      *
-     * @param leftSpeed  power for the left motor, between 0 and 1
-     * @param rightSpeed power for the right motor, btwn 0 and 1
+     * @param leftSpeed  speed for the left motor in inches per second
+     * @param rightSpeed speed for the right motor in inches per second
      */
     public void setSpeeds(double leftSpeed, double rightSpeed) {
         setLeftSpeed(leftSpeed);
         setRightSpeed(rightSpeed);
     }
 
+    /**
+     * Set the speed of the left half of the drivetrain
+     *
+     * @param leftSpeed Left motor speed in inches per second
+     */
     public void setLeftSpeed(double leftSpeed) {
         switch (driveMode) {
             case DIRECT:
-                setLeftPower(leftSpeed);
+                setLeftPower(leftSpeed / maxSpeed);
                 break;
             case CONTROLLER:
-                leftController.setSetpoint(leftSpeed * maxSpeed);
+                leftController.setSetpoint(leftSpeed);
                 break;
         }
     }
 
+    /**
+     * Set the speed of the right half of the drivetrain
+     *
+     * @param rightSpeed Right motor speed in inches per second
+     */
     public void setRightSpeed(double rightSpeed) {
         switch (driveMode) {
             case DIRECT:
-                setRightPower(rightSpeed);
+                setRightPower(rightSpeed / maxSpeed);
                 break;
             case CONTROLLER:
-                rightController.setSetpoint(rightSpeed * maxSpeed);
+                rightController.setSetpoint(rightSpeed);
                 break;
         }
     }