Driving Configurations

There are several different wheel configurations for driving. Each needs to be set up differently and programmed in a unique manner. In the following, we assume two joysticks called left and right. We also assume the four wheels fl, fr, bl, br (f = front, b = back, l = left, r = right). Note that much of the code depends on wiring, so you should write it yourself from scratch (basically, I just assume counter-clockwise is positive).

Standard

This is the generic layout consisting of two parallel sets of wheels as shown.

Arcade

Arcade drive is what most drivers would consider intuitive. The left joystick generally controls forward speed; while the right joystick controls rotational velocity.

public void arcadeDrive(Joystick left, Joystick right) {
    // max makes sure neither of the speeds exceed 1.0
    double left_speed = left.getY() + right.getX(),
           right_speed = -left.getY() + right.getX(),
           max = Math.max(Math.abs(left_speed), Math.abs(right_speed));
    left_speed /= Math.max(max, 1);
    right_speed /= Math.max(max, 1);

    fl_motor.set(left_speed);
    bl_motor.set(left_speed);
    fr_motor.set(right_speed);
    br_motor.set(right_speed);
}

Tank

Tank is the easiest configuration to program, since it sends the left joystick's value to the left wheels and the right joystick's values to the right wheels.

public void tankDrive(Joystick left, Joystick right) {
    fl_motor.set(left.getY());
    bl_motor.set(left.getY());
    fr_motor.set(-right.getY()); //Negative to correct direction
    br_motor.set(-right.getY());
}

Mecanum

Mecanum wheels have small wheels on main wheels, which allow for complete control of both rotation and translation.

//Todo finish this