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refactor: clean up DriveSubsystem #21

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refactor: clean up DriveSubsystem #21

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fbc4851
refactor: made leftMotors a member variable and cleaned up DriveSubsy…
LeonardAbbas Oct 1, 2022
51348df
Merge branch 'main' into clean-up
LeonardAbbas Oct 1, 2022
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13 changes: 7 additions & 6 deletions src/main/java/frc/robot/subsystems/DriveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,10 +14,15 @@

/** Subsystem that controls the drivetrain of the robot. */
public class DriveSubsystem extends SubsystemBase {
private final MotorControllerGroup m_leftMotors = new MotorControllerGroup(
new WPI_TalonSRX(DriveConstants.kLeftMotor1Port),
new WPI_TalonSRX(DriveConstants.kLeftMotor2Port));

private final MotorControllerGroup m_rightMotors = new MotorControllerGroup(
new WPI_TalonSRX(DriveConstants.kRightMotor1Port), new WPI_TalonSRX(DriveConstants.kRightMotor2Port));
new WPI_TalonSRX(DriveConstants.kRightMotor1Port),
new WPI_TalonSRX(DriveConstants.kRightMotor2Port));

private final DifferentialDrive m_drive;
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

private double m_fwd, m_rot, m_maxOutput;

Expand All @@ -26,10 +31,6 @@ public class DriveSubsystem extends SubsystemBase {
*/
public DriveSubsystem() {
m_rightMotors.setInverted(true);
m_drive = new DifferentialDrive(
new MotorControllerGroup(
new WPI_TalonSRX(DriveConstants.kLeftMotor1Port), new WPI_TalonSRX(DriveConstants.kLeftMotor2Port)),
m_rightMotors);
}

/**
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