Drive

src/main/java/frc/robot/RobotContainer.java

@@ -2,16 +2,16 @@
 
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Tank.Tank;
 import frc.robot.subsystems.Transporter.Transporter;
 
-
 public class RobotContainer {
     public static final Transporter TRANSPORTER = new Transporter();
+    public static final Tank TANK = new Tank();
 
     public RobotContainer() {
         configureBindings();

src/main/java/frc/robot/subsystems/Tank/Tank.java

@@ -0,0 +1,24 @@
+package frc.robot.subsystems.Tank;
+
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Tank extends SubsystemBase {
+    private final DifferentialDrive differentialDrive = TankConstants.DIFFERENTIAL_DRIVE;
+
+    void stopMotors() {
+        differentialDrive.stopMotor();
+    }
+
+    /**
+     * Applies arcade drive to the differential drive.
+     * Arcade drive uses two joy sticks, one drives it forwards and backwards and the other turns it left or right.
+     *
+     * @param driveDirection a double that gives the backwards or forwards power (-1 to 1)
+     * @param turnDirection  a double that gives the rotation power (-1 to 1)
+     */
+    void arcadeDrive(double driveDirection, double turnDirection) {
+        differentialDrive.arcadeDrive(driveDirection, turnDirection);
+    }
+}

src/main/java/frc/robot/subsystems/Tank/TankCommands.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems.Tank;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.FunctionalCommand;
+import frc.robot.RobotContainer;
+
+import java.util.function.DoubleSupplier;
+
+public class TankCommands {
+    /**
+     * Creates a command that uses arcade drive to drive the tank.
+     * Arcade drive uses two joy sticks, one drives it forwards and backwards and the other turns it left or right.
+     *
+     * @param driveDirection a supplier that gives us the forwards or backwards power (-1 to 1)
+     * @param turnDirection  a supplier that gives us the power of the rotation (-1 to 1)
+     * @return the command
+     */
+    public static Command getArcadeDriveCommand(DoubleSupplier driveDirection, DoubleSupplier turnDirection) {
+        return new FunctionalCommand(
+                () -> {
+                },
+                () -> RobotContainer.TANK.arcadeDrive(driveDirection.getAsDouble(), turnDirection.getAsDouble()),
+                (interrupted) -> RobotContainer.TANK.stopMotors(),
+                () -> false,
+                RobotContainer.TANK
+        );
+    }
+}

src/main/java/frc/robot/subsystems/Tank/TankConstants.java

@@ -0,0 +1,58 @@
+package frc.robot.subsystems.Tank;
+
+import com.ctre.phoenix.motorcontrol.FollowerType;
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+public class TankConstants {
+    private static final int
+            RIGHT_MASTER_MOTOR_ID = 1,
+            RIGHT_FOLLOWER_MOTOR_ID = 2,
+            LEFT_MASTER_MOTOR_ID = 3,
+            LEFT_FOLLOWER_MOTOR_ID = 4;
+
+    static final WPI_TalonSRX
+            RIGHT_MASTER_MOTOR = new WPI_TalonSRX(RIGHT_MASTER_MOTOR_ID),
+            RIGHT_FOLLOWER_MOTOR = new WPI_TalonSRX(RIGHT_FOLLOWER_MOTOR_ID),
+            LEFT_MASTER_MOTOR = new WPI_TalonSRX(LEFT_MASTER_MOTOR_ID),
+            LEFT_FOLLOWER_MOTOR = new WPI_TalonSRX(LEFT_FOLLOWER_MOTOR_ID);
+
+    private static final InvertType LEFT_MOTORS_INVERTED_VALUE = InvertType.InvertMotorOutput;
+    private static final InvertType RIGHT_MOTORS_INVERTED_VALUE = InvertType.None;
+    private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake;
+
+    static final DifferentialDrive DIFFERENTIAL_DRIVE = new DifferentialDrive(LEFT_MASTER_MOTOR, RIGHT_MASTER_MOTOR);
+
+    static {
+        configureRightMotors();
+        configureLeftMotors();
+    }
+
+    private static final void configureRightMotors() {
+        RIGHT_MASTER_MOTOR.configFactoryDefault();
+        RIGHT_FOLLOWER_MOTOR.configFactoryDefault();
+
+        RIGHT_MASTER_MOTOR.setInverted(RIGHT_MOTORS_INVERTED_VALUE);
+        RIGHT_MASTER_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        RIGHT_FOLLOWER_MOTOR.setInverted(RIGHT_MOTORS_INVERTED_VALUE);
+        RIGHT_FOLLOWER_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        RIGHT_FOLLOWER_MOTOR.follow(RIGHT_MASTER_MOTOR, FollowerType.PercentOutput);
+    }
+
+    private static final void configureLeftMotors() {
+        LEFT_MASTER_MOTOR.configFactoryDefault();
+        LEFT_FOLLOWER_MOTOR.configFactoryDefault();
+
+        LEFT_MASTER_MOTOR.setInverted(LEFT_MOTORS_INVERTED_VALUE);
+        LEFT_MASTER_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        LEFT_FOLLOWER_MOTOR.setInverted(LEFT_MOTORS_INVERTED_VALUE);
+        LEFT_FOLLOWER_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        LEFT_FOLLOWER_MOTOR.follow(LEFT_MASTER_MOTOR, FollowerType.PercentOutput);
+    }
+}

src/main/java/frc/robot/subsystems/Transporter/TransporterConstants.java

@@ -6,8 +6,8 @@
 
 public class TransporterConstants {
     private static final int
-            RIGHT_MOTOR_ID = 1,
-            LEFT_MOTOR_ID = 2;
+            RIGHT_MOTOR_ID = 10,
+            LEFT_MOTOR_ID = 11;
 
     static final WPI_TalonSRX
             RIGHT_MOTOR = new WPI_TalonSRX(RIGHT_MOTOR_ID),