Drive Modes

Drive Modes

There are a couple of different drive modes. That is, there are a couple of different ways to send controller inputs to drive the robot. These can be found in TeleOp.kt in the init initializer. The default drive mode is teleOpDrive. To swap between drive modes, change what Drivetrain.defaultCommand is set to in init.

Other drive modes are shown below.

Child mode (childDrive)

This is a drive mode with reduced speed and controls that allow a "parent" to have controls over the robot and grants the ability to allow a "child" to drive the robot with limited speed and features.

Examples

init {
       // do this for normal, competition driving
        Drivetrain.defaultCommand = teleOpDrive

       // do this for child mode
       Drivetrain.defaultCommand = childDrive
    }