Section 4.3 - Creating a Tank Drive Subsystem
Creating a Tank Drive Subsystem
This lesson will guide you in creating a tank drive subsystem for your robot. You will learn to set up the necessary vendor dependencies and create a subsystem file, followed by instantiating and configuring the motors using private variables and motor ID constants. The lesson will cover implementing current limiting methods, creating followers, and developing a drive method that accepts left and right velocity parameters. Additionally, you will learn to implement a stop method for the primary motor, instantiate the subsystem in RobotContainer, and create getter methods to display motor outputs using SmartDashboard.