Tank Drive Solution

This is one working solution to the Tank Drive challenge. Try it yourself first - there's not much to gain from reading this before you've struggled with it a bit!

Only two pieces of code need to change. Everything else in these files is already written for you.

DriveSubsystem.tankDrive()

The starter code only drives the left motor. The fix is to give the right motor its power too:

    public void tankDrive(double leftPower, double rightPower) {
        frontLeft.setPower(leftPower);
        frontRight.setPower(rightPower);
    }

• Question: Does the order of the two setPower calls matter?

TankDriveWithJoysticksCommand.execute()

The starter code reads the left stick and sends 0 as the right power. Read the right stick as well, and pass both values through:

    @Override
    public void execute() {
        // Get values from the joysticks:
        double leftValue = operatorInterface.gamepad.getLeftVector().getY();
        double rightValue = operatorInterface.gamepad.getRightVector().getY();

        // Pass values into the DriveSubsystem so it can control motors:
        drive.tankDrive(leftValue, rightValue);
    }

If your tests pass but the robot drives strangely in the simulator, check the signs: pushing a stick forward should move that side of the robot forward.