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BreakMode changed to BrakeMode #15

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BreakMode changed to BrakeMode #15

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35 changes: 14 additions & 21 deletions src/nextftc/hardware/drivetrain-commands/holonomic.md
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Original file line number Diff line number Diff line change
Expand Up @@ -29,20 +29,20 @@ First, we need to create the motors. Let's create variables for them:
== Kotlin

```kotlin
private val frontLeftMotor = MotorEx("front_left").breakMode().reversed()
private val frontRightMotor = MotorEx("front_right").breakMode()
private val backLeftMotor = MotorEx("back_left").breakMode().reversed()
private val backRightMotor = MotorEx("back_right").breakMode()
private val frontLeftMotor = MotorEx("front_left").brakeMode().reversed()
private val frontRightMotor = MotorEx("front_right").brakeMode()
private val backLeftMotor = MotorEx("back_left").brakeMode().reversed()
private val backRightMotor = MotorEx("back_right").brakeMode()
```

== Java

```java
private MotorEx frontLeftMotor = new MotorEx("front_left").breakMode().
private MotorEx frontLeftMotor = new MotorEx("front_left").brakeMode().
reversed();
private MotorEx frontRightMotor = new MotorEx("front_right").breakMode();
private MotorEx backLeftMotor = new MotorEx("back_left").breakMode().reversed();
private MotorEx backRightMotor = new MotorEx("back_right").breakMode();
private MotorEx frontRightMotor = new MotorEx("front_right").brakeMode();
private MotorEx backLeftMotor = new MotorEx("back_left").brakeMode().reversed();
private MotorEx backRightMotor = new MotorEx("back_right").brakeMode();
```

:::
Expand Down Expand Up @@ -79,7 +79,7 @@ driverControlled = MecanumDriverControlled(
frontRightMotor,
backLeftMotor,
backRightMotor,
-Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.leftStickX,
Gamepads.gamepad1.rightStickX
)
Expand All @@ -94,7 +94,7 @@ driverControlled = new MecanumDriverControlled(
frontRightMotor,
backLeftMotor,
backRightMotor,
Gamepads.gamepad1().leftStickY().negate(),
Gamepads.gamepad1().leftStickY(),
Gamepads.gamepad1().leftStickX(),
Gamepads.gamepad1().rightStickX()
);
Expand All @@ -114,10 +114,10 @@ driverControlled = MecanumDriverControlled(
frontRightMotor,
backLeftMotor,
backRightMotor,
-Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.leftStickX,
Gamepads.gamepad1.rightStickX,
HolonomicMode.FieldCentric(imu)
FieldCentric(imu)
)
driverControlled()
```
Expand All @@ -130,21 +130,14 @@ driverControlled = new MecanumDriverControlled(
frontRightMotor,
backLeftMotor,
backRightMotor,
Gamepads.gamepad1().leftStickY().negate(),
Gamepads.gamepad1().leftStickY(),
Gamepads.gamepad1().leftStickX(),
Gamepads.gamepad1().rightStickX(),
new HolonomicMode.FieldCentric(imu)
new FieldCentric(imu)
);
driverControlled.schedule();
```

> [!NOTE]
> In both robot-centric and field-centric modes we negate `leftStickY`. This is
> a common FTC convention because gamepads report a negative Y when the stick is
> pushed forward and a positive Y when it’s pulled back. Use the `.negate()`
> helper (for example `Gamepads.gamepad1.leftStickY.negate()`) to apply this
> adjustment.

:::

That's it! Now you are able to control your holonomic drivetrain using a
Expand Down