DriveTrain

#DriveTrain Created a DriveTrain class that inherits from RobotDrive

DriveTrain(class main_robot* robot,
               uint8_t modFL,uint32_t chanFL,
               uint8_t modRL,uint32_t chanRL,
               uint8_t modFR,uint32_t chanFR,
               uint8_t modRR,uint32_t chanRR);

Constructor requires mod and channel numbers for Front left, Front right, Back left, and back right speed controllers.

void autoDrive(double distance);

Method that requires distance values for driving. Only needs to be called once.

void autoTurn(double degrees);

Method that requires degrees turned. Called one time whenever you want to turn.

void teleTurn(Dir direction, double power);

Method that requires directions from enum Dir in drive train and a double for the speed of the turn. called one time every time you turn.

void updateDrive();

Called periodically to stop the autoDrive when it has traveled its set distance.

void updateTurn();

Called periodically to stop the autoTurn when it has turned its set degrees.

void update();

Calls updateTurn and updateDrive periodically.

... bool isAuto(); ...

Returns true if any of the flags for the automatic turning and driving are true.

void stopAuto();

stopAuto stops driveTrain, stops and resets the values on the encoders (so that we are no longer measuring autonomous movement) and sets all autonomous flags to false.