{"action":"created","comment":{"url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/comments/173971864","pull_request_review_id":103242838,"id":173971864,"diff_hunk":"@@ -29,37 +30,39 @@\n  * These include four drive motors, a left and right encoder and a gyro.\n  */\n public class DriveTrain extends Subsystem {\n-    private WPI_TalonSRX front_left_motor, back_left_motor, front_right_motor, back_right_motor;\n+    private EWPI_TalonSRX front_left_motor, back_left_motor, front_right_motor, back_right_motor;\n     private DifferentialDrive drive;\n     private TalonEncoder left_encoder, right_encoder;\n-    private Ultrasonic leftDistanceSensor, rightDistanceSensor;\n     private AHRS gyro;\n \n     // TODO: maybe we don't need this\n     private GyroPIDSource gyroPIDSource;\n     private AverageEncoderPIDSource encoderPIDSource;\n-    private UltrasonicPIDSource ultrasonicPIDSource;\n     private TalonPID talonPID;\n \n     public double initGyro;\n \n     private Command defaultCommand;\n \n-    // The spinny dial on the robot that selects what autonomous mode we are going to do\n-    private AutonomousSelector selectorSwitch;\n-\n     public DriveTrain() {\n         super();\n-        front_left_motor = new WPI_TalonSRX(RobotMap.MOTOR_FRONT_LEFT);\n-        back_left_motor = new WPI_TalonSRX(RobotMap.MOTOR_REAR_LEFT);\n-        front_right_motor = new WPI_TalonSRX(RobotMap.MOTOR_FRONT_RIGHT);\n-        back_right_motor = new WPI_TalonSRX(RobotMap.MOTOR_REAR_RIGHT);\n+        front_left_motor = new EWPI_TalonSRX(RobotMap.MOTOR_FRONT_LEFT);\n+        back_left_motor = new EWPI_TalonSRX(RobotMap.MOTOR_REAR_LEFT);\n+        front_right_motor = new EWPI_TalonSRX(RobotMap.MOTOR_FRONT_RIGHT);\n+        back_right_motor = new EWPI_TalonSRX(RobotMap.MOTOR_REAR_RIGHT);\n \n         front_left_motor.setInverted(RobotMap.MOTOR_FRONT_LEFT_INVERTED);\n         back_left_motor.setInverted(RobotMap.MOTOR_REAR_LEFT_INVERTED);\n         front_right_motor.setInverted(RobotMap.MOTOR_FRONT_RIGHT_INVERTED);\n         back_right_motor.setInverted(RobotMap.MOTOR_REAR_RIGHT_INVERTED);\n-\n+        \n+        front_left_motor.configPeakCurrentLimit(2, 0);","path":"src/org/usfirst/frc/team2706/robot/subsystems/DriveTrain.java","position":59,"original_position":59,"commit_id":"d1811ad16436fdd440a93423c0c5f73abbbfef83","original_commit_id":"6ef358c09b12cf61d7bb6981c28ab6917c4bb752","user":{"login":"eandr127","id":5788397,"avatar_url":"https://avatars0.githubusercontent.com/u/5788397?v=4","gravatar_id":"","url":"https://api.github.com/users/eandr127","html_url":"https://github.com/eandr127","followers_url":"https://api.github.com/users/eandr127/followers","following_url":"https://api.github.com/users/eandr127/following{/other_user}","gists_url":"https://api.github.com/users/eandr127/gists{/gist_id}","starred_url":"https://api.github.com/users/eandr127/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eandr127/subscriptions","organizations_url":"https://api.github.com/users/eandr127/orgs","repos_url":"https://api.github.com/users/eandr127/repos","events_url":"https://api.github.com/users/eandr127/events{/privacy}","received_events_url":"https://api.github.com/users/eandr127/received_events","type":"User","site_admin":false},"body":"This doesn't actually work, so it should be looked at again.","created_at":"2018-03-12T22:52:53Z","updated_at":"2018-03-12T23:00:26Z","html_url":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32#discussion_r173971864","pull_request_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/comments/173971864"},"html":{"href":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32#discussion_r173971864"},"pull_request":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32"}}},"pull_request":{"url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32","id":174510689,"html_url":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32","diff_url":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32.diff","patch_url":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32.patch","issue_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/32","number":32,"state":"open","locked":false,"title":"Code for 2018 subsystems and 2018 autos","user":{"login":"eandr127","id":5788397,"avatar_url":"https://avatars0.githubusercontent.com/u/5788397?v=4","gravatar_id":"","url":"https://api.github.com/users/eandr127","html_url":"https://github.com/eandr127","followers_url":"https://api.github.com/users/eandr127/followers","following_url":"https://api.github.com/users/eandr127/following{/other_user}","gists_url":"https://api.github.com/users/eandr127/gists{/gist_id}","starred_url":"https://api.github.com/users/eandr127/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eandr127/subscriptions","organizations_url":"https://api.github.com/users/eandr127/orgs","repos_url":"https://api.github.com/users/eandr127/repos","events_url":"https://api.github.com/users/eandr127/events{/privacy}","received_events_url":"https://api.github.com/users/eandr127/received_events","type":"User","site_admin":false},"body":"","created_at":"2018-03-12T22:19:54Z","updated_at":"2018-03-12T23:00:26Z","closed_at":null,"merged_at":null,"merge_commit_sha":"b9fd7431623cf472d23fdbe900e2cb92cc880870","assignee":null,"assignees":[],"requested_reviewers":[{"login":"Vanilla-Rain","id":10487992,"avatar_url":"https://avatars3.githubusercontent.com/u/10487992?v=4","gravatar_id":"","url":"https://api.github.com/users/Vanilla-Rain","html_url":"https://github.com/Vanilla-Rain","followers_url":"https://api.github.com/users/Vanilla-Rain/followers","following_url":"https://api.github.com/users/Vanilla-Rain/following{/other_user}","gists_url":"https://api.github.com/users/Vanilla-Rain/gists{/gist_id}","starred_url":"https://api.github.com/users/Vanilla-Rain/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Vanilla-Rain/subscriptions","organizations_url":"https://api.github.com/users/Vanilla-Rain/orgs","repos_url":"https://api.github.com/users/Vanilla-Rain/repos","events_url":"https://api.github.com/users/Vanilla-Rain/events{/privacy}","received_events_url":"https://api.github.com/users/Vanilla-Rain/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32/commits","review_comments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32/comments","review_comment_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/comments{/number}","comments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/32/comments","statuses_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/statuses/d1811ad16436fdd440a93423c0c5f73abbbfef83","head":{"label":"FRC2706:2018","ref":"2018","sha":"d1811ad16436fdd440a93423c0c5f73abbbfef83","user":{"login":"FRC2706","id":15721765,"avatar_url":"https://avatars3.githubusercontent.com/u/15721765?v=4","gravatar_id":"","url":"https://api.github.com/users/FRC2706","html_url":"https://github.com/FRC2706","followers_url":"https://api.github.com/users/FRC2706/followers","following_url":"https://api.github.com/users/FRC2706/following{/other_user}","gists_url":"https://api.github.com/users/FRC2706/gists{/gist_id}","starred_url":"https://api.github.com/users/FRC2706/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FRC2706/subscriptions","organizations_url":"https://api.github.com/users/FRC2706/orgs","repos_url":"https://api.github.com/users/FRC2706/repos","events_url":"https://api.github.com/users/FRC2706/events{/privacy}","received_events_url":"https://api.github.com/users/FRC2706/received_events","type":"Organization","site_admin":false},"repo":{"id":108336141,"name":"2018-2706-Robot-Code","full_name":"FRC2706/2018-2706-Robot-Code","owner":{"login":"FRC2706","id":15721765,"avatar_url":"https://avatars3.githubusercontent.com/u/15721765?v=4","gravatar_id":"","url":"https://api.github.com/users/FRC2706","html_url":"https://github.com/FRC2706","followers_url":"https://api.github.com/users/FRC2706/followers","following_url":"https://api.github.com/users/FRC2706/following{/other_user}","gists_url":"https://api.github.com/users/FRC2706/gists{/gist_id}","starred_url":"https://api.github.com/users/FRC2706/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FRC2706/subscriptions","organizations_url":"https://api.github.com/users/FRC2706/orgs","repos_url":"https://api.github.com/users/FRC2706/repos","events_url":"https://api.github.com/users/FRC2706/events{/privacy}","received_events_url":"https://api.github.com/users/FRC2706/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/FRC2706/2018-2706-Robot-Code","description":"Our 2018 robot code for FIRST POWER UP.","fork":false,"url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code","forks_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/forks","keys_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/keys{/key_id}","collaborators_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/teams","hooks_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/hooks","issue_events_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/events{/number}","events_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/events","assignees_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/assignees{/user}","branches_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/branches{/branch}","tags_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/tags","blobs_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/refs{/sha}","trees_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/trees{/sha}","statuses_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/statuses/{sha}","languages_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/languages","stargazers_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/stargazers","contributors_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/contributors","subscribers_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/subscribers","subscription_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/subscription","commits_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/commits{/sha}","git_commits_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/commits{/sha}","comments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/comments{/number}","issue_comment_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/comments{/number}","contents_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/contents/{+path}","compare_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/compare/{base}...{head}","merges_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/merges","archive_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/downloads","issues_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues{/number}","pulls_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls{/number}","milestones_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/milestones{/number}","notifications_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/labels{/name}","releases_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/releases{/id}","deployments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/deployments","created_at":"2017-10-25T23:10:41Z","updated_at":"2018-03-12T22:27:34Z","pushed_at":"2018-03-12T22:38:09Z","git_url":"git://github.com/FRC2706/2018-2706-Robot-Code.git","ssh_url":"git@github.com:FRC2706/2018-2706-Robot-Code.git","clone_url":"https://github.com/FRC2706/2018-2706-Robot-Code.git","svn_url":"https://github.com/FRC2706/2018-2706-Robot-Code","homepage":"","size":3553,"stargazers_count":1,"watchers_count":1,"language":"Java","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":3,"mirror_url":null,"archived":false,"open_issues_count":2,"license":{"key":"mit","name":"MIT License","spdx_id":"MIT","url":"https://api.github.com/licenses/mit"},"forks":3,"open_issues":2,"watchers":1,"default_branch":"master"}},"base":{"label":"FRC2706:master","ref":"master","sha":"652ec45b7b6ba498a1a940f8562bd8d03508f046","user":{"login":"FRC2706","id":15721765,"avatar_url":"https://avatars3.githubusercontent.com/u/15721765?v=4","gravatar_id":"","url":"https://api.github.com/users/FRC2706","html_url":"https://github.com/FRC2706","followers_url":"https://api.github.com/users/FRC2706/followers","following_url":"https://api.github.com/users/FRC2706/following{/other_user}","gists_url":"https://api.github.com/users/FRC2706/gists{/gist_id}","starred_url":"https://api.github.com/users/FRC2706/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FRC2706/subscriptions","organizations_url":"https://api.github.com/users/FRC2706/orgs","repos_url":"https://api.github.com/users/FRC2706/repos","events_url":"https://api.github.com/users/FRC2706/events{/privacy}","received_events_url":"https://api.github.com/users/FRC2706/received_events","type":"Organization","site_admin":false},"repo":{"id":108336141,"name":"2018-2706-Robot-Code","full_name":"FRC2706/2018-2706-Robot-Code","owner":{"login":"FRC2706","id":15721765,"avatar_url":"https://avatars3.githubusercontent.com/u/15721765?v=4","gravatar_id":"","url":"https://api.github.com/users/FRC2706","html_url":"https://github.com/FRC2706","followers_url":"https://api.github.com/users/FRC2706/followers","following_url":"https://api.github.com/users/FRC2706/following{/other_user}","gists_url":"https://api.github.com/users/FRC2706/gists{/gist_id}","starred_url":"https://api.github.com/users/FRC2706/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FRC2706/subscriptions","organizations_url":"https://api.github.com/users/FRC2706/orgs","repos_url":"https://api.github.com/users/FRC2706/repos","events_url":"https://api.github.com/users/FRC2706/events{/privacy}","received_events_url":"https://api.github.com/users/FRC2706/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/FRC2706/2018-2706-Robot-Code","description":"Our 2018 robot code for FIRST POWER UP.","fork":false,"url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code","forks_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/forks","keys_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/keys{/key_id}","collaborators_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/teams","hooks_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/hooks","issue_events_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/events{/number}","events_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/events","assignees_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/assignees{/user}","branches_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/branches{/branch}","tags_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/tags","blobs_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/refs{/sha}","trees_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/trees{/sha}","statuses_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/statuses/{sha}","languages_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/languages","stargazers_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/stargazers","contributors_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/contributors","subscribers_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/subscribers","subscription_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/subscription","commits_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/commits{/sha}","git_commits_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/git/commits{/sha}","comments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/comments{/number}","issue_comment_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/comments{/number}","contents_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/contents/{+path}","compare_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/compare/{base}...{head}","merges_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/merges","archive_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/downloads","issues_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues{/number}","pulls_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls{/number}","milestones_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/milestones{/number}","notifications_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/labels{/name}","releases_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/releases{/id}","deployments_url":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/deployments","created_at":"2017-10-25T23:10:41Z","updated_at":"2018-03-12T22:27:34Z","pushed_at":"2018-03-12T22:38:09Z","git_url":"git://github.com/FRC2706/2018-2706-Robot-Code.git","ssh_url":"git@github.com:FRC2706/2018-2706-Robot-Code.git","clone_url":"https://github.com/FRC2706/2018-2706-Robot-Code.git","svn_url":"https://github.com/FRC2706/2018-2706-Robot-Code","homepage":"","size":3553,"stargazers_count":1,"watchers_count":1,"language":"Java","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":3,"mirror_url":null,"archived":false,"open_issues_count":2,"license":{"key":"mit","name":"MIT License","spdx_id":"MIT","url":"https://api.github.com/licenses/mit"},"forks":3,"open_issues":2,"watchers":1,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32"},"html":{"href":"https://github.com/FRC2706/2018-2706-Robot-Code/pull/32"},"issue":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/32"},"comments":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/issues/32/comments"},"review_comments":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32/comments"},"review_comment":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/pulls/32/commits"},"statuses":{"href":"https://api.github.com/repos/FRC2706/2018-2706-Robot-Code/statuses/d1811ad16436fdd440a93423c0c5f73abbbfef83"}},"author_association":"CONTRIBUTOR"}}
{"actor":{"display_login":"eandr127"}}