Added DriveForward Code, with working rate parameter.

src/Commands/DriveForward.cpp

@@ -13,7 +13,8 @@
 
 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-DriveForward::DriveForward(): Command() {
+DriveForward::DriveForward(double rate): Command() {
+	m_rate = rate;
         // Use requires() here to declare subsystem dependencies
     // eg. requires(Robot::chassis.get());
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
@@ -29,7 +30,8 @@ void DriveForward::Initialize() {
 
 // Called repeatedly when this Command is scheduled to run
 void DriveForward::Execute() {
-
+	Robot::driveMotor->SetLeftMotor(m_rate);
+	Robot::driveMotor->SetLeftMotor(m_rate);
 }
 
 // Make this return true when this Command no longer needs to run execute()
@@ -39,11 +41,13 @@ bool DriveForward::IsFinished() {
 
 // Called once after isFinished returns true
 void DriveForward::End() {
+    Robot::driveMotor->StopLeftMotor();
+    Robot::driveMotor->StopRightMotor();
 
 }
 
 // Called when another command which requires one or more of the same
 // subsystems is scheduled to run
 void DriveForward::Interrupted() {
-
+    DriveForward::End(); //Nothing to clean up, so end the command if interrupted.
 }

src/Commands/DriveForward.h

@@ -25,7 +25,7 @@
 class DriveForward: public Command {
 public:
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-	DriveForward();
+	DriveForward(double rate);
     // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
 	virtual void Initialize();
@@ -35,6 +35,7 @@ class DriveForward: public Command {
 	virtual void Interrupted();
 
 private:
+	double m_rate;
 	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
 
 	// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES

src/Subsystems/DriveMotor.cpp

@@ -22,8 +22,8 @@
 
 DriveMotor::DriveMotor() : Subsystem("DriveMotor") {
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-    speedController1 = RobotMap::driveMotorSpeedController1;
-    speedController2 = RobotMap::driveMotorSpeedController2;
+    leftMotor = RobotMap::driveMotorSpeedController1;
+    rightMotor = RobotMap::driveMotorSpeedController2;
     // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 }
 
@@ -39,3 +39,17 @@ void DriveMotor::InitDefaultCommand() {
 // Put methods for controlling this subsystem
 // here. Call these from Commands.
 
+void DriveMotor::SetLeftMotor(double rate){
+    DriveMotor::leftMotor->Set(rate);
+}
+void DriveMotor::SetRightMotor(double rate){
+    DriveMotor::rightMotor->Set(rate);
+}
+
+void DriveMotor::StopLeftMotor(){
+	DriveMotor::leftMotor->StopMotor();
+}
+
+void DriveMotor::StopRightMotor(){
+	DriveMotor::rightMotor->StopMotor();
+}

src/Subsystems/DriveMotor.h

@@ -24,12 +24,16 @@ class DriveMotor: public Subsystem {
 	// It's desirable that everything possible is private except
 	// for methods that implement subsystem capabilities
 	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-	std::shared_ptr<SpeedController> speedController1;
-	std::shared_ptr<SpeedController> speedController2;
+	std::shared_ptr<SpeedController> leftMotor;
+	std::shared_ptr<SpeedController> rightMotor;
 	// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 public:
 	DriveMotor();
 	void InitDefaultCommand();
+	void SetLeftMotor(double rate); //these are split, beacuse the methods that goes in the subsystem should be fairly multipurpose.
+	void SetRightMotor(double rate);
+	void StopLeftMotor();
+	void StopRightMotor();
 	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
 	// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
 };