package org.redalert1741.cageBot;

import com.ctre.CANTalon;

public class TankDrive
{
	private CANTalon l1, l2, l3, r1, r2, r3;
	
	public TankDrive(int l1, int l2, int l3, int r1, int r2, int r3)
	{
		this.l1 = new CANTalon(l1);
		this.l2 = new CANTalon(l2);
		this.l3 = new CANTalon(l3);
		this.r1 = new CANTalon(r1);
		this.r2 = new CANTalon(r2);
		this.r3 = new CANTalon(r3);
		this.l1.reverseOutput(true);
		this.l2.reverseOutput(true);
		this.l3.reverseOutput(true);
	}
	
	private void driveLeft(double val)
	{
		l1.set(val);
		l2.set(val);
		l3.set(val);
	}
	
	private void driveRight(double val)
	{
		r1.set(val);
		r2.set(val);
		r3.set(val);
	}
	
	public void arcadeDrive(double x, double y)
	{
		driveLeft(y+x);
		driveRight(y-x);
	}
}

@@ -28,16 +28,227 @@
 geBot;%0A%0A
+import org.redalert1741.robotBase.config.Config;%0Aimport org.redalert1741.robotBase.config.Configurable;%0Aimport org.redalert1741.robotBase.logging.DataLogger;%0Aimport org.redalert1741.robotBase.logging.Loggable;%0A%0A
 import c
@@ -288,16 +288,50 @@
 ankDrive
+ implements Configurable, Loggable
 %0A%7B%0A%09priv
@@ -368,16 +368,35 @@
 2, r3;%0A%09
+boolean leftInvert;
 %0A%09public
@@ -653,36 +653,42 @@
 1.reverseOutput(
-true
+leftInvert
 );%0A%09%09this.l2.rev
@@ -702,43 +702,169 @@
 put(
-true);%0A%09%09this.l3.reverseOutput(true
+leftInvert);%0A%09%09this.l3.reverseOutput(leftInvert);%0A%09%09this.r1.reverseOutput(!leftInvert);%0A%09%09this.r2.reverseOutput(!leftInvert);%0A%09%09this.r3.reverseOutput(!leftInvert
 );%0A%09
@@ -1133,11 +1133,378 @@
 y-x);%0A%09%7D
+%0A%0A%09@Override%0A%09public void setupLogging(DataLogger logger)%0A%09%7B%0A%09%09logger.addAttribute(%22leftSpeed%22);%0A%09%09logger.addAttribute(%22rightSpeed%22);%0A%09%7D%0A%0A%09@Override%0A%09public void log(DataLogger logger)%0A%09%7B%0A%09%09logger.log(%22leftSpeed%22, l2.get());%0A%09%09logger.log(%22riightSpeed%22, r2.get());%09%0A%09%7D%0A%0A%09@Override%0A%09public void reloadConfig()%0A%09%7B%0A%09%09leftInvert = Config.getSetting(%22leftInvert%22, true);%0A%09%7D
 %0A%7D%0A

Add logging and configurable to TankDrive