EncoderSubsystem

package org.usfirst.frc.team6418.robot.subsystems;

import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.Encoder;
/**
 *
 */
public class EncoderSubsystem extends Subsystem 
{
	// Put methods for controlling this subsystem
	// here. Call these from Commands.	//Left Encoder
	
	int b = 1;
	int c = 2;
	Encoder encLeft = new Encoder(b, c);

	//Right Encoder
	int d = 3;
	int e = 4;
	Encoder encRight = new Encoder(d, e, true);
	

	
	public void initDefaultCommand() {
		// Set the default command for a subsystem here.
		// setDefaultCommand(new MySpecialCommand());
		encLeft.setMinRate(0.1);
		encLeft.setDistancePerPulse(1440);
		encLeft.setSamplesToAverage(100);
	


		encRight.setMinRate(0.1);
		encRight.setDistancePerPulse(1440);
		encRight.setSamplesToAverage(100);
		
		
		
		
		
	}
	
	
	public void encoderLoop() {
		System.out.println("in encoder subsystem");
		
		
		while(true) {
		
			double distanceTraveledRight = encRight.getDistance();
			double distanceTraveledLeft = encLeft.getDistance();
		
			double rightRate = encRight.getRate();
			double leftRate = encLeft.getRate();
			

			System.out.println("distance right " + distanceTraveledRight);
			System.out.println("distance left "+ distanceTraveledLeft);
			System.out.println();
			System.out.println("rate Right "+ rightRate);
			System.out.println("rate Left "	+ leftRate);
			
			
	}
	
	
	
	
	
	
	
	
}
}