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Add testing stuff
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index a7fa8eea4a053d43ea27ced0f196ccbf2735e556..cde94b8f6a103c2d1e8115ada1d10227e3f52410 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-28,7
+28,7
@@
public class DriveTrain extends PIDSubsystem {
private RobotDrive robotDrive;
private GyroLib gyro;
private RobotDrive robotDrive;
private GyroLib gyro;
- p
rivate
DoubleSolenoid leftGearPiston, rightGearPiston;
+ p
ublic
DoubleSolenoid leftGearPiston, rightGearPiston;
// Drivetrain specific constants that relate to the inches per pulse value for
// the encoders
// Drivetrain specific constants that relate to the inches per pulse value for
// the encoders
@@
-197,10
+197,10
@@
public class DriveTrain extends PIDSubsystem {
/*
* Method is a required method that the PID Subsystem uses to return the
* calculated PID value to the driver
/*
* Method is a required method that the PID Subsystem uses to return the
* calculated PID value to the driver
- *
+ *
* @param Gives the user the output from the PID algorithm that is calculated
* internally
* @param Gives the user the output from the PID algorithm that is calculated
* internally
- *
+ *
* Body: Uses the output, does some filtering and drives the robot
*/
@Override
* Body: Uses the output, does some filtering and drives the robot
*/
@Override
@@
-229,7
+229,7
@@
public class DriveTrain extends PIDSubsystem {
/*
* Checks the drive mode
/*
* Checks the drive mode
- *
+ *
* @return the current state of the robot in each state Average distance from
* both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
*/
* @return the current state of the robot in each state Average distance from
* both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
*/
@@
-265,9
+265,9
@@
public class DriveTrain extends PIDSubsystem {
/*
* constrains the distance to within -100 and 100 since we aren't going to
* drive more than 100 inches
/*
* constrains the distance to within -100 and 100 since we aren't going to
* drive more than 100 inches
- *
+ *
* Configure Encoder PID
* Configure Encoder PID
- *
+ *
* Sets the setpoint to the PID subsystem
*/
public void driveDistance(double dist, double maxTimeOut) {
* Sets the setpoint to the PID subsystem
*/
public void driveDistance(double dist, double maxTimeOut) {
@@
-307,10
+307,10
@@
public class DriveTrain extends PIDSubsystem {
/*
* Turning method that should be used repeatedly in a command
/*
* Turning method that should be used repeatedly in a command
- *
+ *
* First constrains the angle to within -360 and 360 since that is as much as
* we need to turn
* First constrains the angle to within -360 and 360 since that is as much as
* we need to turn
- *
+ *
* Configures Gyro PID and sets the setpoint as an angle
*/
public void turnAngle(double angle) {
* Configures Gyro PID and sets the setpoint as an angle
*/
public void turnAngle(double angle) {