+ // ------Gyro------//
+ public double getAngle() {
+ return this.imu.getAngle();
+ }
+
+ public void resetGyro() {
+ this.imu.reset();
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getLeftGearPistonValue() {
+ return leftGearPiston.get();
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getRightGearPistonValue() {
+ return rightGearPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.HIGH_GEAR);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.LOW_GEAR);
+ }
+
+ /*
+ * Changes the gear to a DoubleSolenoid.Value
+ */
+ private void changeGear(DoubleSolenoid.Value gear) {
+ System.out.println(gear);
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
+ }
+