package org.usfirst.frc.team3501.robot;
+import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
public static Shooter shooter;
public static Scaler scaler;
+ double then;
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
// Gyro stuff
private final static double NANOSECONDS_PER_SECOND = 1000000000;
short rawValue;
- public FirebotGyro gyro;
+ public GyroClass gyro;
- double initialSpeedNanoseconds;
- double finalSpeedNanoseconds;
- double initialSpeedSeconds;
- double finalSpeedSeconds;
- double deltaSpeed;
+ double now;
+ double degreesIncreased;
double degrees;
+ Rotation rotation;
+
@Override
public void robotInit() {
// driveTrain = new DriveTrain();
- gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
// oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
- defenseArm = new DefenseArm();
intakeArm = new IntakeArm();
- // Sendable Choosers allows the driver to select the position of the robot
+ // Sendable Choosers allows the driver to select the position of the
+ // robot
// and the positions of the defenses from a drop-down menu on the Smart
// Dashboard
// make the Sendable Choosers
positionFourDefense);
SmartDashboard.putData("Position Five Defense Chooser",
positionFiveDefense);
+
SmartDashboard.putData("Position Four Defense Chooser",
positionFourDefense);
SmartDashboard.putData("Position Five Defense Chooser",
positionFiveDefense);
shooter = new Shooter();
+
}
@Override
Scheduler.getInstance().run();
}
+
+ public double getZAxisDegreesPerSeconds() {
+ double rawValue = (double) gyro.getRotationZ() / 14.375;
+ return rawValue;
+ }
+
+ public void initializeGyro() {
+ degrees = 0;
+ then = System.nanoTime() / 1000000000.0;
+ gyro.reset();
+ gyro.initialize();
+ System.out.println("Testing Gyro Init");
+ }
+
+ public void addZAxisDegrees() {
+ double degreesRead = getZAxisDegreesPerSeconds();
+ now = System.nanoTime();
+ now = now / (1000000000.0);
+ double differenceInTime = now - then;
+ then = now;
+ degreesIncreased = differenceInTime * degreesRead;
+
+ // 0.0 = register
+ // + 1.0 is the formula constant
+ //
+ degrees += degreesIncreased;
+
+ }
+
+ public double getDegrees() {
+ return degrees;
+ }
+
}