add comments to robot.java

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index cef821b24382184f68bbbc808f2a12f84ab25a1e..b03afeb48b1c709fbfa2b6c95ff065e44683dec7 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -3,7 +3,7 @@ package org.usfirst.frc.team3501.robot;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.utils.BNO055;
 
-import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -16,8 +16,14 @@ public class Robot extends IterativeRobot {
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
+    // declares IMU object to the connected port
     imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
-        BNO055.vector_type_t.VECTOR_EULER, I2C.Port.kOnboard, (byte) 0x29);
+        BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
+
+    // check if the robot is at the reference angle
+    if (imu.getHeading() == 0) {
+      System.out.println("At zero reference");
+    }
   }
 
   public static DriveTrain getDriveTrain() {
@@ -38,16 +44,16 @@ public class Robot extends IterativeRobot {
 
   }
 
+  // @Override
   @Override
   public void teleopInit() {
-    while (true) {
-      System.out.println("Heading: " + imu.getHeading());
-    }
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
+    System.out.println("Heading: " + imu.getHeading() + " Init: "
+        + imu.isInitialized() + " Calib: " + imu.isCalibrated());
   }
 }