Switch all methods of gyro to Robot class so DriveTrain does not have to be depended...

[3501/stronghold-2016] / 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 a86721d0a1a4ac73903f5ba6a2c63cae614c1137..18f5fd5af30a032d3267df813d7148b783f32139 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,9 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
@@ -15,22 +17,39 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
+
   public static Scaler scaler;
 
+  public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
+
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
-  public static Lidar lidar;
+  // Gyro stuff
+  private final static double NANOSECONDS_PER_SECOND = 1000000000;
+  short rawValue;
+  public FirebotGyro gyro;
+
+  double initialSpeedNanoseconds;
+  double finalSpeedNanoseconds;
+  double initialSpeedSeconds;
+  double finalSpeedSeconds;
+  double deltaSpeed;
+  double degrees;
 
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    // driveTrain = new DriveTrain();
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    // oi = new OI();
+
     shooter = new Shooter();
     scaler = new Scaler();
-    lidar = new Lidar(I2C.Port.kOnboard);
+    defenseArm = new DefenseArm();
+    intakeArm = new IntakeArm();
 
     // 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
@@ -89,6 +108,12 @@ public class Robot extends IterativeRobot {
         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
@@ -123,18 +148,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    lidar.start();
   }
 
   @Override
   public void teleopPeriodic() {
-    printLidarValues();
     Scheduler.getInstance().run();
 
   }
-
-  public void printLidarValues() {
-
-    System.out.println(lidar.pidGet());
-  }
 }