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 b2f4ba4ba422439c22d43deb45b506b261951ff1..18f5fd5af30a032d3267df813d7148b783f32139 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,5 @@
 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;
@@ -20,7 +19,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-  double then;
+
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -32,18 +31,19 @@ public class Robot extends IterativeRobot {
   // Gyro stuff
   private final static double NANOSECONDS_PER_SECOND = 1000000000;
   short rawValue;
-  public GyroClass gyro;
+  public FirebotGyro gyro;
 
-  double now;
-  double degreesIncreased;
+  double initialSpeedNanoseconds;
+  double finalSpeedNanoseconds;
+  double initialSpeedSeconds;
+  double finalSpeedSeconds;
+  double deltaSpeed;
   double degrees;
 
-  Rotation rotation;
-
   @Override
   public void robotInit() {
     // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
     // oi = new OI();
 
     shooter = new Shooter();
@@ -51,15 +51,14 @@ public class Robot extends IterativeRobot {
     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
-    // initializeSendableChoosers();
-    // addPositionChooserOptions();
-    // addDefensesToAllDefenseSendableChooosers();
-    // sendSendableChoosersToSmartDashboard();
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChooosers();
+    sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -109,14 +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
@@ -158,37 +155,4 @@ public class Robot extends IterativeRobot {
     Scheduler.getInstance().run();
 
   }
-
-  public double getZAxisDegreesPerSeconds() {
-    double rawValue = 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;
-  }
-
 }