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 f9df3b91892f1b044d34c7a3cf076148cf1c383a..18f5fd5af30a032d3267df813d7148b783f32139 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,6 +7,7 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -16,7 +17,9 @@ 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;
 
@@ -25,10 +28,23 @@ public class Robot extends IterativeRobot {
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
+  // 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();
@@ -100,20 +116,6 @@ public class Robot extends IterativeRobot {
     shooter = new Shooter();
   }
 
-  private void addDefense(SendableChooser chooser) {
-    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-    chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar", Defense.LOW_BAR);
-    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat", Defense.MOAT);
-    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
-    shooter = new Shooter();
-
-  }
-
   @Override
   public void autonomousInit() {
     Scheduler.getInstance().run();