Fix deleted stuff that shouldn't have been deleted

[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 9e5980437f33774cb3c4723ba972b4b360f8a420..23412d6c41078e6a668de7eb126d6c825f308f49 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -19,8 +19,9 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-  public static DefenseArm defenseArm;
+
   public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
@@ -28,35 +29,22 @@ public class Robot extends IterativeRobot {
   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;
+  public GyroLib gyro;
 
   @Override
   public void robotInit() {
-    // driveTrain = new DriveTrain();
-    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
-    // oi = new OI();
+    driveTrain = new DriveTrain();
+    oi = new OI();
+    gyro = new GyroLib(I2C.Port.kOnboard, false);
 
     shooter = new Shooter();
     scaler = new Scaler();
     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
-    // Dashboard
-    // make the Sendable Choosers
     initializeSendableChoosers();
     addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChooosers();
+    addDefensesToAllDefenseSendableChoosers();
     sendSendableChoosersToSmartDashboard();
 
   }
@@ -78,7 +66,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -107,12 +95,14 @@ 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
@@ -147,10 +137,17 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
+    gyro.start();
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+
+    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+
   }
+
 }