Use GyroClass and currently using method getDegrees in teleopPeriodic

[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 8d69370ed8702c5db2ab20d5105bfe1fc7f120c0..425e6704ae5e2170bcefe31c57d7899047c86ea4 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,5 +1,6 @@
 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;
@@ -19,6 +20,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
+  double then;
 
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
@@ -29,17 +31,19 @@ public class Robot extends IterativeRobot {
       positionFourDefense, positionFiveDefense;
 
   // Gyro stuff
-  private final static double NANOSECONDS_PER_SECOND = 1000000000;
   short rawValue;
   public GyroClass gyro;
 
+  double now;
   double degreesIncreased;
   double degrees;
 
+  Rotation rotation;
+
   @Override
   public void robotInit() {
     // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68);
+    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
     // oi = new OI();
 
     shooter = new Shooter();
@@ -151,6 +155,39 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+
+  }
+
+  public double getZAxisDegreesPerSeconds() {
+    double rawValue = (double) 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;
   }
 
 }