fix alot of unnecessary/not used code and init gyroController

[3501/2017steamworks] / 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 63a11d04b6286e9e61e517e65d3785943cf1691b..44c513d5085fe4fda891a4ab086a838106454f50 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,19 +1,18 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
-  private static Shooter shooter;
-  private static OI oi;
   private static Intake intake;
 
   @Override
@@ -22,10 +21,21 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+
+    SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50);
+    SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5);
+
+    SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);
+
   }
 
   public static DriveTrain getDriveTrain() {
-    return DriveTrain.getDriveTrain();
+    return driveTrain;
   }
 
   public static Shooter getShooter() {
@@ -36,22 +46,50 @@ public class Robot extends IterativeRobot {
     return OI.getOI();
   }
 
-  public static OI getOI() {
-    return OI.getOI();
-  }
-
   public static Intake getIntake() {
     return Intake.getIntake();
   }
 
-  public static Intake getIntake() {
-    return Intake.getIntake();
-
-  }
-
+  // If the gear values do not match in the left and right piston, then they are
+  // both set to high gear
   @Override
   public void autonomousInit() {
-    Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+    driveTrain.setHighGear();
+
+    double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+        driveTrain.PID_ERROR);
+    double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val,
+        driveTrain.PID_ERROR);
+    double driveD = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+        driveTrain.PID_ERROR);
+
+    double gyroP = SmartDashboard.getNumber(driveTrain.GYRO_P_Val,
+        driveTrain.PID_ERROR);
+    double gyroI = SmartDashboard.getNumber(driveTrain.GYRO_I_Val,
+        driveTrain.PID_ERROR);
+    double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val,
+        driveTrain.PID_ERROR);
+
+    double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
+        driveTrain.PID_ERROR);
+    double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL,
+        driveTrain.PID_ERROR);
+
+    driveTrain.getDriveController().setName("Drive");
+    driveTrain.getGyroController().setName("Gyro");
+
+    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
+
+    driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
+
+    Scheduler.getInstance().add(new DriveDistance(Setpoint, Speed));
+
+    SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50);
+    SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
+
   }
 
   @Override
@@ -62,11 +100,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }