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 6d86672832306b8418d148afa7f9a668ada7866a..44c513d5085fe4fda891a4ab086a838106454f50 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -21,10 +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() {
@@ -45,10 +56,38 @@ public class Robot extends IterativeRobot {
   public void autonomousInit() {
     driveTrain.setHighGear();
 
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
+    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);
 
   }
@@ -57,20 +96,6 @@ public class Robot extends IterativeRobot {
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
 
-    double P = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_P_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double I = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double D = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0);
-
-    double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_TARGET_DIST,
-        Constants.DriveTrain.TARGET_DISTANCE);
-
-    DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);
-
-    new DriveDistance(SETPOINT, SPEED).start();
   }
 
   @Override