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 7c104f0b68e69a3c5b1979e78132d381f12c1d2d..44c513d5085fe4fda891a4ab086a838106454f50 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.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;
@@ -20,6 +21,17 @@ 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() {
@@ -44,22 +56,40 @@ 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);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
+    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);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
 
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
   }
 
   @Override