Switch all methods of gyro to Robot class so DriveTrain does not have to be depended...

[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 efff75c9465b33f3fd110cf951558f308f09e0e1..9e5980437f33774cb3c4723ba972b4b360f8a420 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,6 +7,7 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -20,22 +21,34 @@ public class Robot extends IterativeRobot {
   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;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
+  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;
 
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    // driveTrain = new DriveTrain();
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    // oi = new OI();
 
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
-       intakeArm = new IntakeArm();
+    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
@@ -94,15 +107,12 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
-<<<<<<< HEAD
-=======
     SmartDashboard.putData("Position Four Defense Chooser",
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
 
     shooter = new Shooter();
->>>>>>> Initialize AnalogGyro in Robot class
   }
 
   @Override
@@ -137,7 +147,6 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Robot.driveTrain.initializeGyro();
   }
 
   @Override