Make methods to convert DegreesPerSecond to Degrees

[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 a86721d0a1a4ac73903f5ba6a2c63cae614c1137..b8bc8ef5d0718980f0838d49a86e8ec37163db89 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,11 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+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;
@@ -15,24 +16,27 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
+
   public static Scaler scaler;
+  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;
 
-  public static Lidar lidar;
-
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
+
     shooter = new Shooter();
     scaler = new Scaler();
-    lidar = new Lidar(I2C.Port.kOnboard);
+    intakeArm = new IntakeArm();
 
-    // Sendable Choosers allows the driver to select the position of the robot
+    // 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
     // Dashboard
     // make the Sendable Choosers
@@ -89,6 +93,12 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
+    SmartDashboard.putData("Position Four Defense Chooser",
+        positionFourDefense);
+    SmartDashboard.putData("Position Five Defense Chooser",
+        positionFiveDefense);
+
+    shooter = new Shooter();
   }
 
   @Override
@@ -123,18 +133,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    lidar.start();
+    Robot.driveTrain.initializeGyro();
   }
 
   @Override
   public void teleopPeriodic() {
-    printLidarValues();
     Scheduler.getInstance().run();
-
-  }
-
-  public void printLidarValues() {
-
-    System.out.println(lidar.pidGet());
   }
 }