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 f1ee752d089850174cc523cacbfbba24bc7c28ad..b8bc8ef5d0718980f0838d49a86e8ec37163db89 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ 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;
@@ -100,20 +101,6 @@ public class Robot extends IterativeRobot {
     shooter = new Shooter();
   }
 
-  private void addDefense(SendableChooser chooser) {
-    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-    chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar", Defense.LOW_BAR);
-    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat", Defense.MOAT);
-    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
-    shooter = new Shooter();
-
-  }
-
   @Override
   public void autonomousInit() {
     Scheduler.getInstance().run();
@@ -146,11 +133,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    Robot.driveTrain.initializeGyro();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }