hope fix

[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 cc6f1459df0a1d046493936422f2b7d2645094c0..c19e242fc23551e669c85d46e0bc5ec322fdb9ad 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,19 +1,17 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
-  private static Shooter shooter;
-  private static OI oi;
   private static Intake intake;
 
   @Override
@@ -36,32 +34,34 @@ public class Robot extends IterativeRobot {
     return OI.getOI();
   }
 
-  public static OI getOI() {
-    return OI.getOI();
-  }
-
   public static Intake getIntake() {
-    return Intake.getIntake()
+    return Intake.getIntake();
   }
 
+  // If the gear values do not match in the left and right piston, then they are
+  // both set to high gear
   @Override
   public void autonomousInit() {
-    Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+    driveTrain.setHighGear();
+
+    SmartDashboard.putNumber("I", -1);
+    SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
+    DriveTrain.getDriveTrain().getDriveController().setConstants(
 
   }
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }