Use GyroClass and currently using method getDegrees in teleopPeriodic

[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 18f5fd5af30a032d3267df813d7148b783f32139..ce4d31d605a64e9e6d3fe1723ce221558974fc84 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -19,7 +19,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-
+  double then;
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -31,19 +31,18 @@ public class Robot extends IterativeRobot {
   // Gyro stuff
   private final static double NANOSECONDS_PER_SECOND = 1000000000;
   short rawValue;
-  public FirebotGyro gyro;
+  public GyroClass gyro;
 
-  double initialSpeedNanoseconds;
-  double finalSpeedNanoseconds;
-  double initialSpeedSeconds;
-  double finalSpeedSeconds;
-  double deltaSpeed;
+  double now;
+  double degreesIncreased;
   double degrees;
 
+  Rotation rotation;
+
   @Override
   public void robotInit() {
     // driveTrain = new DriveTrain();
-    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
     // oi = new OI();
 
     shooter = new Shooter();
@@ -153,6 +152,38 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+  }
+
+  public double getZAxisDegreesPerSeconds() {
+    double rawValue = gyro.getRotationZ() / 14.375;
+    return rawValue;
+  }
+
+  public void initializeGyro() {
+    degrees = 0;
+    then = System.nanoTime() / 1000000000.0;
+    gyro.reset();
+    gyro.initialize();
+    System.out.println("Testing Gyro Init");
+  }
+
+  public void addZAxisDegrees() {
+    double degreesRead = getZAxisDegreesPerSeconds();
+    now = System.nanoTime();
+    now = now / (1000000000.0);
+    double differenceInTime = now - then;
+    then = now;
+    degreesIncreased = differenceInTime * degreesRead;
+
+    // 0.0 = register
+    // + 1.0 is the formula constant
+    //
+    degrees += degreesIncreased;
 
   }
+
+  public double getDegrees() {
+    return degrees;
+  }
+
 }