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 3feba4779e91b1847158bf87eb70900121e6b8e4..ce4d31d605a64e9e6d3fe1723ce221558974fc84 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.GyroLib.Rotation;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
@@ -21,7 +20,6 @@ public class Robot extends IterativeRobot {
 
   public static Scaler scaler;
   double then;
-
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -31,8 +29,9 @@ public class Robot extends IterativeRobot {
       positionFourDefense, positionFiveDefense;
 
   // Gyro stuff
+  private final static double NANOSECONDS_PER_SECOND = 1000000000;
   short rawValue;
-  public GyroLib gyro;
+  public GyroClass gyro;
 
   double now;
   double degreesIncreased;
@@ -43,7 +42,7 @@ public class Robot extends IterativeRobot {
   @Override
   public void robotInit() {
     // driveTrain = new DriveTrain();
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
+    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
     // oi = new OI();
 
     shooter = new Shooter();
@@ -51,15 +50,14 @@ public class Robot extends IterativeRobot {
     defenseArm = new DefenseArm();
     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
-    // initializeSendableChoosers();
-    // addPositionChooserOptions();
-    // addDefensesToAllDefenseSendableChooosers();
-    // sendSendableChoosersToSmartDashboard();
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChooosers();
+    sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -109,14 +107,12 @@ 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
@@ -151,17 +147,43 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+  }
 
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+  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;
   }
 
 }