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 5d27ce0c11ec4969132ba283b788c4f4c4650376..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;
 
@@ -29,17 +29,36 @@ public class Robot extends IterativeRobot {
       positionFourDefense, positionFiveDefense;
 
   // Gyro stuff
-  public GyroLib gyro;
+  private final static double NANOSECONDS_PER_SECOND = 1000000000;
+  short rawValue;
+  public GyroClass gyro;
+
+  double now;
+  double degreesIncreased;
+  double degrees;
+
+  Rotation rotation;
 
   @Override
   public void robotInit() {
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
+    // driveTrain = new DriveTrain();
+    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
+    // oi = new OI();
 
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
     intakeArm = new IntakeArm();
 
+    // 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();
+
   }
 
   private void initializeSendableChoosers() {
@@ -88,14 +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
@@ -130,17 +147,43 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
   }
 
   @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;
 
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+    // 0.0 = register
+    // + 1.0 is the formula constant
+    //
+    degrees += degreesIncreased;
+
+  }
 
+  public double getDegrees() {
+    return degrees;
   }
 
 }