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 a924552f5a7db0194f7a3f3151cb23ff84c14588..ce4d31d605a64e9e6d3fe1723ce221558974fc84 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
 import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
@@ -21,7 +20,6 @@ public class Robot extends IterativeRobot {
 
   public static Scaler scaler;
   double then;
-
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -49,10 +47,10 @@ public class Robot extends IterativeRobot {
 
     shooter = new Shooter();
     scaler = new Scaler();
+    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
@@ -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
@@ -156,11 +152,10 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   public double getZAxisDegreesPerSeconds() {
-    double rawValue = (double) gyro.getRotationZ() / 14.375;
+    double rawValue = gyro.getRotationZ() / 14.375;
     return rawValue;
   }