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 e97472d2cacf1d8c652a3675ee22871756eb4ce4..ce4d31d605a64e9e6d3fe1723ce221558974fc84 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,6 +7,7 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -18,7 +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;
 
@@ -27,14 +28,27 @@ public class Robot extends IterativeRobot {
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
+  // Gyro stuff
+  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() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    // 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();
+    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
@@ -93,14 +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
@@ -140,7 +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;
   }
 
 }