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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
- public static OI oi;
- public static DriveTrain driveTrain;
- public static Shooter shooter;
- public static Scaler scaler;
- public static IntakeArm intakeArm;
- public static DefenseArm defenseArm;
+ public static OI oi;
+ public static DriveTrain driveTrain;
+ public static Shooter shooter;
+
+ public static Scaler scaler;
+ double then;
+ public static IntakeArm intakeArm;
+ public static DefenseArm defenseArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
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();
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
@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;
+ }
+
}