delete unneccesary methods from DrivStraightForTime

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveStraightForTime.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveStraightForTime.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveStraightForTime.java
index 57f352be662282a9e96ae05386f90831aa211abc..602ff699d4e10875163021d52735c5b18ca32a0c 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveStraightForTime.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveStraightForTime.java
@@ -51,14 +51,15 @@ public class DriveStraightForTime extends Command {
 
   @Override
   protected void execute() {
-    updateMotorVals();
-    updateDistances();
     Robot.getDriveTrain().setMotorValues(leftMotorVal, rightMotorVal);
+    updateDistances();
 
     if (Math.abs(leftDist - rightDist) > DISTANCE_THRESHOLD) {
+
       if (leftDist > rightDist) {
         rightMotorVal *= SPEED_UP_K;
         leftMotorVal *= SLOW_DOWN_K;
+
       } else if (rightDist > leftDist) {
         rightMotorVal *= SLOW_DOWN_K;
         leftMotorVal *= SPEED_UP_K;
@@ -70,11 +71,6 @@ public class DriveStraightForTime extends Command {
     }
   }
 
-  private void updateMotorVals() {
-    rightMotorVal = Robot.getDriveTrain().getFrontRightMotorVal();
-    leftMotorVal = Robot.getDriveTrain().getFrontLeftMotorVal();
-  }
-
   private void updateDistances() {
     leftDist = Robot.getDriveTrain().getLeftEncoderDistance();
     rightDist = Robot.getDriveTrain().getRightEncoderDistance();