package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.FirebotGyro;
import org.usfirst.frc.team3501.robot.Lidar;
+import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
/ (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+ public AnalogInput channel;
+
+ // Gyro stuff
+ private final static double NANOSECONDS_PER_SECOND = 1000000000;
+ short rawValue;
+ public FirebotGyro gyro;
+
+ double initialSpeedNanoseconds;
+ double finalSpeedNanoseconds;
+ double initialSpeedSeconds;
+ double finalSpeedSeconds;
+ double deltaSpeed;
+ double degrees;
+
public DriveTrain() {
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+ gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ gyro.initialize();
}
@Override