X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=ce4d31d605a64e9e6d3fe1723ce221558974fc84;hb=c668c1b2363ed6a1add988e11e5a4cba648a5d74;hp=3a2ca7d0a4594856c790b1a511d859f9cadd3066;hpb=60a094541cc053dc232a132200c0a1e9a59f1507;p=3501%2Fstronghold-2016 diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 3a2ca7d0..ce4d31d6 100644 --- 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; @@ -16,7 +17,9 @@ public class Robot extends IterativeRobot { 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; @@ -25,10 +28,23 @@ 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(); @@ -87,10 +103,16 @@ public class Robot extends IterativeRobot { SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); SmartDashboard.putData("Position Three Defense Chooser", positionThreeDefense); - SmartDashboard - .putData("Position Four Defense Chooser", positionFourDefense); - SmartDashboard - .putData("Position Five Defense Chooser", positionFiveDefense); + SmartDashboard.putData("Position Four Defense Chooser", + 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 @@ -130,6 +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; + } + }