X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FDriveDistance.java;h=582cd80b69abb799a89a7b3afdcd56432d22a738;hb=c726d04ade36dead56cd4b2f1b91a341ce90bdb6;hp=b82e7d62df1aae12e22fe8ebb0a7478430f2afa4;hpb=35527abe487a3d3cee1ddb10b5c4debc2a2780e4;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index b82e7d6..582cd80 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -27,18 +27,17 @@ public class DriveDistance extends Command {
   private double driveD;
   private double gyroP;
 
-  public DriveDistance(double distance, double motorVal) {
+  public DriveDistance(double distance, double maxTimeOut) {
     requires(driveTrain);
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
-    this.zeroAngle = driveTrain.getAngle();
 
     this.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
     this.gyroP = driveTrain.driveStraightGyroP;
     this.driveController = new PIDController(driveP, driveI, driveD);
-    this.driveController.setDoneRange(0.5);
+    this.driveController.setDoneRange(1.0);
     this.driveController.setMaxOutput(1.0);
     this.driveController.setMinDoneCycles(5);
   }
@@ -47,6 +46,7 @@ public class DriveDistance extends Command {
   protected void initialize() {
     this.driveTrain.resetEncoders();
     this.driveController.setSetPoint(this.target);
+    this.zeroAngle = driveTrain.getAngle();
   }
 
   @Override