X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=cde94b8f6a103c2d1e8115ada1d10227e3f52410;hb=b3bdd589f32d9c152d05388ae3ad0d9e56ec833c;hp=96f1d1150fd5d87a2d5e5531f8515fcf10302e4f;hpb=7e360ef5fdf5bb9ae932367bbeb5a930f54ee732;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 96f1d115..cde94b8f 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -28,7 +28,7 @@ public class DriveTrain extends PIDSubsystem {
   private RobotDrive robotDrive;
 
   private GyroLib gyro;
-  private DoubleSolenoid leftGearPiston, rightGearPiston;
+  public DoubleSolenoid leftGearPiston, rightGearPiston;
 
   // Drivetrain specific constants that relate to the inches per pulse value for
   // the encoders
@@ -44,8 +44,7 @@ public class DriveTrain extends PIDSubsystem {
 
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
 
-    lidar = new Lidar(I2C.Port.kOnboard);
-
+    lidar = new Lidar(I2C.Port.kMXP);
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -63,9 +62,10 @@ public class DriveTrain extends PIDSubsystem {
     this.disable();
     gyro.start();
 
-    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD,
+    leftGearPiston = new DoubleSolenoid(10, Constants.DriveTrain.LEFT_FORWARD,
         Constants.DriveTrain.LEFT_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD,
+    rightGearPiston = new DoubleSolenoid(10,
+        Constants.DriveTrain.RIGHT_FORWARD,
         Constants.DriveTrain.RIGHT_REVERSE);
     Constants.DriveTrain.inverted = false;
   }
@@ -197,10 +197,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   *
+   * 
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   *
+   * 
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -213,11 +213,12 @@ public class DriveTrain extends PIDSubsystem {
         output = Math.signum(output) * 0.3;
       left = output;
       right = output + drift * Constants.DriveTrain.kp / 10;
+      drive(left, right);
     } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
       left = output;
       right = -output;
+      arcadeDrive(0, output);
     }
-    drive(left, right);
     pidOutput = output;
   }
 
@@ -228,7 +229,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   *
+   * 
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -257,12 +258,16 @@ public class DriveTrain extends PIDSubsystem {
       robotDrive.tankDrive(right, left);
   }
 
+  public void arcadeDrive(double y, double twist) {
+    robotDrive.arcadeDrive(y, twist);
+  }
+
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   *
+   * 
    * Configure Encoder PID
-   *
+   * 
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -302,10 +307,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   *
+   * 
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   *
+   * 
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {
@@ -360,4 +365,5 @@ public class DriveTrain extends PIDSubsystem {
     leftGearPiston.set(gear);
     rightGearPiston.set(gear);
   }
+
 }