requires(driveTrain);
this.maxTimeOut = maxTimeOut;
this.target = distance;
-
- this.driveP = driveTrain.driveP;
- this.driveI = driveTrain.driveI;
- this.driveD = driveTrain.driveD;
- this.gyroP = driveTrain.driveStraightGyroP;
-
this.driveController = driveTrain.getDriveController();
this.driveController.setDoneRange(0.5);
this.driveController.setMaxOutput(1.0);
this.direction = direction;
this.maxTimeOut = maxTimeOut;
this.target = Math.abs(angle);
+<<<<<<< HEAD
+=======
+ this.zeroAngle = driveTrain.getAngle();
+>>>>>>> fix alot of unnecessary/not used code and init gyroController
this.gyroController = Robot.getDriveTrain().getGyroController();
this.gyroController.setDoneRange(1);
public class DriveTrain extends Subsystem {
public static double driveP, driveI, driveD;
-
public static double turnP, turnI, turnD;
public static double driveStraightGyroP = 0.01;