+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.driving;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/***
- * Sets the gear.
- *
- * @author Arunima
- *
- */
-public class SetGear extends Command {
-
- public SetGear() {
- requires(Robot.getDriveTrain());
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
-}
this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
gyroZero = imu.getHeading();
+
}
public static DriveTrain getDriveTrain() {
public void resetGyro() {
this.imu.reset();
+
+ public double getAngle() {
+ if (!this.imu.isInitialized())
+ return -1;
+ return this.imu.getHeading() - this.gyroZero;
+ }
+
+ public void resetGyro() {
+ this.gyroZero = this.getAngle();
+
}
public double getZeroAngle() {
return this.gyroZero;
+ }
+
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward
rightGearPiston.set(gear);
}
- public double getAngle() {
- if (!this.imu.isInitialized())
- return -1;
- return this.imu.getHeading() - this.gyroZero;
- }
-
- public void resetGyro() {
- this.gyroZero = this.getAngle();
-
- }
-
- public double getZeroAngle() {
- return this.gyroZero;
- }
-
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());