From: EvanYap <evanyap.14@gmail.com>
Date: Tue, 9 Feb 2016 05:02:26 +0000 (-0800)
Subject: Switch all methods of gyro to Robot class so DriveTrain does not have to be depended... 
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;ds=sidebyside;h=4f0e005296a28ca132232984bc38895ff2a44619;p=3501%2Fstronghold-2016

Switch all methods of gyro to Robot class so DriveTrain does not have to be depended on, errors in driverstation
---

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 62c9dbfa..18f5fd5a 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;
@@ -18,6 +19,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
+
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -26,10 +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 FirebotGyro gyro;
+
+  double initialSpeedNanoseconds;
+  double finalSpeedNanoseconds;
+  double initialSpeedSeconds;
+  double finalSpeedSeconds;
+  double deltaSpeed;
+  double degrees;
+
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    // driveTrain = new DriveTrain();
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    // oi = new OI();
 
     shooter = new Shooter();
     scaler = new Scaler();