From: EvanYap <evanyap.14@gmail.com>
Date: Thu, 28 Jan 2016 03:13:37 +0000 (-0800)
Subject: Make 2 methods for gyro to getAngle and setSensitivity in DriveTrain class
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=dd5f8abef9ed5e6026ff58bb5cb497fe8578483c;p=3501%2Fstronghold-2016

Make 2 methods for gyro to getAngle and setSensitivity in DriveTrain class
---

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index f9df3b91..62c9dbfa 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
+
   public static Scaler scaler;
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
@@ -100,20 +101,6 @@ public class Robot extends IterativeRobot {
     shooter = new Shooter();
   }
 
-  private void addDefense(SendableChooser chooser) {
-    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-    chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar", Defense.LOW_BAR);
-    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat", Defense.MOAT);
-    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
-    shooter = new Shooter();
-
-  }
-
   @Override
   public void autonomousInit() {
     Scheduler.getInstance().run();
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index d1d2e210..53d9190b 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -27,6 +27,7 @@ public class DriveTrain extends Subsystem {
   public final static double INCHES_PER_PULSE = (((Math.PI)
       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
       / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
   // Drivetrain specific constants that relate to the PID controllers
   private final static double Kp = 1.0, Ki = 0.0,
       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)