From 4f0e005296a28ca132232984bc38895ff2a44619 Mon Sep 17 00:00:00 2001 From: EvanYap Date: Mon, 8 Feb 2016 21:02:26 -0800 Subject: [PATCH] Switch all methods of gyro to Robot class so DriveTrain does not have to be depended on, errors in driverstation --- src/org/usfirst/frc/team3501/robot/Robot.java | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) 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(); -- 2.30.2