From d06ee698388fcf76323a71d424ca1aef15dd4bc8 Mon Sep 17 00:00:00 2001
From: EvanYap <evanyap.14@gmail.com>
Date: Wed, 10 Feb 2016 21:15:04 -0800
Subject: [PATCH] Attempts to create methods for the gyro to work, but testing
 has failed

---
 .../usfirst/frc/team3501/robot/FirebotGyro.java |  2 +-
 src/org/usfirst/frc/team3501/robot/Robot.java   | 17 ++++++++---------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/FirebotGyro.java b/src/org/usfirst/frc/team3501/robot/FirebotGyro.java
index fefa5908..c1d1552d 100644
--- a/src/org/usfirst/frc/team3501/robot/FirebotGyro.java
+++ b/src/org/usfirst/frc/team3501/robot/FirebotGyro.java
@@ -705,7 +705,7 @@ public class FirebotGyro extends SensorBase
    * @see ITG3200_RA_GYRO_ZOUT_H
    */
   public short getRotationZ() {
-    return ReadShortFromRegister(ITG3200_RA_GYRO_ZOUT_H, 2);
+    return ReadShortFromRegister(ITG3200_RA_GYRO_ZOUT_H, 0);
   }
 
   // PWR_MGM register
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 63c707ef..c40b9ba6 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -33,11 +33,7 @@ public class Robot extends IterativeRobot {
   short rawValue;
   public FirebotGyro gyro;
 
-  double initialSpeedNanoseconds;
-  double finalSpeedNanoseconds;
-  double initialSpeedSeconds;
-  double finalSpeedSeconds;
-  double deltaSpeed;
+  double degreesIncreased;
   double degrees;
 
   @Override
@@ -55,10 +51,10 @@ public class Robot extends IterativeRobot {
     // and the positions of the defenses from a drop-down menu on the Smart
     // Dashboard
     // make the Sendable Choosers
-    initializeSendableChoosers();
-    addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChooosers();
-    sendSendableChoosersToSmartDashboard();
+    // initializeSendableChoosers();
+    // addPositionChooserOptions();
+    // addDefensesToAllDefenseSendableChooosers();
+    // sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -108,12 +104,14 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
+
     SmartDashboard.putData("Position Four Defense Chooser",
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
 
     shooter = new Shooter();
+
   }
 
   @Override
@@ -154,4 +152,5 @@ public class Robot extends IterativeRobot {
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
   }
+
 }
-- 
2.30.2