From da6933e215fe3761e652de42ef17bcd38d297ef2 Mon Sep 17 00:00:00 2001
From: EvanYap <evanyap.14@gmail.com>
Date: Fri, 12 Feb 2016 20:59:25 -0800
Subject: [PATCH] rename print line statement to say Degrees: and rename
 AnotherGyroClass to GyroLib from another team

---
 .../{AnotherGyroClass.java => GyroLib.java}      | 16 ++++++++--------
 src/org/usfirst/frc/team3501/robot/Robot.java    | 11 ++++++++---
 2 files changed, 16 insertions(+), 11 deletions(-)
 rename src/org/usfirst/frc/team3501/robot/{AnotherGyroClass.java => GyroLib.java} (97%)

diff --git a/src/org/usfirst/frc/team3501/robot/AnotherGyroClass.java b/src/org/usfirst/frc/team3501/robot/GyroLib.java
similarity index 97%
rename from src/org/usfirst/frc/team3501/robot/AnotherGyroClass.java
rename to src/org/usfirst/frc/team3501/robot/GyroLib.java
index c358b8bf..36d177c3 100644
--- a/src/org/usfirst/frc/team3501/robot/AnotherGyroClass.java
+++ b/src/org/usfirst/frc/team3501/robot/GyroLib.java
@@ -50,7 +50,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * <ul>
  * <li>Make sure your ITG-3200 is connected to the I2C bus on the roboRIO and
  * mounted flat (so Z axis is used to track direction robot is facing).</li>
- * <li>Construct a single instance of the {@link AnotherGyroClass} class to be
+ * <li>Construct a single instance of the {@link GyroLib} class to be
  * shared throughout your Robot code.</li>
  * <li>Use the {@link #getRotationZ()} method create "trackers" that allow you
  * to keep track of how much your robot has rotated (direction your robot is
@@ -91,23 +91,23 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * </li>
  * </ul>
  */
-public final class AnotherGyroClass {
+public final class GyroLib {
 
   /**
    * Object used to monitor robot rotation.
    * 
    * <ul>
    * <li>Use this class to track how much your robot has rotated.</li>
-   * <li>Use the {@link AnotherGyroClass#getRotationZ()} to create an instance
+   * <li>Use the {@link GyroLib#getRotationZ()} to create an instance
    * to track how much your robot has rotated around the z-axis (direction robot
    * is facing - useful for making turns)..</li>
-   * <li>Use the {@link AnotherGyroClass#getRotationX()} to create an instance
+   * <li>Use the {@link GyroLib#getRotationX()} to create an instance
    * to track how much your robot has rotated around the x-axis (hopefully not
    * much unless you are tipping).</li>
-   * <li>Use the {@link AnotherGyroClass#getRotationY()} to create an instance
+   * <li>Use the {@link GyroLib#getRotationY()} to create an instance
    * to track how much your robot has rotated around the y-axis (hopefully not
    * much unless you are tipping).</li>
-   * <li>Use the {@link AnotherGyroClass#getRo
+   * <li>Use the {@link GyroLib#getRo
    * </ul>
    */
   public final class Rotation implements RotationTracker {
@@ -126,7 +126,7 @@ public final class AnotherGyroClass {
 
     /**
      * Constructor is protected, instances are created through the
-     * {@link AnotherGyroClass} methods.
+     * {@link GyroLib} methods.
      * 
      * @param axis
      *          An accumulator from the gyro for the axis to be tracked.
@@ -355,7 +355,7 @@ public final class AnotherGyroClass {
    *          This should be true if the ITG-3200 has the AD0 jumpered to logic
    *          level high and false if not.
    */
-  public AnotherGyroClass(I2C.Port port, boolean jumper) {
+  public GyroLib(I2C.Port port, boolean jumper) {
     m_addr = (jumper ? itgAddressJumper : itgAddressNoJumper);
     m_i2c = new I2C(port, m_addr);
     m_thread = new Thread(new Runnable() {
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 5e916ac9..b1b58641 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.GyroLib.Rotation;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
@@ -32,7 +32,7 @@ public class Robot extends IterativeRobot {
 
   // Gyro stuff
   short rawValue;
-  public AnotherGyroClass gyro;
+  public GyroLib gyro;
 
   double now;
   double degreesIncreased;
@@ -43,7 +43,7 @@ public class Robot extends IterativeRobot {
   @Override
   public void robotInit() {
     // driveTrain = new DriveTrain();
-    gyro = new AnotherGyroClass(I2C.Port.kOnboard, false);
+    gyro = new GyroLib(I2C.Port.kOnboard, false);
     // oi = new OI();
 
     shooter = new Shooter();
@@ -150,12 +150,17 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
+    gyro.start();
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
+    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+
   }
 
 }
-- 
2.30.2