From b634ebbc37c191c4d9ea8cd4ed6e581905438d1f Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Mon, 16 Jan 2017 21:17:01 -0800 Subject: [PATCH] move inches per pulse constant from constants.java to drivetrain.java --- src/org/usfirst/frc/team3501/robot/Constants.java | 2 -- .../frc/team3501/robot/subsystems/DriveTrain.java | 9 +++++++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index b8016bd..72b1067 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -24,8 +24,6 @@ public class Constants { public static final int ENCODER_LEFT_B = 1; public static final int ENCODER_RIGHT_A = 2; public static final int ENCODER_RIGHT_B = 3; - - public static final int INCHES_PER_PULSE = 0; } public static enum Direction { diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index a5987e1..b4fcd63 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -10,6 +10,11 @@ import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.command.Subsystem; public class DriveTrain extends Subsystem { + public static final double WHEEL_DIAMETER = 6; // inches + public static final int ENCODER_PULSES_PER_REVOLUTION = 256; + public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI + / ENCODER_PULSES_PER_REVOLUTION; + private static DriveTrain driveTrain; private final CANTalon frontLeft, frontRight, rearLeft, rearRight; private final RobotDrive robotDrive; @@ -28,8 +33,8 @@ public class DriveTrain extends Subsystem { rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, Constants.DriveTrain.ENCODER_RIGHT_B); - leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); - rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); + leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); + rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); // ROBOT DRIVE robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); -- 2.30.2