From 9a4d37df0f5f20dd71db157d0edbf947aaeb99d9 Mon Sep 17 00:00:00 2001 From: EvanYap Date: Mon, 8 Feb 2016 20:42:35 -0800 Subject: [PATCH 1/1] Make methods to convert DegreesPerSecond to Degrees --- src/org/usfirst/frc/team3501/robot/Robot.java | 1 + .../usfirst/frc/team3501/robot/subsystems/DriveTrain.java | 8 ++++++++ 2 files changed, 9 insertions(+) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 45505462..b8bc8ef5 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -133,6 +133,7 @@ public class Robot extends IterativeRobot { @Override public void teleopInit() { + Robot.driveTrain.initializeGyro(); } @Override diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 84eef0db..3d70d006 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -36,9 +36,17 @@ public class DriveTrain extends Subsystem { public AnalogInput channel; // 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; + public DriveTrain() { frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); -- 2.30.2