save in case my comp crashes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index ca60af783f1c3369277d7a7ee75fb0a65fa26e40..49a2fdf7ce715d21a67777dadd2cd474b508b117 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,7 +16,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void robotInit() {
-    driveTrain = driveTrain;
+    driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
@@ -60,6 +60,32 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
+
+    double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+        Constants.DriveTrain.PID_ERROR);
+
+    double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
+        Constants.DriveTrain.PID_ERROR);
+
+    double Setpoint = SmartDashboard.getNumber(
+        Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
+    double Speed = SmartDashboard.getNumber(
+        Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
+
+    driveTrain.getDriveController().setName("Drive");
+    driveTrain.getGyroController().setName("Gyro");
+
+    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
+
+    driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
   }
 
   @Override