Make SETPOINT variable get SmartDashboard's target dist option and pass that into...

[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 e0f075b9c9c237882651e809ce8bd0980c7f457d..5e5ed04818a8b6daa815009fe2345596d439c3d6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -47,6 +48,7 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber(Constants.DriveTrain.P_Val, -1);
     SmartDashboard.putNumber(Constants.DriveTrain.I_Val, -1);
     SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1);
+    SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50);
 
   }
 
@@ -57,7 +59,13 @@ public class Robot extends IterativeRobot {
     double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val, -1);
     double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val, -1);
     double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val, -1);
+
+    double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.TARGET_DIST,
+        -1);
+
     DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);
+
+    new DriveDistance(SETPOINT, 0.5).start();
   }
 
   @Override