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 90d2305662a9573c4209f3797667690d6d75dee6..6dd5950bc731f5cce9d76fff6d71901b26af6087 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();
@@ -53,6 +53,32 @@ 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
@@ -73,8 +99,10 @@ public class Robot extends IterativeRobot {
     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
         Constants.DriveTrain.PID_ERROR);
 
-    DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI,
-        driveD);
+    driveTrain.getDriveController().setName("Drive");
+    driveTrain.getGyroController().setName("Gyro");
+
+    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
 
     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);