add seperate pid controllers

[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 eadb9aaefc9343367ee1695726feceac780e5326..c24279b89f118250c73a71dad42ab22bfdf8f22f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -56,23 +56,24 @@ public class Robot extends IterativeRobot {
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
 
-    double DriveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+    double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
         Constants.DriveTrain.PID_ERROR);
-    double DriveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
+    double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
         Constants.DriveTrain.PID_ERROR);
-    double DriveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+    double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
         Constants.DriveTrain.PID_ERROR);
-
-    double GyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
+    double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
         Constants.DriveTrain.PID_ERROR);
-    double GyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
+    double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
         Constants.DriveTrain.PID_ERROR);
-    double GyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
-
+    double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
         Constants.DriveTrain.PID_ERROR);
 
-    DriveTrain.getDriveTrain().getDriveController().setConstants(DriveP, DriveI,
-        DriveD);
+    DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI,
+        driveD);
+
+    DriveTrain.getDriveTrain().getGyroController().setConstants(driveP, driveI,
+        driveD);
 
     // new DriveDistance(SETPOINT, SPEED).start();
   }