fix bugs

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveDistance.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index 47fc46ea0303ed6689b3c2a03b6c918b30407c8f..2b77348e781bf917e5755b9464b9b2bb168edee7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
-import org.usfirst.frc.team3501.robot.MathLib;
 import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.utils.PIDController;
@@ -31,8 +30,25 @@ public class DriveDistance extends Command {
   private double driveI;
   private double driveD;
 
+  public DriveDistance(double distance, double maxTimeOut) {
+    requires(driveTrain);
+    this.maxTimeOut = maxTimeOut;
+    this.target = distance;
+
+  private double target;
+  private double gyroP;
+  private double gyroI;
+  private double gyroD;
+
+  private double driveP;
+  private double driveI;
+  private double driveD;
+
   public DriveDistance(double distance, double motorVal) {
     requires(driveTrain);
+    this.maxTimeOut = maxTimeOut;
+    this.target = distance;
+
     this.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
@@ -68,13 +84,19 @@ public class DriveDistance extends Command {
       xVal = -this.gyroController
           .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
     }
+    double leftDrive = yVal - xVal;
+    double rightDrive = yVal + xVal;
+
+    this.driveTrain.setMotorValues(leftDrive, rightDrive);
+
+    driveTrain.printEncoderOutput();
     // System.out.println("turn: " + xVal);
-    double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
-    double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
+    double leftDrive = yVal - xVal;
+    double rightDrive = yVal + xVal;
 
     this.driveTrain.setMotorValues(leftDrive, rightDrive);
 
-    System.out.println(driveTrain.getAvgEncoderDistance());
+    driveTrain.printEncoderOutput();
     // System.out.println("motorval: " + yVal);
   }