private double driveI;
private double driveD;
- public DriveDistance(double distance, double maxTimeOut) {
+ public DriveDistance(double distance, double motorVal) {
requires(driveTrain);
this.maxTimeOut = maxTimeOut;
this.target = distance;
xVal = -this.gyroController
.calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
}
- // System.out.println("turn: " + xVal);
double leftDrive = yVal - xVal;
double rightDrive = yVal + xVal;
this.driveTrain.setMotorValues(leftDrive, rightDrive);
driveTrain.printEncoderOutput();
- // System.out.println("motorval: " + yVal);
+ // System.out.println("turn: " + xVal);
}
@Override