Fix conflicts from rebase

[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 76bc52fef569641a5b3c7a2d1c8d9cc592602505..ed1347f7325be8efe98cf9713558645cb854cd99 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;
@@ -31,22 +30,11 @@ public class DriveDistance extends Command {
   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;
 
-  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.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
@@ -89,13 +77,6 @@ public class DriveDistance extends Command {
 
     driveTrain.printEncoderOutput();
     // System.out.println("turn: " + xVal);
-    double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
-    double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
-
-    this.driveTrain.setMotorValues(leftDrive, rightDrive);
-
-    System.out.println(driveTrain.getAvgEncoderDistance());
-    // System.out.println("motorval: " + yVal);
   }
 
   @Override