change solenoids and shooting speeds

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index b0113e8ed66312fc74931f0b79c101b56f08c4f8..0a68c4ca001b815fb5af282900fc44f6d8fb8646 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
+  public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
   public static double driveStraightGyroP = 0.01;
 
@@ -35,7 +35,7 @@ public class DriveTrain extends Subsystem {
 
   private ADXRS450_Gyro imu;
 
-  public boolean shouldBeClimbing;
+  public boolean shouldBeClimbing = false;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -59,10 +59,10 @@ public class DriveTrain extends Subsystem {
     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
 
     // TODO: Not sure if MODULE_NUMBER should be the same for both
-    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }