update code

[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 c832b8fc1f6109c5abf3a2d76d0056d263c67bb8..1196d168f3e109618b469702abc47e34780566e3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -21,6 +21,7 @@ public class DriveTrain extends Subsystem {
   public static final String DRIVE_P_Val = "DriveP";
   public static final String DRIVE_I_Val = "DriveI";
   public static final String DRIVE_D_Val = "DriveD";
+  public static final String DRIVE_GYRO_P_Val = "DriveGyroP";
   public static final String DRIVE_TARGET_DIST = "SET_DIST";
   public static final String MAX_TIME_OUT = "MaxTimeOut";
   public static final String GYRO_P_Val = "GyroP";
@@ -30,7 +31,7 @@ public class DriveTrain extends Subsystem {
   public static final int PID_ERROR = -1;
   public static final int TARGET_DISTANCE_ERROR = -1;
 
-  public static final double WHEEL_DIAMETER = 6; // inches
+  public static final double WHEEL_DIAMETER = 4; // inches
   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
       / ENCODER_PULSES_PER_REVOLUTION;