change gear piston variable names

[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 fd6530e5404d26a08985c7abe5df66f555e69af6..29dc7121ead6f0b2f67cbe0e42e218e49c1a5a02 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -2,7 +2,6 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
-import org.usfirst.frc.team3501.robot.utils.BNO055;
 
 import com.ctre.CANTalon;
 
@@ -17,9 +16,6 @@ public class DriveTrain extends Subsystem {
   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
       defaultGyroD = -0.005;
-  public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
-  public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
-      defaultGyroD = -0.000;
   private double gyroZero = 0;
 
   public static final double WHEEL_DIAMETER = 6; // inches
@@ -34,7 +30,6 @@ public class DriveTrain extends Subsystem {
   private final DoubleSolenoid leftGearPiston, rightGearPiston;
 
   private ADXRS450_Gyro imu;
-  private BNO055 imu;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -56,12 +51,14 @@ public class DriveTrain extends Subsystem {
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
 
     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
-    shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
-        Constants.DriveTrain.SHIFTER_REVERSE);
+
+    // TODO: Not sure if MODULE_NUMBER should be the same for both
     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
-        Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
-        Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -110,6 +107,8 @@ public class DriveTrain extends Subsystem {
     // System.out.println("left: " + getLeftEncoderDistance());
     // System.out.println("right: " + getRightEncoderDistance());
     System.out.println(getAvgEncoderDistance());
+    System.out.println("left: " + getLeftEncoderDistance());
+    System.out.println("right: " + getRightEncoderDistance());
   }
 
   public double getAvgEncoderDistance() {
@@ -144,6 +143,8 @@ public class DriveTrain extends Subsystem {
 
   public double getZeroAngle() {
     return this.gyroZero;
+  }
+
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
@@ -153,8 +154,8 @@ public class DriveTrain extends Subsystem {
   }
 
   /*
-   * @return a value that is the current setppoint for the piston kReverse or
-   * kForward
+   * @return a value that is the current setpoint for the piston kReverse or
+   * KForward
    */
   public Value getRightGearPistonValue() {
     return rightGearPiston.get();
@@ -182,21 +183,6 @@ public class DriveTrain extends Subsystem {
     rightGearPiston.set(gear);
   }
 
-  public double getAngle() {
-    if (!this.imu.isInitialized())
-      return -1;
-    return this.imu.getHeading() - this.gyroZero;
-  }
-
-  public void resetGyro() {
-    this.gyroZero = this.getAngle();
-
-  }
-
-  public double getZeroAngle() {
-    return this.gyroZero;
-  }
-
   @Override
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());