Change gear getter method

[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 f69167241f16cd85bff6fd3d3f48788a1df90014..3265d9bc4285a0f9ab2df9919cac9649bb759033 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -67,6 +67,11 @@ public class DriveTrain extends Subsystem {
     this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
         BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
     gyroZero = imu.getHeading();
+
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -147,26 +152,30 @@ public class DriveTrain extends Subsystem {
 
   public void resetGyro() {
     this.imu.reset();
+
+  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;
+  }
+
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
    */
-  public Value getLeftGearPistonValue() {
+  public Value getGearPistonValue() {
     return leftGearPiston.get();
   }
 
-  /*
-   * @return a value that is the current setppoint for the piston kReverse or
-   * kForward
-   */
-  public Value getRightGearPistonValue() {
-    return rightGearPiston.get();
-  }
-
   /*
    * Changes the ball shift gear assembly to high
    */
@@ -189,21 +198,6 @@ 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());