tweak auton middle gear command group

[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 f30d4c2d2d41c8e62fd4b01e78cd054e75e8b89a..3f76a860f6907505d1431d64db159c0944de708d 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;
 
@@ -21,8 +21,11 @@ public class DriveTrain extends Subsystem {
   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
       / ENCODER_PULSES_PER_REVOLUTION;
-  public static final int MAINTAIN_CLIMBED_POSITION = 0;
-  public static final int TIME_TO_CLIMB_FOR = 0;
+
+  public static final double MAINTAIN_CLIMBED_POSITION = 0;
+  public static final double TIME_TO_CLIMB_FOR = 0;
+  public static final double CLIMBER_SPEED = 0;
+
   private static DriveTrain driveTrain;
 
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
@@ -32,8 +35,7 @@ public class DriveTrain extends Subsystem {
 
   private ADXRS450_Gyro imu;
 
-  private boolean isClimbing;
-  private static double CLIMBER_SPEED;;
+  public boolean shouldBeClimbing = false;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -63,8 +65,6 @@ public class DriveTrain extends Subsystem {
     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
-
-    CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
   }
 
   public static DriveTrain getDriveTrain() {
@@ -187,13 +187,4 @@ public class DriveTrain extends Subsystem {
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
-
-  public boolean isClimbing() {
-    return this.isClimbing;
-  }
-
-  public double getClimbingSpeed() {
-    return this.CLIMBER_SPEED;
-  }
-
 }