create shifter instance

[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 eb9a4420a62024423e7a176f6d7bbbbaea6d4d95..f25d548a865257b9271de8a1381cdc2f4da85b65 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -6,14 +6,15 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 import com.ctre.CANTalon;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
-  public static double defaultGyroP = 0.006, defaultGyroI = 0.00000,
-      defaultGyroD = -0.000;
+  public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
+  public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
+      defaultGyroD = -0.005;
   private double gyroZero = 0;
 
   public static final double WHEEL_DIAMETER = 6; // inches
@@ -25,6 +26,7 @@ public class DriveTrain extends Subsystem {
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private final RobotDrive robotDrive;
   private final Encoder leftEncoder, rightEncoder;
+  private final DoubleSolenoid shifter;
 
   private ADXRS450_Gyro imu;
 
@@ -48,6 +50,8 @@ 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);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -125,7 +129,7 @@ public class DriveTrain extends Subsystem {
   }
 
   public void resetGyro() {
-    this.gyroZero = this.getAngle();
+    this.imu.reset();
   }
 
   public double getZeroAngle() {