X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=ef4090353db0fa1060fdd23239958cf9deb76902;hp=f69167241f16cd85bff6fd3d3f48788a1df90014;hb=af4491f7041a4659d6624d5e8b5cb4ae233d1a2b;hpb=174f415cc59c15eb1bf0cbe305d1f3419914d116

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index f691672..ef40903 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -67,6 +67,7 @@ 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();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -147,10 +148,22 @@ 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
@@ -189,21 +202,6 @@ 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());