update code

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index b84ee2f0079c7aaef99bdc4bb3aba90bc46162b0..47b8959aa101a2e2584d7f7a06d9769a4e80b8c3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -70,7 +70,6 @@ public class Constants {
     public static final int TARGET_DISTANCE_ERROR = -1;
 
     public static final SPI.Port GYRO_PORT = SPI.Port.kOnboardCS0;
-
   }
 
   public static class Intake {

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index e9b1d4f8d8b23078b0ab6cefb960b2247373362e..003e138eae22de8f0a6640ad13110891832b8813 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -51,6 +50,12 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
     SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
 
+    SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
+    SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50);
+    SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
+
   }
 
   @Override
@@ -63,6 +68,18 @@ public class Robot extends IterativeRobot {
         Constants.DriveTrain.PID_ERROR);
     double D = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
         Constants.DriveTrain.PID_ERROR);
+    double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val,
+        Constants.DriveTrain.PID_ERROR);
+    double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val,
+        Constants.DriveTrain.PID_ERROR);
+
+    double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0);
+
+    double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.TARGET_DIST,
+        Constants.DriveTrain.TARGET_DISTANCE);
+
     double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0);
 
     double SETPOINT = SmartDashboard.getNumber(
@@ -71,7 +88,7 @@ public class Robot extends IterativeRobot {
 
     DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);
 
-    new DriveDistance(SETPOINT, SPEED).start();
+    // new DriveDistance(SETPOINT, SPEED).start();
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 717f15151d5b8512218b2e865acade3403cd9ced..7e07577b7b001b9d767b89325320670bec1ec212 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -40,7 +40,7 @@ public class TurnForAngle extends Command {
     this.gyroI = driveTrain.turnI;
     this.gyroD = driveTrain.turnD;
 
-    this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+    this.gyroController = Robot.getDriveTrain().getDriveController();
     this.gyroController.setDoneRange(1);
     this.gyroController.setMinDoneCycles(5);
   }

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 83f48d50d650ee0de3e95ac40dbee35e222c4e74..5a4d4b786e200ef7984e6ab121d92a8f59e2548f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -40,6 +40,7 @@ public class DriveTrain extends Subsystem {
   public boolean shouldBeClimbing = false;
 
   private PIDController driveController;
+  private PIDController gyroController;
 
   private DriveTrain() {