update code

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 072b5bd64444f756fcb21027ebbaff6bd803c313..da4d82076860145cf7d0648703ad9bd0a51ed2f5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -6,6 +6,7 @@ import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
@@ -42,11 +43,13 @@ public class Robot extends IterativeRobot {
   @Override
   public void autonomousInit() {
     driveTrain.setHighGear();
+    SmartDashboard.putNumber("I", -1);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
+    DriveTrain.getDriveTrain().getDriveController().setConstants(
 
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 2adcc8a2f0065e6e5f2743ad6f11e053b8fa7d06..83f48d50d650ee0de3e95ac40dbee35e222c4e74 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -14,7 +14,8 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+
+  public static double driveP, driveI, driveD;
   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
   public static double driveStraightGyroP = 0.01;