fix alot of unnecessary/not used code and init gyroController

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index d78ab4b58926acf40a186886b5b5f423d8d45ca1..ccbe5fd25c7056e86e15d7f00b42e05fa91107e9 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -28,12 +28,6 @@ public class DriveDistance extends Command {
     requires(driveTrain);
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
-
-    this.driveP = driveTrain.driveP;
-    this.driveI = driveTrain.driveI;
-    this.driveD = driveTrain.driveD;
-    this.gyroP = driveTrain.driveStraightGyroP;
-
     this.driveController = driveTrain.getDriveController();
     this.driveController.setDoneRange(0.5);
     this.driveController.setMaxOutput(1.0);

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 add95564848a6857e5df98c002992a610d619572..83788d7ed40e585b36c73549401bc71fdcd98f30 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -32,6 +32,10 @@ public class TurnForAngle extends Command {
     this.direction = direction;
     this.maxTimeOut = maxTimeOut;
     this.target = Math.abs(angle);
+<<<<<<< HEAD
+=======
+    this.zeroAngle = driveTrain.getAngle();
+>>>>>>> fix alot of unnecessary/not used code and init gyroController
 
     this.gyroController = Robot.getDriveTrain().getGyroController();
     this.gyroController.setDoneRange(1);

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 847419a49b285bb51a18dc99b619c85113a4fd5a..dbe14aca01e76d65604331c616b1dc74dfc63350 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -16,7 +16,6 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 public class DriveTrain extends Subsystem {
 
   public static double driveP, driveI, driveD;
-
   public static double turnP, turnI, turnD;
 
   public static double driveStraightGyroP = 0.01;