update robot.java with the new constants

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index afe158ee3f59e492e10cd531f04f29c6ce53fedd..f29237691f0585b7822a5df6ef4f883450fcba92 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -45,11 +45,11 @@ public class Robot extends IterativeRobot {
   public void autonomousInit() {
     driveTrain.setHighGear();
 
-    SmartDashboard.putNumber(Constants.DriveTrain.P_Val, -1);
-    SmartDashboard.putNumber(Constants.DriveTrain.I_Val, -1);
-    SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1);
+    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);
+    SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
 
   }
 
@@ -57,13 +57,16 @@ public class Robot extends IterativeRobot {
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
 
-    double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val, -1);
-    double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val, -1);
-    double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val, -1);
+    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,
-        -1);
+        Constants.DriveTrain.TARGET_DISTANCE);
 
     DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);