fix errors

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 7860f1edac86087cdc6c346f9520945f6f34c669..b910b296f74ba3e384a3feb666af963448f1597b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -21,15 +21,15 @@ public class Robot extends IterativeRobot {
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
 
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
-    SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
+    SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50);
+    SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5);
 
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
-    SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);
 
   }
 
@@ -55,6 +55,7 @@ public class Robot extends IterativeRobot {
   public void autonomousInit() {
     driveTrain.setHighGear();
 
+<<<<<<< HEAD
     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
@@ -68,25 +69,37 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
 
     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
-
-    double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
-        Constants.DriveTrain.PID_ERROR);
-
-    double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
-        Constants.DriveTrain.PID_ERROR);
-    double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
-        Constants.DriveTrain.PID_ERROR);
-
-    double Setpoint = SmartDashboard.getNumber(
-        Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
-    double Speed = SmartDashboard.getNumber(
-        Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
+=======
+    SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, 0);
+    SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50);
+
+    SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5);
+
+    SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
+    SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);
+>>>>>>> fix errors
+
+    double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+        driveTrain.PID_ERROR);
+    double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val,
+        driveTrain.PID_ERROR);
+    double driveD = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+        driveTrain.PID_ERROR);
+
+    double gyroP = SmartDashboard.getNumber(driveTrain.GYRO_P_Val,
+        driveTrain.PID_ERROR);
+    double gyroI = SmartDashboard.getNumber(driveTrain.GYRO_I_Val,
+        driveTrain.PID_ERROR);
+    double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val,
+        driveTrain.PID_ERROR);
+
+    double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
+        driveTrain.PID_ERROR);
+    double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL,
+        driveTrain.PID_ERROR);
 
     driveTrain.getDriveController().setName("Drive");
     driveTrain.getGyroController().setName("Gyro");

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index dbe14aca01e76d65604331c616b1dc74dfc63350..6d4f02040b169c942718e3ef30f9d3d239e2d0ad 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -48,6 +48,20 @@ public class DriveTrain extends Subsystem {
     driveController = new PIDController(driveP, driveI, driveD);
     gyroController = new PIDController(turnP, turnI, turnD);
 
+    // PID TUNING
+
+    public static final String DRIVE_P_Val = "DriveP";
+    public static final String DRIVE_I_Val = "DriveI";
+    public static final String DRIVE_D_Val = "DriveD";
+    public static final String DRIVE_TARGET_DIST = "SET_DIST";
+    public static final String DRIVE_MOTOR_VAL = "SPEED";
+    public static final String GYRO_P_Val = "GyroP";
+    public static final String GYRO_I_Val = "GyroI";
+    public static final String GYRO_D_Val = "GyroD";
+    public static final String GYRO_TARGET_ANGLE = "SET_ANGLE";
+    public static final int PID_ERROR = -1;
+    public static final int TARGET_DISTANCE_ERROR = -1;
+
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);