input correct constructor

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 582cd80b69abb799a89a7b3afdcd56432d22a738..ba7921e1f38d11bae650ebd9cf2d52dd54465296 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -36,8 +36,8 @@ public class DriveDistance extends Command {
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
     this.gyroP = driveTrain.driveStraightGyroP;
-    this.driveController = new PIDController(driveP, driveI, driveD);
-    this.driveController.setDoneRange(1.0);
+    this.driveController = driveTrain.getDriveController();
+    this.driveController.setDoneRange(0.5);
     this.driveController.setMaxOutput(1.0);
     this.driveController.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 f6df50908c8136e57c2356308149ef01f9ea5e20..2adcc8a2f0065e6e5f2743ad6f11e053b8fa7d06 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -42,7 +42,7 @@ public class DriveTrain extends Subsystem {
 
   private DriveTrain() {
 
-    driveController = new PIDController();
+    driveController = new PIDController(driveP, driveI, driveD);
 
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);