change speed constant to be used for maxTimeOut

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 6f313c4dda283274f774332aea697f58eb448838..0d736310e1dadd5cbd7fc42c45a59c99b2fae843 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -26,7 +26,7 @@ public class Robot extends IterativeRobot {
     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.MAX_TIME_OUT, 10);
 
     SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
     SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
@@ -70,9 +70,9 @@ public class Robot extends IterativeRobot {
     double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val,
         driveTrain.PID_ERROR);
 
-    double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
+    double setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
         driveTrain.PID_ERROR);
-    double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL,
+    double maxTimeOut = SmartDashboard.getNumber(driveTrain.MAX_TIME_OUT,
         driveTrain.PID_ERROR);
 
     driveTrain.getDriveController().setName("Drive");
@@ -81,7 +81,7 @@ public class Robot extends IterativeRobot {
 
     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
 
-    Scheduler.getInstance().add(new DriveDistance(Setpoint, Speed));
+    Scheduler.getInstance().add(new DriveDistance(setpoint, maxTimeOut));
   }
 
   @Override

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 bd923a2af73427ffa69ad842431c1736feb4a12e..c60b877c8742a2c7a1badc5fd640d6f7d60d3e16 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -30,7 +30,7 @@ public class DriveDistance extends Command {
 
     this.driveController = driveTrain.getDriveController();
     this.driveController.setDoneRange(0.5);
-    this.driveController.setMaxOutput(1.1);
+    this.driveController.setMaxOutput(1);
     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 d124775d37e4170b977a16d84fa8e12696caa3e6..6d09477325061cb9eff162b14cd9882e8ed03a13 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -22,7 +22,7 @@ public class DriveTrain extends Subsystem {
   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 MAX_TIME_OUT = "MaxTimeOut";
   public static final String GYRO_P_Val = "GyroP";
   public static final String GYRO_I_Val = "GyroI";
   public static final String GYRO_D_Val = "GyroD";