save in case my comp crashes

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 47b8959aa101a2e2584d7f7a06d9769a4e80b8c3..89a5ba0140f29e0ffb6a52d0a48d94dd0804c63a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -57,15 +57,15 @@ public class Constants {
     public static final int ENCODER_RIGHT_B = 3;
 
     // PID TUNING
-    public static final String DRIVE_P_Val = "P";
-    public static final String DRIVE_I_Val = "I";
-    public static final String DRIVE_D_Val = "D";
-    public static final String DRIVE_TARGET_DIST = "SETPOINT";
+    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 = "P";
-    public static final String GYRO_I_Val = "I";
-    public static final String GYRO_D_Val = "D";
-    public static final String GYRO_TARGET_ANGLE = "SETVALUE";
+    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;
 

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 510b722179b5e057de78c7e731daba29180fbc3f..00186000ceb5768b3f0a95a03ba80f3f87105d1c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -50,6 +50,7 @@ public class OI {
 
     toggleGear = new JoystickButton(leftJoystick,
         Constants.OI.TOGGLE_GEAR_PORT);
+
     toggleGear.whenPressed(new ToggleGear());
 
     runIntake = new JoystickButton(leftJoystick,

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 90d2305662a9573c4209f3797667690d6d75dee6..6dd5950bc731f5cce9d76fff6d71901b26af6087 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,7 +16,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void robotInit() {
-    driveTrain = driveTrain;
+    driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
@@ -53,6 +53,32 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
+
+    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);
+
+    driveTrain.getDriveController().setName("Drive");
+    driveTrain.getGyroController().setName("Gyro");
+
+    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
+
+    driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
   }
 
   @Override
@@ -73,8 +99,10 @@ public class Robot extends IterativeRobot {
     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
         Constants.DriveTrain.PID_ERROR);
 
-    DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI,
-        driveD);
+    driveTrain.getDriveController().setName("Drive");
+    driveTrain.getGyroController().setName("Gyro");
+
+    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
 
     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
 

diff --git a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
index 073eee22382db5d391b445f3da768c653abe0d71..3560dcbb9446d4b6d465823569fa300e2a1a2382 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
+++ b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
@@ -18,6 +18,8 @@ public class PIDController {
   private int minDoneCycleCount;
   private int doneCycleCount;
 
+  private String name;
+
   public PIDController() {
     this(0.0, 0.0, 0.0, 0.0, 0.0);
   }
@@ -42,6 +44,10 @@ public class PIDController {
 
   }
 
+  public void setName(String s) {
+    this.name = s;
+  }
+
   public PIDController(double p, double i, double d, double eps) {
     this(p, i, d, eps, eps * 0.8);
   }
@@ -54,6 +60,9 @@ public class PIDController {
     this.pConst = p;
     this.iConst = i;
     this.dConst = d;
+
+    System.out.println(this.name + " " + " P: " + this.pConst + " I: "
+        + this.iConst + " D: " + this.dConst);
   }
 
   public void setConstants(double p, double i, double d, double eps,