From: EvanYap <evanyap.14@gmail.com>
Date: Sat, 4 Feb 2017 23:31:14 +0000 (-0800)
Subject: gyroP should get gyroController's p
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=225f2b59affb922313348c6be685d650f8e8035a

gyroP should get gyroController's p
---

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 98628f3..fda3928 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -29,6 +29,8 @@ public class DriveDistance extends Command {
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
 
+    this.gyroP = driveTrain.getGyroController().getP();
+
     this.driveController = driveTrain.getDriveController();
     this.driveController.setDoneRange(0.5);
     this.driveController.setMaxOutput(1.0);
diff --git a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
index c6ab0fb..073eee2 100644
--- a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
+++ b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
@@ -169,4 +169,16 @@ public class PIDController {
 
     return this.doneCycleCount >= this.minDoneCycleCount;
   }
+
+  public double getP() {
+    return this.pConst;
+  }
+
+  public double getI() {
+    return this.iConst;
+  }
+
+  public double getD() {
+    return this.dConst;
+  }
 }