From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Thu, 26 Jan 2017 05:16:49 +0000 (-0800)
Subject: finish transferring code
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=9b35aa55bb9b437483e2886f9cf56f0812e19094

finish transferring code
---

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 b569958..76bc52f 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.MathLib;
 import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.utils.PIDController;
@@ -35,6 +36,17 @@ public class DriveDistance extends Command {
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
 
+  private double target;
+  private double gyroP;
+  private double gyroI;
+  private double gyroD;
+
+  private double driveP;
+  private double driveI;
+  private double driveD;
+
+  public DriveDistance(double distance, double motorVal) {
+    requires(driveTrain);
     this.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
@@ -76,6 +88,14 @@ public class DriveDistance extends Command {
     this.driveTrain.setMotorValues(leftDrive, rightDrive);
 
     driveTrain.printEncoderOutput();
+    // System.out.println("turn: " + xVal);
+    double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
+    double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
+
+    this.driveTrain.setMotorValues(leftDrive, rightDrive);
+
+    System.out.println(driveTrain.getAvgEncoderDistance());
+    // System.out.println("motorval: " + yVal);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 54324f0..fd6530e 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
+import org.usfirst.frc.team3501.robot.utils.BNO055;
 
 import com.ctre.CANTalon;
 
@@ -16,6 +17,9 @@ public class DriveTrain extends Subsystem {
   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
       defaultGyroD = -0.005;
+  public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
+  public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
+      defaultGyroD = -0.000;
   private double gyroZero = 0;
 
   public static final double WHEEL_DIAMETER = 6; // inches
@@ -30,6 +34,7 @@ public class DriveTrain extends Subsystem {
   private final DoubleSolenoid leftGearPiston, rightGearPiston;
 
   private ADXRS450_Gyro imu;
+  private BNO055 imu;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -177,6 +182,21 @@ public class DriveTrain extends Subsystem {
     rightGearPiston.set(gear);
   }
 
+  public double getAngle() {
+    if (!this.imu.isInitialized())
+      return -1;
+    return this.imu.getHeading() - this.gyroZero;
+  }
+
+  public void resetGyro() {
+    this.gyroZero = this.getAngle();
+
+  }
+
+  public double getZeroAngle() {
+    return this.gyroZero;
+  }
+
   @Override
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());